CN108791571B - Simple and easy wheeled robot walking platform with turn to function - Google Patents
Simple and easy wheeled robot walking platform with turn to function Download PDFInfo
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- CN108791571B CN108791571B CN201810604687.8A CN201810604687A CN108791571B CN 108791571 B CN108791571 B CN 108791571B CN 201810604687 A CN201810604687 A CN 201810604687A CN 108791571 B CN108791571 B CN 108791571B
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- driving
- damping
- plunger
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- shell
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
Abstract
The invention belongs to the technical field of robot walking platforms, and particularly relates to a simple wheeled robot walking platform with a steering function, which comprises rear driving wheels, a supporting platform, front driving wheels and driving motors, wherein when the robot walking platform designed by the invention is used, two driving motors work in the normal running process, and two driving motors can drive the robot platform to walk through the two rear driving wheels; in the linear walking process, when the robot passes through a pothole road surface, the swing of the front driving wheel is reduced through the plunger damper; so that the robot can smoothly pass through the hollow road surface. When the robot turns, the rotating speeds of the two rear driving wheels are controlled by controlling the output rotating speeds of the two driving motors; the steering of the robot is realized through the difference of the rotating speeds of the two rear driving wheels; at the moment, the plunger damper loses the damping effect on the supporting shaft, and the front driving wheel can smoothly realize the steering function; the robot walking platform is simple and convenient to design; the cost of the design of the robot walking platform is reduced.
Description
Technical Field
The invention belongs to the technical field of robot walking platforms, and particularly relates to a simple wheel type robot walking platform with a steering function.
Background
The existing robot walking platform generally adopts a wheel type or crawler belt, and a walking platform with a wheel type structure; for some extremely complex and severe terrain environments, the robot walking platform is complex in design in order to adapt to the terrain environments. The design cost of the robot is increased; the front driving wheel of a common robot walking platform is a universal wheel, and the universal wheel can swing left and right when passing through a pothole road surface; the energy loss of the robot is increased; therefore, it is necessary to design a stable and simple robot walking platform.
The invention designs a simple wheeled robot walking platform with a steering function to solve the problems.
Disclosure of Invention
In order to solve the defects in the prior art, the invention discloses a simple wheeled robot walking platform with a steering function, which is realized by adopting the following technical scheme.
The utility model provides a simple and easy wheeled robot walking platform with turn to function which characterized in that: the hydraulic drive mechanism comprises a rear drive wheel, a support platform, a front drive wheel, a hydraulic pump, an oil tank, a drive motor, an adjusting mechanism, a first support, a motor support, a second support, a drive shaft, a third support, a hydraulic pipe, a drive square block, a sealing plate, a hydraulic hole, a drive square plate, an adjusting installation shell, a guide groove, a sixth support, a support shaft, a fixing block, a wheel shaft, a fixing shaft sleeve, a first guide groove, a second drive plate, a gear shaft, a drive block, a third drive plate, a connecting rod, a plunger damper, a fourth drive plate, a first guide block, a second guide block, a connecting ring and a first gear, wherein the lower side of the support platform is provided with a first guide groove and a second guide groove; two motor supports are symmetrically arranged on the lower side of one end of the supporting platform; the two motor supports are respectively positioned at two sides of the supporting platform; each driving motor is provided with two output shafts; the two driving motors are respectively supported and arranged on the lower side of the supporting platform through the two motors; the two driving shafts are respectively arranged at the lower side of the supporting platform through a second support; the two driving shafts are respectively connected with an output shaft which is arranged on the two driving motors and is close to the outer side; the two rear driving wheels are respectively arranged on the two driving shafts; the two rear driving wheels are respectively positioned at two sides of the two driving motors; the two hydraulic pumps are respectively arranged on the lower side of the supporting platform through two third supports; the input shafts of the two hydraulic pumps are respectively connected with the other two output shafts of the two driving motors; the two hydraulic pumps are respectively positioned between the two driving motors; the oil tank is arranged on the lower side of the supporting platform through a first support; the oil tank is respectively connected with the two hydraulic pumps through hydraulic pipes; the adjusting mechanism is arranged on the lower side of the supporting platform through a sixth support; one end of the connecting rod is arranged on the adjusting mechanism.
One side of the third driving plate is provided with teeth; two driving squares are symmetrically arranged on the lower side of the third driving plate; a second guide block is arranged on the upper side of the third driving plate; the third driving plate is arranged on the lower side of the supporting platform through the matching of a second guide block and a second guide groove formed in the supporting platform; the third driving plate is connected with the other end of the connecting rod; one side of the second driving plate is provided with teeth; two driving squares are symmetrically arranged on the lower side of the second driving plate; a first guide block is arranged on the upper side of the second driving plate; the second driving plate is arranged on the lower side of the supporting platform through the matching of the first guide block and a first guide groove formed in the supporting platform; the gear shaft is arranged on the lower side of the supporting platform; the first gear is arranged on the gear shaft; the first gear is engaged with teeth on the third drive plate and the second drive plate, respectively.
The two fixed shaft sleeves are symmetrically arranged on the lower side of the other end of the supporting platform; the two fixed shaft sleeves are respectively positioned at two ends of the supporting platform; the two support shafts are respectively nested and installed at the lower sides of the two fixed shaft sleeves; one end of the fixed block is provided with a square notch; the two fixing blocks are respectively arranged at the lower sides of the two supporting shafts; the two front driving wheels are respectively arranged in the square notches on the two fixed blocks through two wheel shafts; the two plunger dampers are respectively arranged at the lower sides of the two fixed shaft sleeves through two connecting rings; the two plunger dampers are respectively matched with the two support shafts; one end of each of the two fourth driving plates is respectively arranged on the two plunger dampers; the other ends of the two fourth driving plates are respectively matched with driving blocks arranged on the second driving plate and the third driving plate.
