CN108945138B - A kind of wheeled double drive travelling platforms that robot uses - Google Patents
A kind of wheeled double drive travelling platforms that robot uses Download PDFInfo
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- CN108945138B CN108945138B CN201810996784.6A CN201810996784A CN108945138B CN 108945138 B CN108945138 B CN 108945138B CN 201810996784 A CN201810996784 A CN 201810996784A CN 108945138 B CN108945138 B CN 108945138B
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- bevel gear
- shaft
- rotation
- telescopic
- axle sleeve
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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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Abstract
The invention belongs to wheeled double drive travelling platforms that robotic technology field more particularly to a kind of robot use, it includes adjusting motor, adjusting flexible transmission shaft, the first transmission shaft, second driving shaft, the input shaft rotation of robot control and regulation motor；Adjusting flexible transmission shaft rotation just will drive first bevel gear rotation；First bevel gear rotation just will drive second bevel gear rotation；Third hand tap gear rotation just will drive the 4th bevel gear and the rotation of the 6th bevel gear；The rotation of 5th bevel gear drives the rotation of the second axle sleeve；The rotation of 7th bevel gear just will drive the 8th bevel gear and the rotation of the 9th bevel gear；That is the rotation of the 11st bevel gear and the 12nd bevel gear will make one of velocity of rotation in the tenth bevel gear and the tenth third hand tap gear become faster, another velocity of rotation is slack-off；That is velocity of rotation one of the first transmission shaft and second driving shaft become faster one it is slack-off；The turning function of robot is realized by the speed difference of two wheels.
Description
Technical field
The invention belongs to wheeled double drive travelling platforms that robotic technology field more particularly to a kind of robot use.
Background technique
Currently, the robot technology of existing design is all relatively simple course changing control, and their design structure phase
It is fairly simple for, it can not preferably realize that robot preferably embodies the speed difference of robot two sides when turning to；
And then robot can not be made more easily to pass through bend；Cause robot can not be by changing turning for wheel in Turning travel
Speed difference drives through bend；So designing, a kind of to control robot two sides vehicle wheel rotational speed difference processed be necessary by double.
The present invention design that a kind of robot uses it is wheeled it is double drive travelling platforms solve the problems, such as it is as above.
Summary of the invention
To solve drawbacks described above in the prior art, it is flat that the present invention discloses a kind of wheeled double drive walkings that robot uses
Platform, it adopts the following technical solutions to realize.
What a kind of robot used wheeled double drives travelling platforms, it is characterised in that: it include front vehicle wheel, rear wheel, bottom plate,
It adjusts driving mechanism, adjust motor, driving motor, rectangular connecting block, the first fixed spring, the first telescopic mast, the first telescopic shaft
Set, the second flexible axle sleeve, the second telescopic mast, adjusts motor support, adjusts to be driven and stretch rear wheel fixing groove, the second fixed spring
Contracting set, driving motor support, driving transmission telescopic, insole board are fixedly mounted on robot bottom end；Upper end on front side of bottom plate
The round slot penetrated through there are two being opened on face；It adjusts motor support to be fixedly mounted on bottom plate, and adjusts motor support and bottom plate
On one of round slot cooperation in opened two round slots；Driving motor support is fixedly mounted on bottom plate, and
Another round slot in the round slot of two opened in driving motor support and bottom plate cooperates；Motor is adjusted to be fixedly mounted
It is adjusting in motor support；Driving motor is fixedly mounted in driving motor support；Adjusting and being driven one end of flexible axle sleeve is to open
Mouth end；Adjust symmetrical guide groove there are two having on the inner headed face for being driven flexible axle sleeve；Adjusting is driven not opening one of flexible axle sleeve
End and the output axis connection for adjusting motor；One end that driving is driven flexible axle sleeve is open end；Driving is driven the interior of flexible axle sleeve
There are two symmetrical guide grooves for tool on disc；Driving is driven the output axis connection of the not opening one end and driving motor of flexible axle sleeve.
The installation of robot two sides front and back wheel is full symmetric, in two sides institute, robot mounting structure, wherein any one
Side: one end of the first telescopic is open end；The not opening one end of first telescopic is fixedly mounted on bottom plate lower end, and the bottom of close to
One of round slot in the round slot of two opened on plate；One end nesting of first telescopic mast is mounted on the first telescopic
It is interior；Rectangular connecting block is equipped with a support cylinder；The axis hole of a perforation is provided in rectangular connecting block；Rectangular connecting block is fixed
It is mounted on the other end of the first telescopic mast；Support center of the cylinder far from bottom plate installed in rectangular connecting block；First is fixed
Spring is fixedly mounted between bottom plate and rectangular connecting block, and is nested in the outside of the first telescopic mast and the first telescopic；Front truck
Wheel is fixedly mounted in rectangular connecting block by being mounted on the support cylinder installed in rectangular connecting block；The one of second telescopic
End is open end；The not opening one end of second telescopic is fixedly mounted on bottom plate lower end, and is located at floor rear；Second telescopic mast
One end nesting be mounted in the second telescopic；Rear wheel fixing groove is fixedly mounted on the other end of the first telescopic mast；Second is solid
Determine spring to be fixedly mounted between bottom plate and rear wheel fixing groove, and is nested in the outside of the second telescopic mast and the second telescopic；
Rear wheel is mounted in rear wheel fixing groove by straight pin；Adjust driving mechanism be fixedly mounted on two rectangular connecting blocks it
Between.
Above-mentioned adjusting driving mechanism includes the first transmission shaft, protective shell, circular rotatable shell, adjusts transmission telescopic shaft, driving
It is driven telescopic shaft, ring gear, the first connecting shaft, the second connecting shaft, third connecting shaft, the fourth connecting shaft, circular gear, first
Bevel gear, second bevel gear, the first axle sleeve, the second axle sleeve, third hand tap gear, the 4th bevel gear, the 5th bevel gear, the 6th cone tooth
Wheel, the 7th bevel gear, the 8th bevel gear, the 9th bevel gear, the tenth bevel gear, the 11st bevel gear, the 12nd bevel gear, the tenth
Third hand tap gear, second driving shaft, annular brace, circular hole, shaft hole, wherein opened on the upper surface of protective shell there are two and protective shell
The axis hole that inside communicates, and two axis holes are located at the both ends of protective shell；It is symmetrical there are two being opened on the two sides of protective shell
Axis hole, and with communicated inside protective shell；It is symmetrically led there are two being fixedly mounted on the periphery of adjusting transmission telescopic shaft one end
Block；Adjusting transmission telescopic shaft has one end of guide block by two guide blocks and adjusts two guide grooves opened on transmission telescopic
Cooperation nesting is mounted on adjusting and is driven in flexible axle sleeve；First bevel gear is fixedly mounted on the other end for adjusting transmission telescopic shaft,
And it is located in protective shell；Symmetrical guide block there are two being fixedly mounted on the periphery of driving transmission telescopic shaft one end；Driving passes
Dynamic telescopic shaft have one end of guide block by two guide blocks with drive be driven telescopic shaft put on two opened guide grooves cooperation it is embedding
Set is mounted on driving and is driven in flexible axle sleeve；Circular gear is fixedly mounted on the other end of driving transmission telescopic shaft, and is located at and protects
In protective case；It is circumferential on the periphery of circular rotatable shell to be equably provided with two groups of round holes communicated with inside, and two groups of round holes
In, two round holes in every group of round hole are located at the both ends of circular rotatable shell；The side of circular rotatable shell is provided with one
Circular hole, and communicated with circular rotatable shell inside；The other side of circular rotatable shell is provided with a shaft hole, and in circular rotatable shell
Side communicates；Circular rotatable shell is mounted in protective shell by annular brace；First axle sleeve is fixedly mounted on the one of round protective shell
In the circular hole that side is opened；Second bevel gear is fixedly mounted on one end of the first axle sleeve, and second bevel gear is nibbled with first bevel gear
It closes；Ring gear is fixedly mounted on the other side of circular rotatable shell, and engages with circular gear；Third hand tap gear is fixedly mounted the
The other end of one axle sleeve, and be located on the inside of circular rotatable shell；One end of first connecting shaft is mounted on circular rotatable shell periphery
In the one of round hole for four round holes opened, and the circular hole opened on circular rotatable shell；4th bevel gear peace
It is engaged mounted in the other end of the first connecting shaft, and with third hand tap gear；One end of third connecting shaft is mounted on outside circular rotatable shell
In the one of round hole for four axis holes opened on disc, and the axis of third connecting shaft and the axis of the first connecting shaft are total
Line；6th bevel gear is mounted on the other end of third connecting shaft, and engages with third hand tap gear；First transmission shaft is mounted on first
In axle sleeve, and before one end of the first transmission shaft passes through one of the axis hole opened in the first rectangular connecting block and robot side
Wheel connection；The other end of first transmission shaft passes through the protective shell two sides axis hole that wherein side is opened and the first axle sleeve is mounted on circle
Shape rotates in shell；Second axle sleeve is mounted on the first transmission shaft；One end of 5th bevel gear is fixedly mounted on the one of the second axle sleeve
End, and the 5th bevel gear engages with the 4th bevel gear and the 6th bevel gear respectively；7th bevel gear is fixedly mounted on the second axle sleeve
The other end；Tenth bevel gear is mounted on one end that the first transmission shaft is located in circular rotatable shell；Pacify one end of second connecting shaft
In the one of round hole in four round holes opened on circular rotatable shell periphery, and close to the first connecting shaft；
8th bevel gear is mounted in the second connecting shaft, and engages with the 7th bevel gear；11st bevel gear is mounted on the second connecting shaft
The other end, and engaged with the tenth bevel gear；One end of the fourth connecting shaft is mounted on four opened on circular rotatable shell periphery
In one of round hole of a round hole, and the axis collinear of the axis of the fourth connecting shaft and the second connecting shaft；9th cone tooth
Wheel is mounted in the fourth connecting shaft, and is engaged with the 7th bevel gear；12nd bevel gear is mounted on the other end of the fourth connecting shaft,
And it is engaged with the tenth bevel gear；One end of second driving shaft passes through the axis hole and circular rotatable shell that the protective shell two sides other side is opened
The shaft hole that the other side is opened is mounted in circular rotatable shell；The other end of second driving shaft passes through in another rectangular connecting block
The axis hole opened is connect with other side front vehicle wheel；Tenth third hand tap gear is mounted on second driving shaft, and with the 11st bevel gear
It is engaged with the 12nd bevel gear.
