CN109080722B

CN109080722B - Wheeled four-wheel-drive walking platform for robot

Info

Publication number: CN109080722B
Application number: CN201810994826.2A
Authority: CN
Inventors: 刘平玉; 刘世莲
Original assignee: Shandong Liju Special Equipment Co Ltd
Current assignee: Shandong Liju Robot Technology Co ltd
Priority date: 2018-05-11
Filing date: 2018-08-29
Publication date: 2020-01-17
Anticipated expiration: 2038-08-29
Also published as: CN109080722A

Abstract

The invention belongs to the technical field of robots, and particularly relates to a wheeled four-wheel-drive walking platform used by a robot, which comprises an adjusting motor, a driving motor, an adjusting driving mechanism, a differential, a front drive and a rear drive, wherein the robot controls an input shaft of the adjusting motor to rotate; an input shaft on the adjusting motor rotates to drive the adjusting transmission shaft to rotate; the first bevel gear is driven to rotate by adjusting the rotation of the transmission shaft; the first shaft sleeve rotates to drive the third bevel gear to rotate; thereby driving the fourth bevel gear to rotate; the second shaft sleeve drives the seventh bevel gear to rotate; the third connecting shaft and the fourth connecting shaft can drive the twelfth bevel gear and the thirteenth bevel gear to rotate; since the rotation direction of the twelfth bevel gear and the thirteenth bevel gear is the same as one of the rotation direction of the tenth bevel gear and the rotation direction of the eleventh bevel gear, and the rotation direction of the twelfth bevel gear and the rotation direction of the thirteenth bevel gear are opposite to each other; namely, the rotating speeds of the two front wheels are increased one by one and reduced one by one; the steering function of the robot is realized through the speed difference of the two wheels.

Description

Wheeled four-wheel-drive walking platform for robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a wheel type four-wheel drive walking platform for a robot.

Background

At present, the existing robot technology is single steering control, and the design structure of the robot technology is relatively simple, so that the difference of the rotating speeds of two sides of the robot cannot be better reflected when the robot steers; so that the robot cannot pass through a curve more conveniently; the robot cannot drive through a curve by changing the rotation speed difference of wheels when the robot drives in a steering mode; therefore, it is necessary to design a rotation speed difference of wheels on two sides of the robot through double-drive control.

The invention designs a wheel type four-wheel drive walking platform for a robot to solve the problems.

Disclosure of Invention

In order to solve the defects in the prior art, the invention discloses a wheel type four-wheel drive walking platform used by a robot, which is realized by adopting the following technical scheme.

The utility model provides a wheeled four-wheel drive walking platform that robot used which characterized in that: the device comprises a bottom plate, an adjusting motor, a driving motor, an adjusting driving mechanism, a front drive, a rear drive, a differential, an adjusting transmission shaft and a second driving shaft, wherein a through driving motor notch is formed in the bottom plate; the bottom plate is provided with a through regulating motor notch which is close to the driving motor notch; the bottom plate is fixedly arranged at the bottom end of the robot; the adjusting motor is fixedly arranged in an adjusting motor slot formed on the bottom plate; the driving motor is fixedly arranged in a driving motor notch formed on the bottom plate; the adjusting driving mechanism is fixedly arranged on the lower end surface of the front side of the bottom plate; the differential is fixedly arranged on the lower end face of the rear side of the bottom plate; the adjusting motor is connected with the adjusting driving mechanism; the driving motor is connected with the adjusting driving mechanism; one end of the second driving shaft is connected with one output shaft on the driving motor; the other end of the second driving shaft is connected with an input shaft of the differential mechanism; the two symmetrical front drivers are positioned at the lower side of the front end of the bottom plate; two symmetrical rear drives are located on the lower side of the rear end of the bottom plate.