The plunger damper comprises a first spring, a mounting shell, a damping driving block, a plunger, a guide plate, a damping hole, a plunger hole, a second guide block, a plunger square hole and a shaft hole, wherein the damping shell is provided with a through shaft hole; a plunger hole communicated with the inner side is formed on the outer circular surface of the damping shell; two damping holes are formed in the outer circular surface of the damping shell; the two damping holes are respectively positioned on two sides of the plunger hole, and the two damping holes are close to the plunger hole; the damping shell is arranged on the lower side of the fixed shaft sleeve through a connecting ring, and the damping shell is nested on the corresponding supporting shaft through a shaft hole formed in the damping shell; one end of the damping driving block is provided with a circular hole; the other end of the damping driving block is provided with a protrusion; the damping driving block is arranged on the supporting shaft through a circular hole on the damping driving block, and the damping driving block is positioned in the damping shell; the bulge on the damping driving block is matched with the inner circular surface of the damping shell; one end of the mounting shell is a cambered surface; one end of the installation shell, which is a cambered surface, is an opening end; the other end of the mounting shell is provided with a plunger square hole communicated with the inner side; the mounting shell is mounted on the outer circular surface of the damping shell through one end of the cambered surface; a square plunger hole formed in the mounting shell is matched with a plunger hole in the damping shell; two guide plates are symmetrically arranged on two side surfaces of the plunger; one end of the plunger penetrates through a plunger hole in the damping shell and is positioned on the inner side of the damping shell; the guide plate on the plunger is positioned on the inner side of the mounting shell; one end of the plunger penetrates through a plunger square hole in the mounting shell and is positioned outside the mounting shell; one end of the plunger piston, which is positioned at the inner side of the damping shell, is matched with the damping driving block; two first springs are arranged between the two guide plates arranged on the plunger and the inner side surface of the mounting shell; the fourth driving plate is arranged at one end of the plunger piston, which is positioned outside the mounting shell; the two plunger holes are connected through a hose.
The other ends of the two fourth driving plates are respectively positioned between the driving blocks mounted on the second driving plate and the third driving plate.
The adjusting mechanism comprises a driving block, a sealing plate, hydraulic holes, a driving square plate, an adjusting and mounting shell and a guide groove, wherein two hydraulic holes are formed in two sides of the adjusting and mounting shell; the upper side surface of the adjusting and mounting shell is provided with a guide groove; the adjusting and mounting shell is mounted on the lower side of the supporting platform through a sixth support; the driving square plate is arranged on the inner side of the adjusting installation shell; one end of the driving block is arranged on the upper side of the driving square plate; the other end of the driving block passes through a guide groove formed in the adjusting and mounting shell and is positioned on the outer side of the adjusting and mounting shell; the sealing plate is arranged on the driving block; the sealing plate is matched with a guide groove formed in the adjusting and mounting shell.
The connecting rod is connected with one end of the driving block, which is positioned outside the adjusting and mounting shell; the adjusting mechanism is connected with the two hydraulic pumps through a hydraulic pipe respectively; one end of the hydraulic pipe connected with the adjusting mechanism is connected with two hydraulic holes in the adjusting mechanism.
As a further improvement of the technology, the width of the sealing plate is twice of the width of the guide groove formed by the adjusting mounting shell; the length of the sealing plate is twice of the length of the guide groove formed by adjusting the mounting shell.
As a further improvement of the present technique, an air pump is used as an alternative to the above-mentioned hydraulic pump.
As a further improvement of the present technology, the first spring is a compression spring.
As a further improvement of the present technology, in the initial state, the driving square plate is located at an intermediate position inside the adjustment mounting case.
Two driving motors are respectively supported and arranged on the lower side of a supporting platform through two motors; the two driving shafts are respectively connected with an output shaft which is arranged on the two driving motors and is close to the outer side; the two rear driving wheels are respectively arranged on the two driving shafts; the two hydraulic pumps are respectively arranged on the lower side of the supporting platform through two third supports; the input shafts of the two hydraulic pumps are respectively connected with the other two output shafts of the two driving motors; the oil tank is arranged on the lower side of the supporting platform through a first support; the oil tank is respectively connected with the two hydraulic pumps through hydraulic pipes; when the two driving motors work, the two driving motors drive the two driving shafts to rotate; the two driving shafts rotate to drive the two rear driving wheels to rotate; the robot platform is driven to walk by two rear driving wheels; meanwhile, the rotating speeds of the two rear driving wheels can be controlled by controlling the output rotating speeds of the two driving motors; the steering of the robot is realized through the difference of the rotating speeds of the two rear driving wheels; when the two driving motors work, the two driving motors can drive the input shafts of the two hydraulic pumps to rotate, so that the two hydraulic pumps work; the oil tank designed by the invention can provide oil for the two hydraulic pumps.