Above-mentioned first connecting shaft, the second connecting shaft, third connecting shaft and the fourth connecting shaft and circular rotatable shell are rotatably assorted.
Above-mentioned rear wheel is universal wheel, and plays the role of damping, buffering.
As the further improvement of this technology, the first fixed spring is compressed spring.
As the further improvement of this technology, the second fixed spring is compressed spring.
As the further improvement of this technology, two rectangular connecting blocks and adjusting driving mechanism are welding.
As the further improvement of this technology, pacified on the support cylinder and second driving shaft installed on the first transmission shaft
Pass through bearing fit between the support cylinder and front vehicle wheel of dress.
Relative to traditional robot technology, the present invention devises a kind of wheeled double drive travelling platforms that robot uses,
It can preferably make robot control speed difference when turning to, and then realize that a wheel is fast, and a wheel is slow, reaches
The variation of robot two sides wheel realization speed difference；Adjusting in the present invention, which turns to, is different from common wheel steering, when
Adjust turn in it is static do not turn when, two front-wheels of robot rotate at the same speed, when as you pass the bend control to adjust electricity
Two wheels will be made synchronized as long as the process that machine turns to remains static；It is curved to preferably make robot pass through
Road has preferable using effect.
Driving motor support is fixedly mounted on bottom plate in the present invention；One end that driving is driven flexible axle sleeve is open end；
Driving is driven the output axis connection of the not opening one end and driving motor of flexible axle sleeve；The periphery of driving transmission telescopic shaft one end
Upper fixed installation there are two symmetrical guide block；There is driving transmission telescopic shaft one end of guide block to be passed by two guide blocks and driving
The cooperation nesting that dynamic telescopic shaft puts on two opened guide grooves is mounted on driving and is driven in flexible axle sleeve；Circular gear is fixedly mounted
In the other end of driving transmission telescopic shaft, and it is located in protective shell；Circular rotatable shell is mounted in protective shell by annular brace；
In the circular hole that the side that first axle sleeve is fixedly mounted on round protective shell is opened；Ring gear is fixedly mounted on circular rotatable shell
The other side, and engaged with circular gear；The other end of the first axle sleeve is fixedly mounted in third hand tap gear, and is located in circular rotatable shell
Side；One end of first connecting shaft is mounted on the one of round hole for four round holes opened on circular rotatable shell periphery
It is interior；4th bevel gear is mounted on the other end of the first connecting shaft, and engages with third hand tap gear；It installs one end of third connecting shaft
In the one of round hole for four axis holes opened on circular rotatable shell periphery；6th bevel gear is mounted on third connection
The other end of axis, and engaged with third hand tap gear；First transmission shaft is mounted in the first axle sleeve, and one end of the first transmission shaft is worn
The axis hole opened in one of them first rectangular connecting block is crossed to connect with robot side front vehicle wheel；Second axle sleeve is mounted on first
On transmission shaft；One end of 5th bevel gear is fixedly mounted on one end of the second axle sleeve, and the 5th bevel gear bores tooth with the 4th respectively
Wheel and the engagement of the 6th bevel gear；Tenth bevel gear is mounted on one end that the first transmission shaft is located in circular rotatable shell；Second connection
One end of axis is mounted in one of round hole in four round holes opened on circular rotatable shell periphery, and close to the
One connecting shaft；11st bevel gear is mounted on the other end of the second connecting shaft, and engages with the tenth bevel gear；12nd bevel gear
It is mounted on the other end of the fourth connecting shaft, and is engaged with the tenth bevel gear；It is another that one end of second driving shaft passes through protective shell two sides
The shaft hole that the axis hole and the circular rotatable shell other side that side is opened are opened is mounted in circular rotatable shell；Second driving shaft it is another
One end passes through the axis hole opened in another rectangular connecting block and connect with other side front vehicle wheel；Tenth third hand tap gear is mounted on second
On transmission shaft, and engaged with the 11st bevel gear and the 12nd bevel gear.
When robot drives travelling platform straight-line travellings on road using wheeled pair, control to adjust defeated on driving motor
Enter axis rotation；Input shaft rotation on driving motor just will drive driving transmission telescopic rotation；Driving transmission telescopic rotation
It just will drive the flexible transmission shaft rotation of driving；Driving transmission telescopic shaft rotation just will drive circular gear rotation；Round tooth rotation
It is dynamic just to will drive ring gear rotation；Ring gear rotation just will drive the rotation of circular rotatable shell；The rotation of circular rotatable shell will
The second connecting shaft and the fourth connecting shaft is driven to rotate around the axis of circular rotatable shell；Second connecting shaft and the fourth connecting shaft rotation
The axis that the 11st bevel gear and the 12nd bevel gear just be will drive around circular rotatable shell rotates；Due to the tenth bevel gear and
Ten third hand tap gears are engaged with the 11st bevel gear and the 12nd bevel gear respectively, i.e. the 11st bevel gear and the 12nd bevel gear turn
It is dynamic just to will drive the tenth bevel gear and the rotation of the tenth triconodont；Tenth bevel gear and the rotation of the tenth triconodont wheel will drive simultaneously
First transmission shaft and second driving shaft rotation；First transmission shaft and second driving shaft rotation just will drive robot two sides front vehicle wheel
Rotation；Since present invention design belongs to double drive travelling platforms, i.e. robot front vehicle wheel will drive rear-wheel by bottom plate when driving
Traveling；So that robot straight-line travelling on road；Since the rotation of circular rotatable shell also will drive the first connecting shaft in the present invention
Axis with third connecting shaft around circular rotatable shell rotates；So that the first connecting shaft and the rotation of third connecting shaft just will drive the
Four bevel gears and the rotation of the 6th bevel gear；4th bevel gear and the rotation of the 6th bevel gear just will drive third hand tap gear and the 5th cone
Gear rotation；Since third hand tap gear and the 5th bevel gear are respectively and fixedly installed on the first axle sleeve and the second axle sleeve, i.e., the 4th
Bevel gear and the idle running of the 6th bevel gear.