The adjusting and driving mechanism comprises a first driving shaft, a fifth driving shaft, a protective shell, a circular rotating shell, a ring gear, a circular gear, a first bevel gear, a second bevel gear, a first shaft sleeve, a second shaft sleeve, a third bevel gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear, a first connecting shaft, a second connecting shaft, a seventh bevel gear, an eighth bevel gear, a ninth bevel gear, a tenth bevel gear, an eleventh bevel gear, a twelfth bevel gear, a thirteenth bevel gear, a third connecting shaft, a fourth connecting shaft, an annular support, a round hole, a rotating shaft hole and a round hole, wherein two shaft holes communicated with the interior of the protective shell are formed in one surface of the protective shell corresponding to the differential mechanism, and the two shaft holes are respectively positioned at two ends of the protective shell; two symmetrical shaft holes are formed in the two side faces of the protective shell and communicated with the interior of the protective shell; one end of the adjusting transmission shaft is connected with an output shaft of the adjusting motor; the other end of the adjusting transmission extension penetrates through one of the shaft holes formed in the protective shell and is positioned in the protective shell; the first bevel gear is fixedly arranged at the other end of the adjusting transmission shaft; one end of the first driving shaft is connected with the other output shaft on the driving motor; the other end of the first driving shaft penetrates through another shaft hole formed in the protective shell and is positioned in the protective shell; the circular gear is fixedly arranged at the other end of the first driving shaft; two groups of circular holes communicated with the inner side are uniformly formed in the circumferential direction on the outer circular surface of the circular rotating shell, and in the two groups of circular holes, two circular holes in each group of circular holes are respectively positioned at two ends of the circular rotating shell; one side of the circular rotating shell is provided with a round hole and is communicated with the inner side of the circular rotating shell; the other side of the circular rotating shell is provided with a rotating shaft hole which is communicated with the inner side of the circular rotating shell; the circular rotating shell is arranged in the protective shell through an annular support; the first shaft sleeve is fixedly arranged in a round hole formed in one side of the round protective shell; the second bevel gear is fixedly arranged at one end of the first shaft sleeve and meshed with the first bevel gear; the ring gear is fixedly arranged on the other side of the circular rotating shell and is meshed with the circular gear; the third bevel gear is fixedly arranged at the other end of the first shaft sleeve and is positioned at the inner side of the circular rotating shell; one end of the first connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell and is close to the circular hole formed in the circular rotating shell; the fifth bevel gear is arranged at the other end of the first connecting shaft and is meshed with the third bevel gear; one end of the second connecting shaft is arranged in one circular hole of four shaft holes formed in the outer circular surface of the circular rotating shell, and the axis of the second connecting shaft is collinear with the axis of the first connecting shaft; the sixth bevel gear is arranged at the other end of the second connecting shaft and meshed with the third bevel gear; the first transmission shaft is arranged in the first shaft sleeve, and one end of the first transmission shaft penetrates through a shaft hole formed in one side of the two sides of the protective shell and is connected with a first universal joint on one side of the robot; the other end of the first transmission shaft is arranged in the circular rotating shell; the second shaft sleeve is arranged on the first transmission shaft; one end of a fourth bevel gear is fixedly arranged at one end of the second shaft sleeve, and the fourth bevel gear is respectively meshed with the fifth bevel gear and the sixth bevel gear; the seventh bevel gear is fixedly arranged at the other end of the second shaft sleeve; the tenth bevel gear is arranged at one end of the first transmission shaft, which is positioned in the circular rotating shell; one end of the third connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell and is close to the first connecting shaft; the eighth bevel gear is arranged on the third connecting shaft and meshed with the seventh bevel gear; the twelfth bevel gear is arranged at the other end of the third connecting shaft and meshed with the tenth bevel gear; one end of the fourth connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell, and the axis of the fourth connecting shaft is collinear with the axis of the third connecting shaft; the ninth bevel gear is arranged on the fourth connecting shaft and meshed with the seventh bevel gear; the thirteenth bevel gear is arranged at the other end of the fourth connecting shaft and meshed with the tenth bevel gear; one end of a fifth transmission shaft penetrates through a shaft hole formed in the other side of the two sides of the protective shell and a rotating shaft hole formed in the other side of the circular rotating shell and is installed in the circular rotating shell; the other end of the fifth transmission shaft is connected with the first universal joint on the other side of the robot; and the eleventh bevel gear is arranged on the second transmission shaft and is meshed with the thirteenth bevel gear and the twelfth bevel gear.

The front drive comprises a first universal joint, a second universal joint, a first telescopic shaft, a first fixed spring, a first rectangular connecting block, a front wheel, a first telescopic rod and a second transmission shaft, wherein the first universal joint is connected with an adjusting driving mechanism; the telescopic shaft sleeve and the telescopic inner rod in the first telescopic shaft are connected with the guide groove in a matched manner through the guide block; a telescopic shaft sleeve in the first telescopic shaft is connected with the first universal joint; the second universal joint is arranged on a telescopic inner rod in the first telescopic shaft; one end of the second transmission shaft is arranged on the second universal joint; one end of the first rectangular connecting block is fixedly provided with a supporting cylinder; a through shaft hole is formed in the first rectangular connecting block; the first rectangular connecting block is arranged on the second transmission shaft through the opened shaft hole; the first telescopic rod is fixedly arranged between the bottom plate and the first rectangular connecting block; the first fixed spring is fixedly installed between the bottom plate and the first rectangular connecting block and is nested outside the first telescopic rod; the front wheel is fixedly arranged on the first rectangular connecting block through a supporting cylinder, and the front wheel is connected with the other end of the second transmission shaft.