Two sides of the adjusting and mounting shell are provided with two hydraulic holes; the upper side surface of the adjusting and mounting shell is provided with a guide groove; the adjusting and mounting shell is mounted on the lower side of the supporting platform through a sixth support; the driving square plate is arranged on the inner side of the adjusting installation shell; one end of the driving block is arranged on the upper side of the driving square plate; the other end of the driving block passes through a guide groove formed in the adjusting and mounting shell and is positioned on the outer side of the adjusting and mounting shell; the sealing plate is arranged on the driving block; the sealing plate is matched with a guide groove formed in the adjusting and mounting shell; the connecting rod is connected with one end of the driving block, which is positioned outside the adjusting and mounting shell; the adjusting mechanism is connected with the two hydraulic pumps through a hydraulic pipe respectively; one end of the hydraulic pipe connected with the adjusting mechanism is connected with two hydraulic holes in the adjusting mechanism; when the two hydraulic pumps work, when the rotating speeds of the output shafts of the two driving motors are different, the oil pressures discharged by the two hydraulic pumps are different; at the moment, the hydraulic pump with high discharge oil pressure pushes the driving square plate to move to one side of the hydraulic pump with low discharge oil pressure through oil pressure; at the moment, the driving square plate moves to drive the driving block to move; the driving block moves to drive the connecting rod to move; the sealing plate plays a role in sealing the adjusting and mounting shell and prevents oil in the adjusting and mounting shell from volatilizing and leaking; affecting the regulation of the oil pressure in the mounting housing.
In the invention, the damping shell is arranged at the lower side of the fixed shaft sleeve through the connecting ring; the damping driving block is arranged on the supporting shaft through a circular hole on the damping driving block; the bulge on the damping driving block is matched with the inner circular surface of the damping shell; the mounting shell is mounted on the outer circular surface of the damping shell through one end of the cambered surface; two guide plates are symmetrically arranged on two side surfaces of the plunger; one end of the plunger penetrates through a plunger hole in the damping shell and is positioned on the inner side of the damping shell; the guide plate on the plunger is positioned on the inner side of the mounting shell; one end of the plunger penetrates through a plunger square hole in the mounting shell and is positioned outside the mounting shell; one end of the plunger piston, which is positioned at the inner side of the damping shell, is matched with the damping driving block; two first springs are arranged between the two guide plates arranged on the plunger and the inner side surface of the mounting shell; the fourth driving plate is arranged at one end of the plunger piston, which is positioned outside the mounting shell; the two plunger holes are connected through a hose; when the supporting shaft rotates, the supporting shaft can drive the damping driving block to rotate around the axis of the supporting shaft; the damping driving block rotates around the axis of the supporting shaft to push the liquid in the damping shell; so that the liquid in the damping shell flows into the other sealed space from one sealed space of two sealed spaces formed by the damping driving block and the plunger through the corresponding damping hole; the diameter of the damping hole is smaller; the liquid in the damping shell has a slow flow speed; therefore, the supporting shaft can be damped by the plunger damper; when the plunger moves towards the outer side of the damping shell, the plunger can be separated from the damping driving block; at the moment, two sealed spaces formed by the damping driving block and the plunger piston are communicated; the plunger damper then loses its damping effect on the support shaft.
One side of a third driving plate is provided with teeth; two driving squares are symmetrically arranged on the lower side of the third driving plate; a second guide block is arranged on the upper side of the third driving plate; the third driving plate is arranged on the lower side of the supporting platform through the matching of a second guide block and a second guide groove formed in the supporting platform; the third driving plate is connected with the other end of the connecting rod; one side of the second driving plate is provided with teeth; two driving squares are symmetrically arranged on the lower side of the second driving plate; a first guide block is arranged on the upper side of the second driving plate; the second driving plate is arranged on the lower side of the supporting platform through the matching of the first guide block and a first guide groove formed in the supporting platform; the gear shaft is arranged on the lower side of the supporting platform; the first gear is arranged on the gear shaft; the first gear is meshed with teeth on the third driving plate and the second driving plate respectively; when the connecting rod moves, the connecting rod drives the third driving plate to move; the third driving plate moves to enable the first gear to rotate; the first gear rotates to drive the second driving plate to move; in the moving process of the third driving plate and the second driving plate, the third driving plate and the second driving plate can drive the two fourth driving plates to move; the two fourth driving plates drive the two plungers to move towards the outer side of the damping shell; in the present invention, when the third driving plate and the second driving plate move toward one side, the third driving plate and the second driving plate respectively drive only one of the two fourth driving plates without affecting the other.
Compared with the traditional robot walking platform technology, the robot walking platform designed by the invention can adapt to the hollow road surface through automatic adjustment; the front driving wheel is prevented from swinging back and forth when passing through a pothole road surface; affecting the normal walking of the robot walking platform.
Drawings
Fig. 1 is an external view of an entire part.
Fig. 2 is a schematic view of the overall component distribution.
Fig. 3 is a schematic view of a support platform structure.
Fig. 4 is a schematic view of a drive motor installation.
Fig. 5 is a schematic view of a hydraulic pump installation.
FIG. 6 is a schematic view of the adjustment mechanism and hydraulic pump connection.
Fig. 7 is a schematic view of the adjustment mechanism.
Fig. 8 is a schematic view of the driver square plate mounting.
Fig. 9 is a second drive plate mounting schematic.
Fig. 10 is a schematic view of a plunger damper installation.
Fig. 11 is a schematic view of a plunger damper structure.
Fig. 12 is a schematic view of the internal structure of the front plunger damper.
FIG. 13 is a schematic view of a damper drive block installation.
Figure 14 is a schematic view of a damping housing construction.
Fig. 15 is a schematic view of the structure of the mounting case.