Motor support is adjusted in the present invention to be fixedly mounted on bottom plate, and adjusts two opened on motor support and bottom plate
One of round slot cooperation in round slot；Driving motor support is fixedly mounted on bottom plate, and driving motor supports
Cooperate with another round slot in opened on bottom plate two round slots；It adjusts and is driven the not opening one end of flexible axle sleeve
With the output axis connection for adjusting motor；Driving is driven the output axis connection of the not opening one end and driving motor of flexible axle sleeve；The
The not opening one end of one telescopic is fixedly mounted on bottom plate lower end；；One end nesting of first telescopic mast is mounted on the first telescopic
It is interior；Rectangular connecting block is equipped with a support cylinder；Rectangular connecting block is fixedly mounted on the other end of the first telescopic mast；First is solid
Determine spring to be fixedly mounted between bottom plate and rectangular connecting block, and is nested in the outside of the first telescopic mast and the first telescopic；Before
Wheel is fixedly mounted in rectangular connecting block by being mounted on the support cylinder installed in rectangular connecting block；Second telescopic is not
One end of opening is fixedly mounted on bottom plate lower end, and is located at floor rear；One end nesting of second telescopic mast is mounted on second and stretches
In contracting set；Rear wheel fixing groove is fixedly mounted on the other end of the first telescopic mast；Second fixed spring be fixedly mounted on bottom plate with
Between rear wheel fixing groove, and it is nested in the outside of the second telescopic mast and the second telescopic；Rear wheel is mounted on by straight pin
In rear wheel fixing groove；Driving mechanism is adjusted to be fixedly mounted between two rectangular connecting blocks；Adjust transmission telescopic shaft one end
Symmetrical guide block there are two being fixedly mounted on periphery；Adjust transmission telescopic shaft have one end of guide block by two guide blocks with
The cooperation nesting for adjusting two guide grooves opened on transmission telescopic is mounted on adjusting and is driven in flexible axle sleeve；First bevel gear is solid
Dingan County is located in protective shell mounted in the other end for adjusting transmission telescopic shaft；It is solid on the periphery of driving transmission telescopic shaft one end
Dingan County's dress there are two symmetrical guide block；There is driving transmission telescopic shaft one end of guide block to be stretched by two guide blocks and driving transmission
The cooperation nesting for two guide grooves opened on contracting axle sleeve is mounted on driving and is driven in flexible axle sleeve；Circular gear is fixedly mounted on drive
The other end of dynamic transmission telescopic shaft, and be located in protective shell；Circular rotatable shell is mounted in protective shell by annular brace；First
In the circular hole that the side that axle sleeve is fixedly mounted on round protective shell is opened；Second bevel gear is fixedly mounted on the one of the first axle sleeve
End, and second bevel gear is engaged with first bevel gear；Ring gear is fixedly mounted on the other side of circular rotatable shell, and with circle
Gear engagement；The other end of the first axle sleeve is fixedly mounted in third hand tap gear, and is located on the inside of circular rotatable shell；First connecting shaft
One end is mounted in the one of round hole for four round holes opened on circular rotatable shell periphery, and close to circular rotatable
The circular hole opened on shell；4th bevel gear is mounted on the other end of the first connecting shaft, and engages with third hand tap gear；Third connection
One end of axis is mounted in the one of round hole for four axis holes opened on circular rotatable shell periphery, and third connecting shaft
Axis and the first connecting shaft axis collinear；6th bevel gear is mounted on the other end of third connecting shaft, and with triconodont
Wheel engagement；First transmission shaft is mounted in the first axle sleeve, and one end of the first transmission shaft passes through one of the connection of the first rectangle
The axis hole opened on block is connect with robot side front vehicle wheel；The other end of first transmission shaft passes through protective shell two sides wherein side
The axis hole and the first axle sleeve opened are mounted in circular rotatable shell；Second axle sleeve is mounted on the first transmission shaft；5th bevel gear
One end be fixedly mounted on one end of the second axle sleeve, and the 5th bevel gear engages with the 4th bevel gear and the 6th bevel gear respectively；
7th bevel gear is fixedly mounted on the other end of the second axle sleeve；Tenth bevel gear is mounted on the first transmission shaft and is located at circular rotatable shell
Interior one end；One end of second connecting shaft is mounted on one of them in four round holes opened on circular rotatable shell periphery
In round hole, and close to the first connecting shaft；8th bevel gear is mounted in the second connecting shaft, and engages with the 7th bevel gear；The
11 bevel gears are mounted on the other end of the second connecting shaft, and engage with the tenth bevel gear；One end of the fourth connecting shaft is mounted on
In the one of round hole for four round holes opened on circular rotatable shell periphery, and the axis of the fourth connecting shaft and second
The axis collinear of connecting shaft；9th bevel gear is mounted in the fourth connecting shaft, and engages with the 7th bevel gear；12nd bevel gear
It is mounted on the other end of the fourth connecting shaft, and is engaged with the tenth bevel gear；It is another that one end of second driving shaft passes through protective shell two sides
The shaft hole that the axis hole and the circular rotatable shell other side that side is opened are opened is mounted in circular rotatable shell；Second driving shaft it is another
One end passes through the axis hole opened in another rectangular connecting block and connect with other side front vehicle wheel；Tenth third hand tap gear is mounted on second
On transmission shaft, and engaged with the 11st bevel gear and the 12nd bevel gear.
When robot drives through bend using wheeled double drive travelling platforms, robot controls to adjust the input shaft of motor
Rotation；It adjusts the input shaft rotation on motor and drives adjusting transmission telescopic rotation；Adjusting transmission telescopic rotation just will drive
Adjust transmission telescopic shaft rotation；Adjusting flexible transmission shaft rotation just will drive first bevel gear rotation；First bevel gear rotates just
It will drive second bevel gear rotation；Second bevel gear rotation, which just will drive, will drive the first axle sleeve to rotate；The rotation of first axle sleeve
It just will drive third hand tap gear rotation；Since the 4th bevel gear and the 6th bevel gear engage with third hand tap gear, so third
Bevel gear rotation just will drive the 4th bevel gear and the rotation of the 6th bevel gear, to drive the rotation of the 5th bevel gear；5th cone tooth
Wheel rotation drives the rotation of the second axle sleeve；The rotation of second axle sleeve just will drive the rotation of the 7th bevel gear；Due to the 8th bevel gear and
Nine bevel gears engage with the 7th bevel gear, so that the rotation of the 7th bevel gear just will drive the 8th bevel gear and the 9th bevel gear turns
It is dynamic；8th bevel gear and the rotation of the 9th bevel gear just will drive the second connecting shaft and the fourth connecting shaft rotation；Second connecting shaft and
The fourth connecting shaft rotation will drive the 11st bevel gear and the rotation of the 12nd bevel gear；Due to the 11st bevel gear and the 12nd
Bevel gear engages with the tenth bevel gear, and the 11st bevel gear and the rotation of the 12nd bevel gear just will drive the tenth bevel gear and turn
It is dynamic；Due in the rotation direction of the 11st bevel gear and the 12nd bevel gear and the tenth bevel gear and the tenth third hand tap gear wherein one
A rotation direction is identical, another rotation direction is opposite；So the rotation of the 11st bevel gear and the 12nd bevel gear will make
It obtains one of velocity of rotation in the tenth bevel gear and the tenth third hand tap gear to become faster, another velocity of rotation is slack-off；I.e. first passes
Velocity of rotation one of moving axis and second driving shaft become faster one it is slack-off；Velocity of rotation one of i.e. two front vehicle wheels becomes faster one
It is slack-off；The turning function of robot is realized by the speed difference of two wheels.
Two rear wheels of robot belong to universal wheel in the present invention, are when robot is diverted through bend and robot
Two front vehicle wheels convenient for cooperation；And installed on two rear-wheels two the second fixed springs, two the second telescopics, two
Second telescopic mast is to play the role of damping, buffering to robot when robot passes through hogwallow.
When the robot that people are designed using the present invention is using wheeled double drive travelling platforms；Robot controls to adjust motor
Input shaft rotation；It adjusts the input shaft rotation on motor and drives adjusting transmission telescopic rotation；Adjust transmission telescopic rotation
It just will drive adjusting transmission telescopic shaft rotation；Adjusting flexible transmission shaft rotation just will drive first bevel gear rotation；First cone tooth
Wheel rotation will drive second bevel gear to rotate；Second bevel gear rotation, which just will drive, will drive the first axle sleeve to rotate；First
Axle sleeve rotation just will drive third hand tap gear rotation；Since the 4th bevel gear and the 6th bevel gear engage with third hand tap gear,
So third hand tap gear rotation just will drive the 4th bevel gear and the rotation of the 6th bevel gear, to drive the rotation of the 5th bevel gear；
The rotation of 5th bevel gear drives the rotation of the second axle sleeve；The rotation of second axle sleeve just will drive the rotation of the 7th bevel gear；Due to the 8th cone
Gear and the 9th bevel gear engage with the 7th bevel gear, so that the rotation of the 7th bevel gear just will drive the 8th bevel gear and the 9th
Bevel gear rotation；8th bevel gear and the rotation of the 9th bevel gear just will drive the second connecting shaft and the fourth connecting shaft rotation；Second
Connecting shaft and the fourth connecting shaft rotation will drive the 11st bevel gear and the rotation of the 12nd bevel gear；Due to the 11st bevel gear
It is engaged with the tenth bevel gear with the 12nd bevel gear, the 11st bevel gear and the rotation of the 12nd bevel gear just will drive the tenth cone
Gear rotation；Due in the rotation direction of the 11st bevel gear and the 12nd bevel gear and the tenth bevel gear and the tenth third hand tap gear
One of rotation direction is identical, another rotation direction is opposite；So the rotation of the 11st bevel gear and the 12nd bevel gear
One of velocity of rotation in the tenth bevel gear and the tenth third hand tap gear will be made to become faster, another velocity of rotation is slack-off；I.e.
Velocity of rotation one of first transmission shaft and second driving shaft become faster one it is slack-off；Velocity of rotation one change of i.e. two front vehicle wheels
Fast one slack-off；The turning function of robot is realized by the speed difference of two wheels.
Detailed description of the invention
Fig. 1 is overall structure diagram.
Fig. 2 is to adjust driving mechanism scheme of installation.
Fig. 3 is fore wheel structure schematic diagram.
Fig. 4 is rear-wheel structure schematic diagram.
Fig. 5 is rear-wheel schematic diagram of internal structure.
Fig. 6 is to adjust electrical motor supporting structure schematic diagram.
Fig. 7 is driving motor support construction schematic diagram.
Fig. 8 is to adjust scheme of installation inside driving mechanism.
Fig. 9 is to adjust transmission telescopic structural schematic diagram.
Figure 10 is driving transmission telescopic shaft structural schematic diagram.
Figure 11 is circular rotatable shell structure schematic diagram.
Figure 12 is driving transmission telescopic shaft structural schematic diagram.
Figure 13 is ring gear scheme of installation.
Figure 14 is the first axle sleeve scheme of installation.
Figure 15 is third hand tap gear scheme of installation.
Figure 16 is the second axle sleeve scheme of installation.
Figure 17 is the first transmission shaft structure schematic diagram.
Figure 18 is annular supporting structure schematic diagram.
Figure label title: 1, front vehicle wheel；2, rear wheel；3, bottom plate；4, driving mechanism is adjusted；5, motor is adjusted；6, it drives
Dynamic motor；7, rectangular connecting block；8, the first fixed spring；9, the first transmission shaft；10, the first telescopic mast；11, the first telescopic；
12, rear wheel fixing groove；13, the second fixed spring；14, the second telescopic；15, the second telescopic mast；16, motor support is adjusted；
17, transmission telescopic is adjusted；18, driving motor supports；19, driving transmission telescopic；20, protective shell；21, circular rotatable shell；
22, transmission telescopic shaft is adjusted；23, driving transmission telescopic shaft；24, ring gear；25, the first connecting shaft；26, the second connecting shaft；
27, third connecting shaft；28, the fourth connecting shaft；29, circular gear；30, first bevel gear；31, second bevel gear；32, first axle
Set；33, the second axle sleeve；34, third hand tap gear；35, the 4th bevel gear；36, the 5th bevel gear；37, the 6th bevel gear；38,
Seven bevel gears；39, the 8th bevel gear；40, the 9th bevel gear；41, the tenth bevel gear；42, the 11st bevel gear；43, the ten two
Bevel gear；44, the tenth third hand tap gear；45, second driving shaft；46, annular brace；47, circular hole；48, shaft hole；49, round hole.
Specific embodiment
As shown in Figure 1, 2, it includes front vehicle wheel 1, rear wheel 2, bottom plate 3, adjusts driving mechanism 4, adjusts motor 5, driving
Motor 6, rectangular connecting block 7, the first fixed spring 8, the first telescopic mast 10, the first flexible axle sleeve, rear wheel fixing groove 12, second
Fixed spring 13, the second telescopic mast 15, adjusts motor support 16, adjusts transmission telescopic 17, driving motor second flexible axle sleeve
Support 18, driving transmission telescopic 19, insole board 3 are fixedly mounted on robot bottom end；It is provided on the upper surface of 3 front side of bottom plate
The round slot of two perforations；As shown in Figure 2,6, it adjusts motor support 16 to be fixedly mounted on bottom plate 3, and adjusts motor support
16 cooperate with one of round slot in opened two on bottom plate 3 round slots；As shown in Fig. 2,7, driving motor branch
Support 18 is fixedly mounted on bottom plate 3, and another circle in the round slots of two opened on driving motor support 18 and bottom plate 3
The cooperation of shape slot；Motor 5 is adjusted to be fixedly mounted in adjusting motor support 16；Driving motor 6 is fixedly mounted on driving motor branch
In support 18；The one end for adjusting 22 sets of telescopic shaft of transmission is open end；It adjusts on the inner headed face for be driven 22 sets of telescopic shaft there are two tools
Symmetrical guide groove；It adjusts transmission 22 sets of not opening one end of telescopic shaft and adjusts the output axis connection of motor 5；Driving transmission is flexible
One end that 23 sets of axis is open end；Driving is driven on 23 sets of telescopic shaft of inner headed face symmetrical guide groove there are two tools；Driving transmission
The output axis connection of telescopic shaft 23 sets of not opening one end and driving motor 6.
As shown in Figure 1, 2, robot two sides front and back wheel 2 is installed full symmetric, for two sides institute, robot mounting structure
In, wherein any side；As shown in figure 3, one end of the first telescopic 11 is open end；The not opening one end of first telescopic 11
It is fixedly mounted on 3 lower end of bottom plate, and one of round slot in the round slot of two opened on bottom plate 3；First stretches
One end nesting of contracting column 10 is mounted in the first telescopic 11；Rectangular connecting block 7 is equipped with a support cylinder；Rectangular connecting block
The axis hole of a perforation is provided on 7；Rectangular connecting block 7 is fixedly mounted on the other end of the first telescopic mast 10；In rectangular connecting block 7
Support center of the cylinder far from bottom plate 3 installed；First fixed spring 8 be fixedly mounted on bottom plate 3 and rectangular connecting block 7 it
Between, and it is nested in the outside of the first telescopic mast 10 and the first telescopic 11；Front vehicle wheel 1 is by being mounted on institute in rectangular connecting block 7
The support cylinder of installation is fixedly mounted in rectangular connecting block 7；As shown in Figure 4,5, one end of the second telescopic 14 is open end；
The not opening one end of second telescopic 14 is fixedly mounted on 3 lower end of bottom plate, and is located at 3 rear side of bottom plate；The one of second telescopic mast 15
End nesting is mounted in the second telescopic 14；Rear wheel fixing groove 12 is fixedly mounted on the other end of the first telescopic mast 10；Second
Fixed spring 13 is fixedly mounted between bottom plate 3 and rear wheel fixing groove 12, and it is flexible to be nested in the second telescopic mast 15 and second
The outside of set 14；Rear wheel 2 is mounted in rear wheel fixing groove 12 by straight pin；It adjusts driving mechanism 4 and is fixedly mounted on two
Between a rectangular connecting block 7.