Number designation in the figures: 1. a rear drive wheel; 2. a support platform; 3. a front drive wheel; 4. a hydraulic pump; 5. an oil tank; 6. a drive motor; 7. a first guide block; 8. an adjustment mechanism; 9. a first support; 10. supporting a motor; 11. a second support; 12. a drive shaft; 13. a third support; 14. a hydraulic tube; 15. a driving block; 17. a drive block; 18. a sealing plate; 19. a hydraulic bore; 20. driving the square plate; 21. adjusting the mounting shell; 22. a guide groove; 35. a sixth support; 41. a support shaft; 43. a fixed block; 44. a wheel axle; 46. fixing the shaft sleeve; 52. a first guide groove; 53. a second guide groove; 54. a second drive plate; 55. a gear shaft; 56. a third drive plate; 57. a connecting rod; 58. a plunger damper; 59. a fourth drive plate; 60. a first gear; 61. a connecting ring; 62. a first spring; 63. mounting a shell; 64. a damping shell; 65. a damping drive block; 66. a plunger; 67. a guide plate; 68. a damping hole; 70. a plunger hole; 71. a second guide block; 72. a plunger square hole; 73. and the shaft hole.
Detailed Description
As shown in fig. 1, it includes a rear driving wheel 1, a supporting platform 2, a front driving wheel 3, a hydraulic pump 4, an oil tank 5, a driving motor 6, an adjusting mechanism 8, a first support 9, a motor support 10, a second support 11, a driving shaft 12, a third support 13, a hydraulic pipe 14, a driving block 15, a sealing plate 18, a hydraulic hole 19, a driving square plate 20, an adjusting installation shell 21, a guide groove 22, a sixth support 35, a supporting shaft 41, a fixed block 43, a wheel shaft 44, a fixed shaft sleeve 46, a first guide groove 52, a second guide groove 53, a second driving plate 54, a gear shaft 55, a driving block 17, a third driving plate 56, a connecting rod 57, a plunger damper 58, a fourth driving plate 59, a first guide block 7, a second guide block 71, a connecting ring 61, and a first gear 60, wherein as shown in fig. 3, the lower side of the supporting platform 2 is provided with a first guide groove 52 and a second guide groove 53; two motor supports 10 are symmetrically arranged on the lower side of one end of the supporting platform 2; as shown in fig. 2, two motor supports 10 are respectively located at both sides of the support platform 2; each driving motor 6 is provided with two output shafts; as shown in fig. 4, two driving motors 6 are respectively installed on the lower side of the supporting platform 2 through two motor supports 10; two driving shafts 12 are respectively arranged at the lower side of the supporting platform 2 through a second support 11; the two driving shafts 12 are respectively connected with an output shaft which is close to the outer side of the two driving motors 6; as shown in fig. 5, two rear drive wheels 1 are mounted on two drive shafts 12, respectively; the two rear driving wheels 1 are respectively positioned at two sides of the two driving motors 6; the two hydraulic pumps 4 are respectively arranged on the lower side of the supporting platform 2 through two third supports 13; the input shafts of the two hydraulic pumps 4 are respectively connected with the other two output shafts of the two driving motors 6; the two hydraulic pumps 4 are respectively positioned between the two driving motors 6; the oil tank 5 is arranged on the lower side of the supporting platform 2 through a first support 9; the oil tank 5 is respectively connected with the two hydraulic pumps 4 through hydraulic pipes 14; the adjusting mechanism 8 is arranged at the lower side of the supporting platform 2 through a sixth support 35; as shown in fig. 6, one end of the connecting rod 57 is mounted on the adjusting mechanism 8.
As shown in FIG. 9, one side of the third drive plate 56 has teeth; two driving blocks 15 are symmetrically arranged on the lower side of the third driving plate 56; a second guide block 71 is mounted on the upper side of the third drive plate 56; the third driving plate 56 is arranged at the lower side of the supporting platform 2 through the matching of the second guide block 71 and the second guide groove 53 opened on the supporting platform 2; the third driving plate 56 is connected to the other end of the connecting rod 57; one side of the second drive plate 54 has teeth; two driving blocks 15 are symmetrically arranged on the lower side of the second driving plate 54; a first guide block 7 is mounted on the upper side of the second drive plate 54; the second driving plate 54 is arranged at the lower side of the supporting platform 2 through the matching of the first guide block 7 and the first guide groove 52 opened on the supporting platform 2; the gear shaft 55 is mounted on the lower side of the support platform 2; the first gear 60 is mounted on the gear shaft 55; the first gear 60 meshes with teeth on the third and second drive plates 56, 54, respectively.
As shown in fig. 9, two fixed bushings 46 are symmetrically installed on the lower side of the other end of the support platform 2; the two fixed shaft sleeves 46 are respectively positioned at two ends of the supporting platform 2; the two supporting shafts 41 are respectively nested and arranged at the lower sides of the two fixed shaft sleeves 46; one end of the fixing block 43 is provided with a square notch; two fixing blocks 43 are respectively installed at the lower sides of the two support shafts 41; the two front driving wheels 3 are respectively arranged in the square notches on the two fixed blocks 43 through two wheel shafts 44; the two plunger dampers 58 are respectively installed at the lower sides of the two fixed shaft sleeves 46 through two connection rings 61; as shown in fig. 10, two plunger dampers 58 are respectively engaged with the two support shafts 41; one ends of the two fourth driving plates 59 are respectively mounted on the two plunger dampers 58; the other ends of the two fourth drive plates 59 are engaged with the drive blocks 15 mounted on the second and third drive plates 54 and 56, respectively.