As shown in figure 8, above-mentioned adjusting driving mechanism 4 includes the first transmission shaft 9, protective shell 20, circular rotatable shell 21, adjusts
It is driven telescopic shaft 22, driving transmission telescopic shaft 23, ring gear 24, the first connecting shaft 25, the second connecting shaft 26, third connecting shaft
27, the fourth connecting shaft 28, circular gear 29, first bevel gear 30, second bevel gear 31, the first axle sleeve 32, the second axle sleeve 33,
Third hand tap gear 34, the 4th bevel gear 35, the 5th bevel gear 36, the 6th bevel gear 37, the 7th bevel gear 38, the 8th bevel gear 39,
9th bevel gear 40, the tenth bevel gear 41, the 11st bevel gear 42, the 12nd bevel gear 43, the tenth third hand tap gear 44, second pass
Moving axis 45, annular brace 46, circular hole 47, shaft hole 48, wherein opened on the upper surface of protective shell 20 there are two in protective shell 20
The axis hole that portion communicates, and two axis holes are located at the both ends of protective shell 20；It is symmetrical there are two being opened on the two sides of protective shell 20
Axis hole, and with communicated inside protective shell 20；It is right there are two being fixedly mounted on the periphery of adjusting transmission 22 one end of telescopic shaft
The guide block of title；Adjusting transmission telescopic shaft 22, there is one end of guide block to be opened on transmission telescopic 17 by two guide blocks and adjusting
The cooperation nesting of two guide grooves is mounted in 22 sets of telescopic shaft of adjusting transmission；As shown in Figures 9 and 10, the fixed peace of first bevel gear 30
Mounted in the other end for adjusting transmission telescopic shaft 22, and it is located in protective shell 20；On the periphery of driving transmission 23 one end of telescopic shaft
Symmetrical guide block there are two being fixedly mounted；There is driving transmission telescopic shaft 23 one end of guide block to be passed by two guide blocks and driving
The cooperation nesting that dynamic telescopic shaft 23 puts on two opened guide grooves is mounted in 23 sets of telescopic shaft of driving transmission；Circular gear 29 is solid
Dingan County is driven the other end of telescopic shaft 23 mounted in driving, and is located in protective shell 20；As shown in Figure 12,18, circular rotatable shell 21
Periphery on it is circumferential be equably provided with two groups of round holes communicated with inside 49, and in two groups of round holes 49, every group of round hole
Two round holes 49 in 49 are located at the both ends of circular rotatable shell 21；The side of circular rotatable shell 21 is provided with a circular hole
47, and with communicated on the inside of circular rotatable shell 21；The other side of circular rotatable shell 21 is provided with a shaft hole 48, and and circular rotatable
It is communicated on the inside of shell 21；Circular rotatable shell 21 is mounted in protective shell 20 by annular brace 46；First axle sleeve 32 is fixedly mounted on
In the circular hole 47 that the side of round protective shell 20 is opened；As shown in Figure 14,15, second bevel gear 31 is fixedly mounted on the first axle sleeve
32 one end, and second bevel gear 31 is engaged with first bevel gear 30；Ring gear 24 is fixedly mounted on circular rotatable shell 21
The other side, and engaged with circular gear 29；The other end of the first axle sleeve 32 is fixedly mounted in third hand tap gear 34, and is located at round turn
Dynamic 21 inside of shell；As shown in figure 11, one end of the first connecting shaft 25 is mounted on four opened on 21 periphery of circular rotatable shell
In one of round hole 49 of round hole 49, and the circular hole 47 opened on circular rotatable shell 21；4th bevel gear 35 peace
It is engaged mounted in the other end of the first connecting shaft 25, and with third hand tap gear 34；One end of third connecting shaft 27 is mounted on round turn
In the one of round hole 49 for four axis holes opened on dynamic 21 periphery of shell, and the axis of third connecting shaft 27 and first connects
The axis collinear of spindle 25；6th bevel gear 37 is mounted on the other end of third connecting shaft 27, and engages with third hand tap gear 34；
As shown in Fig. 3,8, the first transmission shaft 9 is mounted in the first axle sleeve 32, and one end of the first transmission shaft 9 passes through one of first
The axis hole opened in rectangular connecting block is connect with robot side front vehicle wheel 1；The other end of first transmission shaft 9 passes through protective shell 20
The two sides axis hole that wherein side is opened and the first axle sleeve 32 are mounted in circular rotatable shell 21；As shown in Figure 14,16, the second axle sleeve
33 are mounted on the first transmission shaft 9；One end of 5th bevel gear 36 is fixedly mounted on one end of the second axle sleeve 33, and the 5th cone tooth
Wheel 36 is engaged with the 4th bevel gear 35 and the 6th bevel gear 37 respectively；7th bevel gear 38 is fixedly mounted on the another of the second axle sleeve 33
One end；Tenth bevel gear 41 is mounted on one end that the first transmission shaft 9 is located in circular rotatable shell 21；As shown in figure 11, second connects
One end of spindle 26 is mounted on one of round hole 49 in four round holes 49 opened on 21 periphery of circular rotatable shell
It is interior, and close to the first connecting shaft 25；8th bevel gear 39 is mounted in the second connecting shaft 26, and engages with the 7th bevel gear 38；
11st bevel gear 42 is mounted on the other end of the second connecting shaft 26, and engages with the tenth bevel gear 41；The fourth connecting shaft 28
One end is mounted in the one of round hole 49 for four round holes 49 opened on 21 periphery of circular rotatable shell, and the 4th connects
The axis collinear of the axis of spindle 28 and the second connecting shaft 26；9th bevel gear 40 is mounted in the fourth connecting shaft 28, and with
The engagement of seven bevel gears 38；12nd bevel gear 43 is mounted on the other end of the fourth connecting shaft 28, and engages with the tenth bevel gear 41；
One end of second driving shaft 45 passes through the axis hole opened of the 20 two sides other side of protective shell and 21 other side of circular rotatable shell opened
Shaft hole 48 is mounted in circular rotatable shell 21；The other end of second driving shaft 45 passes through to be opened in another rectangular connecting block 7
Axis hole connect with other side front vehicle wheel 1；Tenth third hand tap gear 44 is mounted on second driving shaft 45, and with the 11st bevel gear
The engagement of 42 and the 12nd bevel gear 43.
As shown in Figure 13,17, above-mentioned first connecting shaft 25, the second connecting shaft 26, third connecting shaft 27 and the fourth connecting shaft
28 are rotatably assorted with circular rotatable shell 21.
As shown in Figure 4,5, above-mentioned rear wheel 2 is universal wheel, and plays the role of damping, buffering.
As shown in Fig. 2, above-mentioned first fixed spring 8 is compressed spring.
As shown in figure 4, above-mentioned second fixed spring 13 is compressed spring.
As shown in Fig. 2, above-mentioned two rectangular connecting block 7 is welding with driving mechanism 4 is adjusted.
As shown in Fig. 3,5, installed on the support cylinder and second driving shaft 45 installed on above-mentioned first transmission shaft 9
Pass through bearing fit between support cylinder and front vehicle wheel 1.
In summary:
The present invention devises a kind of wheeled double drive travelling platforms that robot uses, it preferably can make robot exist
Speed difference is controlled when steering, and then realizes that a wheel is fast, and a wheel is slow, reaches robot two sides wheel and realizes rotational speed difference
Different variation；Adjusting in the present invention, which turns to, is different from common wheel steering, when adjust turn in it is static do not turn when, machine
Two front-wheels of device people rotate at the same speed, as long as being in static when controlling to adjust the process that motor 5 turns to as you pass the bend
State will make two wheels synchronized.To preferably make robot by bend, there is preferable using effect.
Driving motor support 18 is fixedly mounted on bottom plate 3 in the present invention；One end that driving is driven 23 sets of telescopic shaft is to open
Mouth end；The output axis connection of driving transmission telescopic shaft 23 sets of not opening one end and driving motor 6；Driving transmission telescopic shaft 23 1
Symmetrical guide block there are two being fixedly mounted on the periphery at end；There is driving transmission telescopic shaft 23 one end of guide block to pass through two
Guide block puts on nested be mounted on of the opened cooperation of two guide grooves with driving transmission telescopic shaft 23 and drives in 23 sets of telescopic shaft of transmission；
Circular gear 29 is fixedly mounted on the other end of driving transmission telescopic shaft 23, and is located in protective shell 20；Circular rotatable shell 21 is logical
Annular brace 46 is crossed to be mounted in protective shell 20；First axle sleeve 32 is fixedly mounted on the circular hole that the side of round protective shell 20 is opened
In 47；Ring gear 24 is fixedly mounted on the other side of circular rotatable shell 21, and engages with circular gear 29；Third hand tap gear 34
The other end of the first axle sleeve 32 is fixedly mounted, and is located at 21 inside of circular rotatable shell；One end of first connecting shaft 25 is mounted on circle
In the one of round hole 49 for four round holes 49 opened on shape rotation 21 periphery of shell；4th bevel gear 35 is mounted on
The other end of one connecting shaft 25, and engaged with third hand tap gear 34；One end of third connecting shaft 27 is mounted on circular rotatable shell 21
In the one of round hole 49 for four axis holes opened on periphery；6th bevel gear 37 is mounted on the another of third connecting shaft 27
One end, and engaged with third hand tap gear 34；First transmission shaft 9 is mounted in the first axle sleeve 32, and one end of the first transmission shaft 9 is worn
The axis hole opened in one of them first rectangular connecting block is crossed to connect with robot side front vehicle wheel 1；Second axle sleeve 33 is mounted on
On first transmission shaft 9；One end of 5th bevel gear 36 is fixedly mounted on one end of the second axle sleeve 33, and the 5th bevel gear 36 is distinguished
It is engaged with the 4th bevel gear 35 and the 6th bevel gear 37；Tenth bevel gear 41 is mounted on the first transmission shaft 9 and is located at circular rotatable shell
One end in 21；One end of second connecting shaft 26 is mounted in four round holes 49 opened on 21 periphery of circular rotatable shell
In one of round hole 49, and close to the first connecting shaft 25；11st bevel gear 42 is mounted on the another of the second connecting shaft 26
End, and engaged with the tenth bevel gear 41；12nd bevel gear 43 is mounted on the other end of the fourth connecting shaft 28, and bores tooth with the tenth
41 engagement of wheel；One end of second driving shaft 45 passes through the axis hole that the 20 two sides other side of protective shell is opened and circular rotatable shell 21 is another
The shaft hole 48 that side is opened is mounted in circular rotatable shell 21；The other end of second driving shaft 45 passes through another rectangular connecting block
The axis hole opened on 7 is connect with other side front vehicle wheel 1；Tenth third hand tap gear 44 is mounted on second driving shaft 45, and with the tenth
One bevel gear 42 and the engagement of the 12nd bevel gear 43.
When robot drives travelling platform straight-line travellings on road using wheeled pair, control to adjust on driving motor 6
Input shaft rotation；Input shaft rotation on driving motor 6 just will drive driving transmission telescopic 19 and rotate；Driving transmission telescopic
19 rotations just will drive the flexible transmission shaft rotation of driving；The driving transmission rotation of telescopic shaft 23 just will drive the rotation of circular gear 29；
The rotation of circular gear 29 just will drive the rotation of ring gear 24；The rotation of ring gear 24 just will drive the rotation of circular rotatable shell 21；
Circular rotatable shell 21 rotates the axis rotation that just will drive the second connecting shaft 26 and the fourth connecting shaft 28 around circular rotatable shell 21；
Second connecting shaft 26 and the rotation of the fourth connecting shaft 28 just will drive the 11st bevel gear 42 and the 12nd bevel gear 43 around circle
Rotate the axis rotation of shell 21；Due to the tenth bevel gear 41 and the tenth third hand tap gear 44 respectively with the 11st bevel gear 42 and the tenth
The engagement of two bevel gears 43, i.e. the 11st bevel gear 42 and the rotation of the 12nd bevel gear 43 just will drive the tenth bevel gear 41 and the tenth
Triconodont rotation；Tenth bevel gear 41 and the rotation of the tenth third hand tap gear 44 will drive the first transmission shaft 9 and the second transmission simultaneously
Axis 45 rotates；First transmission shaft 9 and the rotation of second driving shaft 45 just will drive the rotation of robot two sides front vehicle wheel 1；Due to this hair
Bright design belongs to double drive travelling platforms, i.e. robot front vehicle wheel 1 will pass through the drive rear-wheel traveling of bottom plate 3 when driving；So that machine
Device people straight-line travelling on road；Connect since the rotation of circular rotatable shell 21 also will drive the first connecting shaft 25 with third in the present invention
Spindle 27 is rotated around the axis of circular rotatable shell 21；So that the first connecting shaft 25 and the rotation of third connecting shaft 27 just will drive the
Four bevel gears 35 and the rotation of the 6th bevel gear 37；4th bevel gear 35 and the rotation of the 6th bevel gear 37 just will drive third hand tap gear
34 and the 5th bevel gear 36 rotate；Due to third hand tap gear 34 and the 5th bevel gear 36 be respectively and fixedly installed to the first axle sleeve 32 with
On second axle sleeve 33, i.e. the 4th bevel gear 35 and the idle running of the 6th bevel gear 37.
Motor support 16 is adjusted in the present invention to be fixedly mounted on bottom plate 3, and is adjusted and opened on motor support 16 and bottom plate 3
Two round slots in one of round slot cooperation；Driving motor support 18 is fixedly mounted on bottom plate 3, and is driven
Another round slot in the round slot of two opened on motor support 18 and bottom plate 3 cooperates；Adjust transmission telescopic shaft 22
Cover the output axis connection of not opening one end and adjusting motor 5；Driving transmission 23 sets of not opening one end of telescopic shaft and driving electricity
The output axis connection of machine 6；The not opening one end of first telescopic 11 is fixedly mounted on 3 lower end of bottom plate；；The one of first telescopic mast 10
End nesting is mounted in the first telescopic 11；Rectangular connecting block 7 is equipped with a support cylinder；Rectangular connecting block 7 is fixedly mounted
In the other end of the first telescopic mast 10；First fixed spring 8 is fixedly mounted between bottom plate 3 and rectangular connecting block 7, and is nested in
The outside of first telescopic mast 10 and the first telescopic 11；Front vehicle wheel 1 is held round by being mounted on the branch installed in rectangular connecting block 7
Column is fixedly mounted in rectangular connecting block 7；The not opening one end of second telescopic 14 is fixedly mounted on 3 lower end of bottom plate, and is located at
3 rear side of bottom plate；One end nesting of second telescopic mast 15 is mounted in the second telescopic 14；Rear wheel fixing groove 12 is fixedly mounted on
The other end of first telescopic mast 10；Second fixed spring 13 is fixedly mounted between bottom plate 3 and rear wheel fixing groove 12, and nested
In the outside of the second telescopic mast 15 and the second telescopic 14；Rear wheel 2 is mounted in rear wheel fixing groove 12 by straight pin；It adjusts
Section driving mechanism 4 is fixedly mounted between two rectangular connecting blocks 7；Adjust fixed peace on the periphery of transmission 22 one end of telescopic shaft
Symmetrical guide block there are two filling；It adjusts the one end of transmission telescopic shaft 22 with guide block and is stretched by two guide blocks with transmission is adjusted
The cooperation nesting for two guide grooves opened on set 17 is mounted in 22 sets of telescopic shaft of adjusting transmission；First bevel gear 30 is fixedly mounted
In the other end for adjusting transmission telescopic shaft 22, and it is located in protective shell 20；It is solid on the periphery of driving transmission 23 one end of telescopic shaft
Dingan County's dress there are two symmetrical guide block；There is driving transmission telescopic shaft 23 one end of guide block to be driven by two guide blocks and driving
The cooperation nesting that telescopic shaft 23 puts on two opened guide grooves is mounted in 23 sets of telescopic shaft of driving transmission；Circular gear 29 is fixed
It is mounted on the other end of driving transmission telescopic shaft 23, and is located in protective shell 20；Circular rotatable shell 21 is pacified by annular brace 46
In protective shell 20；In the circular hole 47 that the side that first axle sleeve 32 is fixedly mounted on round protective shell 20 is opened；Second cone tooth
Wheel 31 is fixedly mounted on one end of the first axle sleeve 32, and second bevel gear 31 is engaged with first bevel gear 30；Ring gear 24 is solid
Dingan County is mounted in the other side of circular rotatable shell 21, and engages with circular gear 29；The first axle sleeve is fixedly mounted in third hand tap gear 34
32 other end, and it is located at 21 inside of circular rotatable shell；One end of first connecting shaft 25 is mounted on 21 periphery of circular rotatable shell
On in one of round hole 49 of four round holes 49 for being opened, and the circular hole 47 opened on circular rotatable shell 21；The
Four bevel gears 35 are mounted on the other end of the first connecting shaft 25, and engage with third hand tap gear 34；One end of third connecting shaft 27
It is mounted in the one of round hole 49 for four axis holes opened on 21 periphery of circular rotatable shell, and third connecting shaft 27
The axis collinear of axis and the first connecting shaft 25；6th bevel gear 37 is mounted on the other end of third connecting shaft 27, and and third
Bevel gear 34 engages；First transmission shaft 9 is mounted in the first axle sleeve 32, and one end of the first transmission shaft 9 passes through one of
The axis hole opened in one rectangular connecting block is connect with robot side front vehicle wheel 1；The other end of first transmission shaft 9 passes through protective shell
The 20 two sides axis hole that wherein side is opened and the first axle sleeve 32 are mounted in circular rotatable shell 21；Second axle sleeve 33 is mounted on first
On transmission shaft 9；One end of 5th bevel gear 36 is fixedly mounted on one end of the second axle sleeve 33, and the 5th bevel gear 36 is respectively with
Four bevel gears 35 and the engagement of the 6th bevel gear 37；7th bevel gear 38 is fixedly mounted on the other end of the second axle sleeve 33；Tenth cone
Gear 41 is mounted on one end that the first transmission shaft 9 is located in circular rotatable shell 21；One end of second connecting shaft 26 is mounted on circle
In the one of round hole 49 in four round holes 49 opened on rotation 21 periphery of shell, and close to the first connecting shaft 25；
8th bevel gear 39 is mounted in the second connecting shaft 26, and engages with the 7th bevel gear 38；11st bevel gear 42 is mounted on
The other end of two connecting shafts 26, and engaged with the tenth bevel gear 41；One end of the fourth connecting shaft 28 is mounted on circular rotatable shell 21
In the one of round hole 49 for four round holes 49 opened on periphery, and the axis of the fourth connecting shaft 28 is connect with second
The axis collinear of axis 26；9th bevel gear 40 is mounted in the fourth connecting shaft 28, and engages with the 7th bevel gear 38；Tenth plug tap
Gear 43 is mounted on the other end of the fourth connecting shaft 28, and engages with the tenth bevel gear 41；One end of second driving shaft 45 passes through
The shaft hole 48 that the axis hole and 21 other side of circular rotatable shell that the 20 two sides other side of protective shell is opened are opened is mounted on circular rotatable
In shell 21；The other end of second driving shaft 45 passes through the axis hole opened in another rectangular connecting block 7 and other side front vehicle wheel 1 connects
It connects；Tenth third hand tap gear 44 is mounted on second driving shaft 45, and is engaged with the 11st bevel gear 42 and the 12nd bevel gear 43.