As shown in fig. 12, the plunger damper 58 includes a first spring 62, a mounting case 63, a damping case 64, a damping drive block 65, a plunger 66, a guide plate 67, a damping hole 68, a plunger hole 70, a second guide block 71, a plunger square hole 72, and a shaft hole 73, wherein as shown in fig. 14, the damping case 64 has the shaft hole 73 therethrough; a plunger hole 70 communicated with the inner side is formed on the outer circular surface of the damping shell 64; two damping holes 68 are formed on the outer circular surface of the damping shell 64; the two damping holes 68 are respectively positioned at two sides of the plunger hole 70, and the two damping holes 68 are close to the plunger hole 70; the damping case 64 is mounted on the lower side of the fixed sleeve 46 through the connection ring 61, and the damping case 64 is nested on the corresponding support shaft 41 through the shaft hole 73 opened thereon; as shown in fig. 8, one end of the damping drive block 65 has a circular hole; the other end of the damping driving block 65 has a protrusion; the damping driving block 65 is mounted on the supporting shaft 41 through a circular hole thereon, and the damping driving block 65 is located in the damping case 64; the protrusion on the damping driving block 65 is matched with the inner circular surface of the damping shell 64; as shown in fig. 15, one end of the mounting case 63 is a cambered surface; one end of the installation shell 63, which is a cambered surface, is an opening end; the other end of the mounting shell 63 is provided with a plunger square hole 72 communicated with the inner side; the mounting shell 63 is mounted on the outer circular surface of the damping shell 64 through one end of the cambered surface; as shown in fig. 11, a square plunger hole 72 formed in the mounting case 63 is engaged with the plunger hole 70 formed in the damping case 64; as shown in fig. 13, two guide plates 67 are symmetrically mounted on both side surfaces of the plunger 66; one end of the plunger 66 passes through a plunger hole 70 on the damping shell 64 and is positioned on the inner side of the damping shell 64; the guide plate 67 on the plunger 66 is located inside the mounting case 63; one end of the plunger 66 passes through a plunger square hole 72 on the mounting shell 63 and is positioned outside the mounting shell 63; one end of the plunger 66 positioned inside the damping shell 64 is matched with the damping driving block 65; as shown in fig. 11, two first springs 62 are mounted between two guide plates 67 mounted on the plunger 66 and the inner side surface of the mounting case 63; the fourth driving plate 59 is mounted on one end of the plunger 66 located outside the mounting case 63; the two plunger bores 70 are connected by a hose.
The other ends of the two fourth driving plates 59 are located between the driving blocks 15 mounted on the second and third driving plates 54 and 56, respectively.
As shown in fig. 7, the adjusting mechanism 8 includes a driving block 17, a sealing plate 18, hydraulic holes 19, a driving square plate 20, an adjusting and mounting shell 21, and a guide groove 22, wherein as shown in fig. 8, two hydraulic holes 19 are formed on two sides of the adjusting and mounting shell 21; the upper side surface of the adjusting and mounting shell 21 is provided with a guide groove 22; the adjusting and mounting shell 21 is mounted on the lower side of the supporting platform 2 through a sixth support 35; the driving square plate 20 is arranged at the inner side of the adjusting and mounting shell 21; one end of the driving block 17 is installed on the upper side of the driving square plate 20; the other end of the driving block 17 passes through a guide groove 22 formed on the adjusting and mounting shell 21 and is positioned outside the adjusting and mounting shell 21; the sealing plate 18 is mounted on the driving block 17; the sealing plate 18 is fitted into a guide groove 22 formed in the adjustment mounting case 21.
The connecting rod 57 is connected with one end of the driving block 17 positioned outside the adjusting and mounting shell 21; the adjusting mechanism 8 is connected with the two hydraulic pumps 4 through a hydraulic pipe 14 respectively; one end of the hydraulic pipe 14 connected to the adjusting mechanism 8 is connected to two hydraulic holes 19 in the adjusting mechanism 8.
The width of the sealing plate 18 is twice of the width of the guide groove 22 opened by the adjusting mounting shell 21; the length of the sealing plate 18 is twice the length of the guide groove 22 opened by the adjusting installation case 21.
An alternative to the hydraulic pump 4 is an air pump.
The first spring 62 is a compression spring.
In the initial state, the driving square plate 20 is located at an intermediate position inside the adjustment mounting case 21.
In summary, the following steps:
the robot walking platform designed by the invention can adapt to the hollow road surface through automatic adjustment; the front driving wheels 3 are prevented from swinging back and forth when passing through a pothole road surface; affecting the normal walking of the robot walking platform.
Two driving motors 6 are respectively arranged at the lower side of the supporting platform 2 through two motor supports 10; the two driving shafts 12 are respectively connected with an output shaft which is close to the outer side of the two driving motors 6; the two rear driving wheels 1 are respectively arranged on the two driving shafts 12; the two hydraulic pumps 4 are respectively arranged on the lower side of the supporting platform 2 through two third supports 13; the input shafts of the two hydraulic pumps 4 are respectively connected with the other two output shafts of the two driving motors 6; the oil tank 5 is arranged on the lower side of the supporting platform 2 through a first support 9; the oil tank 5 is respectively connected with the two hydraulic pumps 4 through hydraulic pipes 14; when the two driving motors 6 work, the two driving motors drive the two driving shafts 12 to rotate; the two driving shafts 12 rotate to drive the two rear driving wheels 1 to rotate; the robot platform is driven to walk by the two rear driving wheels 1; meanwhile, the rotating speeds of the two rear driving wheels 1 can be controlled by controlling the output rotating speeds of the two driving motors 6; the steering of the robot is realized through the difference of the rotating speeds of the two rear driving wheels 1; when the two driving motors 6 work, the two driving motors 6 can drive the input shafts of the two hydraulic pumps 4 to rotate, so that the two hydraulic pumps 4 work; the oil tank 5 designed by the invention can provide oil for the two hydraulic pumps 4.