When robot drives through bend using wheeled double drive travelling platforms, robot controls to adjust the input of motor 5
Axis rotation；Adjusting the input shaft rotation on motor 5 drives adjusting transmission telescopic 17 to rotate；Adjust the rotation of transmission telescopic 17 just
It will drive adjusting transmission telescopic shaft 22 to rotate；Adjusting flexible transmission shaft rotation just will drive the rotation of first bevel gear 30；First cone
The rotation of gear 30 just will drive the rotation of second bevel gear 31；The rotation of second bevel gear 31, which just will drive, will drive the first axle sleeve 32
Rotation；The rotation of first axle sleeve 32 just will drive the rotation of third hand tap gear 34；Due to the 4th bevel gear 35 and the 6th bevel gear 37
It is engaged with third hand tap gear 34, so the rotation of third hand tap gear 34 just will drive 37 turns of the 4th bevel gear 35 and the 6th bevel gear
It is dynamic, to drive the rotation of the 5th bevel gear 36；The rotation of 5th bevel gear 36 drives the rotation of the second axle sleeve 33；The rotation of second axle sleeve 33
It just will drive the rotation of the 7th bevel gear 38；Since the 8th bevel gear 39 and the 9th bevel gear 40 engage with the 7th bevel gear 38,
So that the rotation of the 7th bevel gear 38 just will drive the 8th bevel gear 39 and the rotation of the 9th bevel gear 40；8th bevel gear 39 and the 9th
The rotation of bevel gear 40 just will drive the second connecting shaft 26 and the fourth connecting shaft 28 rotates；Second connecting shaft 26 and the fourth connecting shaft 28
Rotation will drive the 11st bevel gear 42 and the rotation of the 12nd bevel gear 43；Due to the 11st bevel gear 42 and the tenth plug tap tooth
Wheel 43 is engaged with the tenth bevel gear 41, and the 11st bevel gear 42 and the rotation of the 12nd bevel gear 43 just will drive the tenth bevel gear
41 rotations；Due to the rotation direction of the 11st bevel gear 42 and the 12nd bevel gear 43 and the tenth bevel gear 41 and the tenth triconodont
One of rotation direction is identical in wheel 44, another rotation direction is opposite；So the 11st bevel gear 42 and the tenth plug tap tooth
The rotation of wheel 43 will make one of velocity of rotation in the tenth bevel gear 41 and the tenth third hand tap gear 44 become faster, another turn
It is dynamic to slow；That is velocity of rotation one of the first transmission shaft 9 and second driving shaft 45 become faster one it is slack-off；That is two front vehicle wheels
Velocity of rotation one of 1 become faster one it is slack-off；The turning function of robot is realized by the speed difference of two wheels.
Two rear wheels 2 of robot belong to universal wheel in the present invention, are when robot is diverted through bend and machine
Two front vehicle wheels 1 of people are convenient for cooperation；And two the second fixed springs, 13, two the second telescopics installed on two rear-wheels
14, two the second telescopic masts 15 are to play the role of damping, buffering to robot when robot passes through hogwallow.
Specific embodiment: robot controls to adjust the input shaft rotation of motor 5；Adjust the input shaft rotation on motor 5
It drives and adjusts the transmission rotation of telescopic 17；The adjusting transmission rotation of telescopic 17 just will drive the adjusting transmission rotation of telescopic shaft 22；It adjusts
Saving flexible transmission shaft rotation just will drive the rotation of first bevel gear 30；The rotation of first bevel gear 30 just will drive second bevel gear 31
Rotation；The rotation of second bevel gear 31, which just will drive, will drive the first axle sleeve 32 to rotate；The rotation of first axle sleeve 32 just will drive the
Third hand tap gear 34 rotates；Since the 4th bevel gear 35 and the 6th bevel gear 37 engage with third hand tap gear 34, so third is bored
The rotation of gear 34 just will drive the 4th bevel gear 35 and the rotation of the 6th bevel gear 37, to drive the rotation of the 5th bevel gear 36；The
The rotation of five bevel gears 36 drives the rotation of the second axle sleeve 33；The rotation of second axle sleeve 33 just will drive the rotation of the 7th bevel gear 38；Due to
8th bevel gear 39 and the 9th bevel gear 40 engage with the 7th bevel gear 38, so that the rotation of the 7th bevel gear 38 just will drive the
Eight bevel gears 39 and the rotation of the 9th bevel gear 40；8th bevel gear 39 and the rotation of the 9th bevel gear 40 just will drive the second connecting shaft
26 and the fourth connecting shaft 28 rotate；Second connecting shaft 26 and the rotation of the fourth connecting shaft 28 will drive the 11st bevel gear 42 and the
The rotation of 12 bevel gears 43；Since the 11st bevel gear 42 and the 12nd bevel gear 43 engage with the tenth bevel gear 41, the tenth
One bevel gear 42 and the rotation of the 12nd bevel gear 43 just will drive the rotation of the tenth bevel gear 41；Due to the 11st bevel gear 42 and
The rotation direction of 12 bevel gears 43 is identical as one of rotation direction in the tenth bevel gear 41 and the tenth third hand tap gear 44, separately
One rotation direction is opposite；So the rotation of the 11st bevel gear 42 and the 12nd bevel gear 43 will make the tenth bevel gear 41
It becomes faster with one of velocity of rotation in the tenth third hand tap gear 44, another velocity of rotation is slack-off；That is the first transmission shaft 9 and second
Velocity of rotation one of transmission shaft 45 become faster one it is slack-off；Velocity of rotation one of i.e. two front vehicle wheels 1 become faster one it is slack-off；It is logical
The speed difference for crossing two wheels realizes the turning function of robot.
Claims (5)
1. wheeled double drive travelling platforms that a kind of robot uses, it is characterised in that: it includes front vehicle wheel, rear wheel, bottom plate, tune
Save driving mechanism, adjust motor, driving motor, rectangular connecting block, the first fixed spring, the first telescopic mast, the first flexible axle sleeve,
Rear wheel fixing groove, the second flexible axle sleeve, the second telescopic mast, adjusts motor support, adjusts to be driven and stretch the second fixed spring
Set, driving motor support, driving transmission telescopic, insole board are fixedly mounted on robot bottom end；Upper surface on front side of bottom plate
On open there are two penetrate through round slot；It adjusts motor support to be fixedly mounted on bottom plate, and adjusts on motor support and bottom plate
One of round slot cooperation in the round slot of two opened；Driving motor support is fixedly mounted on bottom plate, and is driven
Another round slot in the round slot of two opened on dynamic motor support and bottom plate cooperates；Motor is adjusted to be fixedly mounted on
It adjusts in motor support；Driving motor is fixedly mounted in driving motor support；Adjusting and being driven one end of flexible axle sleeve is opening
End；Adjust symmetrical guide groove there are two having on the inner headed face for being driven flexible axle sleeve；It adjusts and is driven the not opening one end of flexible axle sleeve
With the output axis connection for adjusting motor；One end that driving is driven flexible axle sleeve is open end；Driving is driven the inner circle of flexible axle sleeve
There are two symmetrical guide grooves for tool on face；Driving is driven the output axis connection of the not opening one end and driving motor of flexible axle sleeve；
The installation of robot two sides front and back wheel is full symmetric, in two sides institute, robot mounting structure, wherein any side: the
One end of one telescopic is open end；The not opening one end of first telescopic is fixedly mounted on bottom plate lower end, and on bottom plate
One of round slot in the round slot of two opened；One end nesting of first telescopic mast is mounted in the first telescopic；
Rectangular connecting block is equipped with a support cylinder；The axis hole of a perforation is provided in rectangular connecting block；The fixed peace of rectangular connecting block
Mounted in the other end of the first telescopic mast；Support center of the cylinder far from bottom plate installed in rectangular connecting block；First fixed bullet
Spring is fixedly mounted between bottom plate and rectangular connecting block, and is nested in the outside of the first telescopic mast and the first telescopic；Front vehicle wheel
It is fixedly mounted in rectangular connecting block by being mounted on the support cylinder installed in rectangular connecting block；One end of second telescopic
For open end；The not opening one end of second telescopic is fixedly mounted on bottom plate lower end, and is located at floor rear；Second telescopic mast
One end nesting is mounted in the second telescopic；Rear wheel fixing groove is fixedly mounted on the other end of the first telescopic mast；Second is fixed
Spring is fixedly mounted between bottom plate and rear wheel fixing groove, and is nested in the outside of the second telescopic mast and the second telescopic；Afterwards
Wheel is mounted in rear wheel fixing groove by straight pin；Driving mechanism is adjusted to be fixedly mounted between two rectangular connecting blocks；
Above-mentioned adjusting driving mechanism includes the first transmission shaft, protective shell, circular rotatable shell, adjusts transmission telescopic shaft, driving transmission
Telescopic shaft, ring gear, the first connecting shaft, the second connecting shaft, third connecting shaft, the fourth connecting shaft, circular gear, the first cone tooth
Wheel, second bevel gear, the first axle sleeve, the second axle sleeve, third hand tap gear, the 4th bevel gear, the 5th bevel gear, the 6th bevel gear,
7th bevel gear, the 8th bevel gear, the 9th bevel gear, the tenth bevel gear, the 11st bevel gear, the 12nd bevel gear, the 13rd
Bevel gear, second driving shaft, annular brace, circular hole, shaft hole, wherein opened on the upper surface of protective shell there are two in protective shell
The axis hole that portion communicates, and two axis holes are located at the both ends of protective shell；Symmetrical axis there are two being opened on the two sides of protective shell
Hole, and with communicated inside protective shell；Symmetrical guide block there are two being fixedly mounted on the periphery of adjusting transmission telescopic shaft one end；
Adjusting transmission telescopic shaft, there is one end of guide block to pass through two guide blocks and adjust matching for two guide grooves opened on transmission telescopic
It closes nesting and is mounted on adjusting and is driven and stretch in axle sleeve；First bevel gear is fixedly mounted on the other end for adjusting transmission telescopic shaft, and
In protective shell；Symmetrical guide block there are two being fixedly mounted on the periphery of driving transmission telescopic shaft one end；Driving transmission
Telescopic shaft has one end of guide block nested with driving transmission telescopic shaft to put on the opened cooperation of two guide grooves by two guide blocks
Driving is mounted on to be driven in flexible axle sleeve；Circular gear is fixedly mounted on the other end of driving transmission telescopic shaft, and is located at protection
In shell；It is circumferential on the periphery of circular rotatable shell to be equably provided with two groups of round holes communicated with inside, and in two groups of round holes,
Two round holes in every group of round hole are located at the both ends of circular rotatable shell；The side of circular rotatable shell is provided with a circle
Hole, and communicated with circular rotatable shell inside；The other side of circular rotatable shell is provided with a shaft hole, and on the inside of circular rotatable shell
It communicates；Circular rotatable shell is mounted in protective shell by annular brace；First axle sleeve is fixedly mounted on the side of round protective shell
In the circular hole opened；Second bevel gear is fixedly mounted on one end of the first axle sleeve, and second bevel gear is engaged with first bevel gear；
Ring gear is fixedly mounted on the other side of circular rotatable shell, and engages with circular gear；Third hand tap gear is fixedly mounted first
The other end of axle sleeve, and be located on the inside of circular rotatable shell；One end of first connecting shaft is mounted on institute on circular rotatable shell periphery
In the one of round hole for four round holes opened, and the circular hole opened on circular rotatable shell；The installation of 4th bevel gear
It is engaged in the other end of the first connecting shaft, and with third hand tap gear；One end of third connecting shaft is mounted on circular rotatable shell outer circle
In the one of round hole for four axis holes opened on face, and the axis of third connecting shaft and the axis of the first connecting shaft are total
Line；6th bevel gear is mounted on the other end of third connecting shaft, and engages with third hand tap gear；First transmission shaft is mounted on first
In axle sleeve, and before one end of the first transmission shaft passes through one of the axis hole opened in the first rectangular connecting block and robot side
Wheel connection；The other end of first transmission shaft passes through the protective shell two sides axis hole that wherein side is opened and the first axle sleeve is mounted on circle
Shape rotates in shell；Second axle sleeve is mounted on the first transmission shaft；One end of 5th bevel gear is fixedly mounted on the one of the second axle sleeve
End, and the 5th bevel gear engages with the 4th bevel gear and the 6th bevel gear respectively；7th bevel gear is fixedly mounted on the second axle sleeve
The other end；Tenth bevel gear is mounted on one end that the first transmission shaft is located in circular rotatable shell；Pacify one end of second connecting shaft
In the one of round hole in four round holes opened on circular rotatable shell periphery, and close to the first connecting shaft；
8th bevel gear is mounted in the second connecting shaft, and engages with the 7th bevel gear；11st bevel gear is mounted on the second connecting shaft
The other end, and engaged with the tenth bevel gear；One end of the fourth connecting shaft is mounted on four opened on circular rotatable shell periphery
In one of round hole of a round hole, and the axis collinear of the axis of the fourth connecting shaft and the second connecting shaft；9th cone tooth
Wheel is mounted in the fourth connecting shaft, and is engaged with the 7th bevel gear；12nd bevel gear is mounted on the other end of the fourth connecting shaft,
And it is engaged with the tenth bevel gear；One end of second driving shaft passes through the axis hole and circular rotatable shell that the protective shell two sides other side is opened
The shaft hole that the other side is opened is mounted in circular rotatable shell；The other end of second driving shaft passes through in another rectangular connecting block
The axis hole opened is connect with other side front vehicle wheel；Tenth third hand tap gear is mounted on second driving shaft, and with the 11st bevel gear
It is engaged with the 12nd bevel gear；
Above-mentioned first connecting shaft, the second connecting shaft, third connecting shaft and the fourth connecting shaft and circular rotatable shell are rotatably assorted；
Above-mentioned rear wheel is universal wheel, and plays the role of damping, buffering.
2. wheeled double drive travelling platforms that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned first
Fixed spring is compressed spring.
3. wheeled double drive travelling platforms that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned second
Fixed spring is compressed spring.
4. wheeled double drive travelling platforms that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned two
Rectangular connecting block and adjusting driving mechanism are welding.
5. wheeled double drive travelling platforms that a kind of robot according to claim 1 uses, it is characterised in that: above-mentioned first
Matched between the support cylinder installed and front vehicle wheel by bearing on the support cylinder and second driving shaft installed on transmission shaft
It closes.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2018104465311 | 2018-05-11 | ||
| CN201810446531 | 2018-05-11 |
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| CN108945138A CN108945138A (en) | 2018-12-07 |
| CN108945138B true CN108945138B (en) | 2019-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810996784.6A Active CN108945138B (en) | 2018-05-11 | 2018-08-29 | A kind of wheeled double drive travelling platforms that robot uses |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110219440A (en) * | 2019-06-27 | 2019-09-10 | 佛山市突破机械制造有限公司 | A kind of plastering machine assisting walking |
| CN113700801B (en) * | 2021-09-22 | 2024-01-26 | 郭宁波 | Self-locking speed reducer |
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|---|---|---|---|---|
| CN205198309U (en) * | 2015-11-17 | 2016-05-04 | 南京康尼机电股份有限公司 | Intelligent seat |
| 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 |
| CN107585271A (en) * | 2016-07-07 | 2018-01-16 | 上海交通大学 | The big seam wall-climbing robot for removing rust of hull wall |
| CN206982689U (en) * | 2017-06-22 | 2018-02-09 | 昊翔电能运动科技(昆山)有限公司 | Clean robot |
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2018
- 2018-08-29 CN CN201810996784.6A patent/CN108945138B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205198309U (en) * | 2015-11-17 | 2016-05-04 | 南京康尼机电股份有限公司 | Intelligent seat |
| CN107585271A (en) * | 2016-07-07 | 2018-01-16 | 上海交通大学 | The big seam wall-climbing robot for removing rust of hull wall |
| 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 |
| CN206982689U (en) * | 2017-06-22 | 2018-02-09 | 昊翔电能运动科技(昆山)有限公司 | Clean robot |
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| CN108945138A (en) | 2018-12-07 |
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Effective date of registration: 20190923 Address after: 221424 West Side of Moxin Road, Chesboard Town, Xinyi City, Xuzhou City, Jiangsu Province Applicant after: Xinyi chessboard Industrial Concentration Zone Construction Development Co., Ltd. Address before: 518000 Royal Garden, Four Seasons, Luotang Street, Luohu District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Nan Shuo Ming Tai Technology Co., Ltd. |
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