Two sides of an adjusting and mounting shell 21 are provided with two hydraulic holes 19; the upper side surface of the adjusting and mounting shell 21 is provided with a guide groove 22; the adjusting and mounting shell 21 is mounted on the lower side of the supporting platform 2 through a sixth support 35; the driving square plate 20 is arranged at the inner side of the adjusting and mounting shell 21; one end of the driving block 17 is installed on the upper side of the driving square plate 20; the other end of the driving block 17 passes through a guide groove 22 formed on the adjusting and mounting shell 21 and is positioned outside the adjusting and mounting shell 21; the sealing plate 18 is mounted on the driving block 17; the sealing plate 18 is matched with a guide groove 22 formed on the adjusting and mounting shell 21; the connecting rod 57 is connected with one end of the driving block 17, which is positioned outside the adjusting and mounting shell 21; the adjusting mechanism 8 is connected with the two hydraulic pumps 4 through a hydraulic pipe 14 respectively; one end of the hydraulic pipe 14 connected to the adjusting mechanism 8 is connected with two hydraulic holes 19 in the adjusting mechanism 8; when the two hydraulic pumps 4 work, when the rotating speeds of the output shafts of the two driving motors 6 are different, the oil pressures discharged by the two hydraulic pumps 4 are different; at this time, the hydraulic pump 4 with high discharge oil pressure pushes the driving square plate 20 to move to the side of the hydraulic pump 4 with low discharge oil pressure; at the moment, the driving square plate 20 moves to drive the driving block 17 to move; the driving block 17 moves to drive the connecting rod 57 to move; the sealing plate 18 plays a role in sealing the adjusting and mounting shell 21 and preventing oil in the adjusting and mounting shell 21 from volatilizing and leaking; affecting the regulation of the oil pressure in the mounting housing 21.
The damping case 64 of the present invention is installed at the lower side of the fixed boss 46 through the connection ring 61; the damping driving block 65 is mounted on the supporting shaft 41 through a circular hole thereon; the protrusion on the damping driving block 65 is matched with the inner circular surface of the damping shell 64; the mounting shell 63 is mounted on the outer circular surface of the damping shell 64 through one end of the cambered surface; two guide plates 67 are symmetrically arranged on two side surfaces of the plunger 66; one end of the plunger 66 passes through a plunger hole 70 on the damping shell 64 and is positioned on the inner side of the damping shell 64; the guide plate 67 on the plunger 66 is located inside the mounting case 63; one end of the plunger 66 passes through a plunger square hole 72 on the mounting shell 63 and is positioned outside the mounting shell 63; one end of the plunger 66 positioned inside the damping shell 64 is matched with the damping driving block 65; two first springs 62 are mounted between two guide plates 67 mounted on the plunger 66 and the inner side surface of the mounting case 63; the fourth driving plate 59 is mounted on one end of the plunger 66 located outside the mounting case 63; the two plunger holes 70 are connected by a hose; when the supporting shaft 41 rotates, the supporting shaft 41 drives the damping driving block 65 to rotate around the axis of the supporting shaft 41; the damping drive block 65 rotates about the axis of the support shaft 41 to push the liquid in the damping case 64; so that the liquid in the damping shell 64 flows from one of two sealed spaces formed by the damping driving block 65 and the plunger 66 into the other sealed space through the corresponding damping hole 68; because the orifice 68 is smaller in diameter; the liquid flow velocity in the damping shell 64 is slow; the supporting shaft 41 is damped by the plunger damper 58; when the plunger 66 moves toward the outside of the damping housing 64, the plunger 66 is disengaged from the damping drive block 65; at this time, two sealed spaces formed by the damping driving block 65 and the plunger 66 are communicated; at this time, the plunger damper 58 loses the damping function of the support shaft 41.
One side of the third driving plate 56 has teeth in the present invention; two driving blocks 15 are symmetrically arranged on the lower side of the third driving plate 56; a second guide block 71 is mounted on the upper side of the third drive plate 56; the third driving plate 56 is arranged at the lower side of the supporting platform 2 through the matching of the second guide block 71 and the second guide groove 53 opened on the supporting platform 2; the third driving plate 56 is connected to the other end of the connecting rod 57; one side of the second drive plate 54 has teeth; two driving blocks 15 are symmetrically arranged on the lower side of the second driving plate 54; a first guide block 7 is mounted on the upper side of the second drive plate 54; the second driving plate 54 is arranged at the lower side of the supporting platform 2 through the matching of the first guide block 7 and the first guide groove 52 opened on the supporting platform 2; the gear shaft 55 is mounted on the lower side of the support platform 2; the first gear 60 is mounted on the gear shaft 55; the first gear 60 meshes with teeth on the third drive plate 56 and the second drive plate 54, respectively; when the connecting rod 57 moves, the connecting rod 57 drives the third driving plate 56 to move; movement of the third drive plate 56 causes rotation of the first gear 60; the rotation of the first gear 60 drives the second driving plate 54 to move; during the movement of the third driving plate 56 and the second driving plate 54, the third driving plate 56 and the second driving plate 54 drive the movement of the two fourth driving plates 59; the movement of the two fourth driving plates 59 drives the two plungers 66 to move toward the outside of the damper case 64; in the present invention, when the third driving plate 56 and the second driving plate 54 are moved toward one side, the third driving plate 56 and the second driving plate 54 respectively drive only one of the two fourth driving plates 59 without affecting the other.
The specific implementation mode is as follows: when the robot walking platform designed by the invention is used, in the normal running process, when the two driving motors 6 work, the two driving motors can drive the two driving shafts 12 to rotate; the two driving shafts 12 rotate to drive the two rear driving wheels 1 to rotate; the robot platform is driven to walk by the two rear driving wheels 1; in the process of linear walking, when the robot passes through a pothole road surface, the front driving wheels 3 can swing left and right as the front driving wheels 3 are universal wheels; at this time, the swing of the front driving wheel 3 is reduced through the plunger damper 58, so that the energy loss caused by the swing is reduced, and the drive pulsation of the robot is prevented; so that the robot can smoothly pass through the hollow road surface; when the robot turns, the rotating speeds of the two rear driving wheels 1 are controlled by controlling the output rotating speeds of the two driving motors 6; the steering of the robot is realized through the difference of the rotating speeds of the two rear driving wheels 1; when the robot passes through the pothole road surface in the steering process, the plunger damper 58 loses the damping effect on the support shaft 41 through the adjusting mechanism 8; so that the robot can smoothly realize the steering function.
Claims (5)
1. The utility model provides a simple and easy wheeled robot walking platform with turn to function which characterized in that: the hydraulic drive mechanism comprises a rear drive wheel, a support platform, a front drive wheel, a hydraulic pump, an oil tank, a drive motor, an adjusting mechanism, a first support, a motor support, a second support, a drive shaft, a third support, a hydraulic pipe, a drive square block, a sealing plate, a hydraulic hole, a drive square plate, an adjusting installation shell, a guide groove, a sixth support, a support shaft, a fixing block, a wheel shaft, a fixing shaft sleeve, a first guide groove, a second drive plate, a gear shaft, a drive block, a third drive plate, a connecting rod, a plunger damper, a fourth drive plate, a first guide block, a second guide block, a connecting ring and a first gear, wherein the lower side of the support platform is provided with a first guide groove and a second guide groove; two motor supports are symmetrically arranged on the lower side of one end of the supporting platform; the two motor supports are respectively positioned at two sides of the supporting platform; each driving motor is provided with two output shafts; the two driving motors are respectively supported and arranged on the lower side of the supporting platform through the two motors; the two driving shafts are respectively arranged at the lower side of the supporting platform through a second support; the two driving shafts are respectively connected with an output shaft which is arranged on the two driving motors and is close to the outer side; the two rear driving wheels are respectively arranged on the two driving shafts; the two rear driving wheels are respectively positioned at two sides of the two driving motors; the two hydraulic pumps are respectively arranged on the lower side of the supporting platform through two third supports; the input shafts of the two hydraulic pumps are respectively connected with the other two output shafts of the two driving motors; the two hydraulic pumps are respectively positioned between the two driving motors; the oil tank is arranged on the lower side of the supporting platform through a first support; the oil tank is respectively connected with the two hydraulic pumps through hydraulic pipes; the adjusting mechanism is arranged on the lower side of the supporting platform through a sixth support; one end of the connecting rod is arranged on the adjusting mechanism;
one side of the third driving plate is provided with teeth; two driving squares are symmetrically arranged on the lower side of the third driving plate; a second guide block is arranged on the upper side of the third driving plate; the third driving plate is arranged on the lower side of the supporting platform through the matching of a second guide block and a second guide groove formed in the supporting platform; the third driving plate is connected with the other end of the connecting rod; one side of the second driving plate is provided with teeth; two driving squares are symmetrically arranged on the lower side of the second driving plate; a first guide block is arranged on the upper side of the second driving plate; the second driving plate is arranged on the lower side of the supporting platform through the matching of the first guide block and a first guide groove formed in the supporting platform; the gear shaft is arranged on the lower side of the supporting platform; the first gear is arranged on the gear shaft; the first gear is meshed with teeth on the third driving plate and the second driving plate respectively;
the two fixed shaft sleeves are symmetrically arranged on the lower side of the other end of the supporting platform; the two fixed shaft sleeves are respectively positioned at two ends of the supporting platform; the two support shafts are respectively nested and installed at the lower sides of the two fixed shaft sleeves; one end of the fixed block is provided with a square notch; the two fixing blocks are respectively arranged at the lower sides of the two supporting shafts; the two front driving wheels are respectively arranged in the square notches on the two fixed blocks through two wheel shafts; the two plunger dampers are respectively arranged at the lower sides of the two fixed shaft sleeves through two connecting rings; the two plunger dampers are respectively matched with the two support shafts; one end of each of the two fourth driving plates is respectively arranged on the two plunger dampers; the other ends of the two fourth driving plates are respectively matched with driving squares arranged on the second driving plate and the third driving plate;
the plunger damper comprises a first spring, a mounting shell, a damping driving block, a plunger, a guide plate, a damping hole, a plunger hole, a second guide block, a plunger square hole and a shaft hole, wherein the damping shell is provided with a through shaft hole; a plunger hole communicated with the inner side is formed on the outer circular surface of the damping shell; two damping holes are formed in the outer circular surface of the damping shell; the two damping holes are respectively positioned on two sides of the plunger hole, and the two damping holes are close to the plunger hole; the damping shell is arranged on the lower side of the fixed shaft sleeve through a connecting ring, and the damping shell is nested on the corresponding supporting shaft through a shaft hole formed in the damping shell; one end of the damping driving block is provided with a circular hole; the other end of the damping driving block is provided with a protrusion; the damping driving block is arranged on the supporting shaft through a circular hole on the damping driving block, and the damping driving block is positioned in the damping shell; the bulge on the damping driving block is matched with the inner circular surface of the damping shell; one end of the mounting shell is a cambered surface; one end of the installation shell, which is a cambered surface, is an opening end; the other end of the mounting shell is provided with a plunger square hole communicated with the inner side; the mounting shell is mounted on the outer circular surface of the damping shell through one end of the cambered surface; a square plunger hole formed in the mounting shell is matched with a plunger hole in the damping shell; two guide plates are symmetrically arranged on two side surfaces of the plunger; one end of the plunger penetrates through a plunger hole in the damping shell and is positioned on the inner side of the damping shell; the guide plate on the plunger is positioned on the inner side of the mounting shell; one end of the plunger penetrates through a plunger square hole in the mounting shell and is positioned outside the mounting shell; one end of the plunger piston, which is positioned at the inner side of the damping shell, is matched with the damping driving block; two first springs are arranged between the two guide plates arranged on the plunger and the inner side surface of the mounting shell; the fourth driving plate is arranged at one end of the plunger piston, which is positioned outside the mounting shell; the two plunger holes are connected through a hose;
the other ends of the two fourth driving plates are respectively positioned between driving blocks arranged on the second driving plate and the third driving plate;
the adjusting mechanism comprises a driving block, a sealing plate, hydraulic holes, a driving square plate, an adjusting and mounting shell and a guide groove, wherein two hydraulic holes are formed in two sides of the adjusting and mounting shell; the upper side surface of the adjusting and mounting shell is provided with a guide groove; the adjusting and mounting shell is mounted on the lower side of the supporting platform through a sixth support; the driving square plate is arranged on the inner side of the adjusting installation shell; one end of the driving block is arranged on the upper side of the driving square plate; the other end of the driving block passes through a guide groove formed in the adjusting and mounting shell and is positioned on the outer side of the adjusting and mounting shell; the sealing plate is arranged on the driving block; the sealing plate is matched with a guide groove formed in the adjusting and mounting shell;
the connecting rod is connected with one end of the driving block, which is positioned outside the adjusting and mounting shell; the adjusting mechanism is connected with the two hydraulic pumps through a hydraulic pipe respectively; one end of the hydraulic pipe connected with the adjusting mechanism is connected with two hydraulic holes in the adjusting mechanism.
2. The simple wheeled robot walking platform with steering function according to claim 1, characterized in that: the width of the sealing plate is twice of the width of the guide groove formed by the adjusting mounting shell; the length of the sealing plate is twice of the length of the guide groove formed by adjusting the mounting shell.
3. The simple wheeled robot walking platform with steering function according to claim 1, characterized in that: an alternative to the hydraulic pump is an air pump.
4. The simple wheeled robot walking platform with steering function according to claim 1, characterized in that: the first spring is a compression spring.
5. The simple wheeled robot walking platform with steering function according to claim 1, characterized in that: in the initial state, the driving square plate is located at the middle position inside the adjusting and mounting shell.
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| CN201810604687.8A CN108791571B (en) | 2018-06-13 | 2018-06-13 | Simple and easy wheeled robot walking platform with turn to function |
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| CN201810604687.8A CN108791571B (en) | 2018-06-13 | 2018-06-13 | Simple and easy wheeled robot walking platform with turn to function |
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| CN108791571B true CN108791571B (en) | 2020-11-06 |
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| CN203581165U (en) * | 2013-10-22 | 2014-05-07 | 李开健 | Automobile horizontal movement device and automobile movement device |
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| CN107097626A (en) * | 2017-05-03 | 2017-08-29 | 顾海昌 | An a kind of motor-driven robot ambulation platform with balance weight |
| CN107128169A (en) * | 2017-05-10 | 2017-09-05 | 黄珍珍 | It is a kind of that transportation robot is automatically adjusted based on gimbal suspension |
| CN107416072A (en) * | 2017-08-09 | 2017-12-01 | 安徽理工大学 | The control method and walking mechanism of a kind of omnidirectional moving |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080164078A1 (en) * | 2007-01-05 | 2008-07-10 | Rhodes Design And Development Corporation | Device and method for transporting a load |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203581165U (en) * | 2013-10-22 | 2014-05-07 | 李开健 | Automobile horizontal movement device and automobile movement device |
| CN106976498A (en) * | 2017-05-03 | 2017-07-25 | 张凯 | A kind of robot ambulation platform of single driving constant speed drive based on centrifugation |
| CN107097626A (en) * | 2017-05-03 | 2017-08-29 | 顾海昌 | An a kind of motor-driven robot ambulation platform with balance weight |
| CN107054074A (en) * | 2017-05-10 | 2017-08-18 | 战星罡 | A kind of transportation robot based on plunger pump |
| CN107128169A (en) * | 2017-05-10 | 2017-09-05 | 黄珍珍 | It is a kind of that transportation robot is automatically adjusted based on gimbal suspension |
| CN107416072A (en) * | 2017-08-09 | 2017-12-01 | 安徽理工大学 | The control method and walking mechanism of a kind of omnidirectional moving |
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| CN108791571A (en) | 2018-11-13 |
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