The rear drive comprises a rear wheel, a third universal joint, a fourth universal joint, a second telescopic shaft, a second fixed spring, a third transmission shaft, a fourth transmission shaft, a second rectangular connecting block and a second telescopic rod, wherein one end of the third transmission shaft is connected with an output shaft on the differential mechanism; the third universal joint is arranged at the other end of the third transmission shaft; the telescopic shaft sleeve and the telescopic inner rod in the second telescopic shaft are connected with the guide groove in a matched manner through the guide block; a telescopic shaft sleeve in the second telescopic shaft is connected with a third universal joint; the fourth universal joint is arranged on a telescopic inner rod in the second telescopic shaft; one end of the fourth transmission shaft is arranged on the fourth universal joint; one end of the second rectangular connecting block is fixedly provided with a supporting cylinder; a through shaft hole is formed in the second rectangular connecting block; the second rectangular connecting block is arranged on the fourth transmission shaft through the opened shaft hole; the second telescopic rod is fixedly arranged between the bottom plate and the second rectangular connecting block; the second fixed spring is fixedly arranged between the bottom plate and the first rectangular connecting block and is nested outside the second telescopic rod; the rear wheel is fixedly arranged on the second rectangular connecting block through a supporting cylinder, and the rear wheel is connected with the other end of the fourth transmission shaft.

A first universal joint in one of the two front driving wheels is connected with a first transmission shaft on the adjusting driving mechanism; the first universal joint in the other front driving of the two front driving is connected with a fifth transmission shaft on the adjusting driving mechanism.

The first connecting shaft, the second connecting shaft, the third connecting shaft and the fourth connecting shaft are in running fit with the circular rotating shell.

As a further improvement of the present technology, the first connecting shaft, the second connecting shaft, the third connecting shaft and the fourth connecting shaft are rotationally fitted with the circular rotating housing.

As a further improvement of the present technology, the first fixing spring and the second fixing spring are both compression springs.

As a further improvement of the technology, the two first rectangular connecting blocks and the second universal joint are welded; and the two second rectangular connecting blocks and the fourth universal joint are welded.

As a further improvement of the technology, the supporting cylinders arranged on the two second transmission shafts are matched with the two front wheels through bearings; and the supporting cylinders arranged on the two fourth transmission shafts are matched with the two rear wheels through bearings.

Compared with the traditional robot technology, the invention designs the wheel type four-wheel drive walking platform used by the robot, which can better control the rotation speed difference when the robot turns, thereby realizing that one wheel is fast and one wheel is slow, and achieving the purpose that the wheels at two sides of the robot realize the change of the rotation speed difference; the adjusting steering of the invention is different from the common steering wheel steering, when the adjusting steering is in a static state and does not rotate, the two front wheels of the robot rotate at the same speed, and when the robot passes through a curve, the process of controlling the adjusting motor to steer can enable the two wheels to rotate at the same speed as long as the process is in the static state; thereby better make the robot pass through the bend, have better result of use.

The adjusting motor is fixedly arranged in an adjusting motor slot formed on a bottom plate; the driving motor is fixedly arranged in a driving motor notch formed on the bottom plate; the differential is fixedly arranged on the lower end face of the rear side of the bottom plate; the adjusting motor is connected with the adjusting driving mechanism; the driving motor is connected with the adjusting driving mechanism; one end of the second driving shaft is connected with one output shaft on the driving motor; the other end of the second driving shaft is connected with an input shaft of the differential mechanism; one end of the adjusting transmission shaft is connected with an output shaft of the adjusting motor; the first bevel gear is fixedly arranged at the other end of the adjusting transmission shaft; one end of the first driving shaft is connected with the other output shaft on the driving motor; the circular gear is fixedly arranged at the other end of the first driving shaft; the circular rotating shell is arranged in the protective shell through an annular support; the first shaft sleeve is fixedly arranged in a round hole formed in one side of the round protective shell; the second bevel gear is fixedly arranged at one end of the first shaft sleeve and meshed with the first bevel gear; the ring gear is fixedly arranged on the other side of the circular rotating shell and is meshed with the circular gear; the third bevel gear is fixedly arranged at the other end of the first shaft sleeve and is positioned at the inner side of the circular rotating shell; one end of the first connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell and is close to the circular hole formed in the circular rotating shell; the fifth bevel gear is arranged at the other end of the first connecting shaft and is meshed with the third bevel gear; one end of the second connecting shaft is arranged in one circular hole of four shaft holes formed in the outer circular surface of the circular rotating shell, and the axis of the second connecting shaft is collinear with the axis of the first connecting shaft; the sixth bevel gear is arranged at the other end of the second connecting shaft and meshed with the third bevel gear; the first transmission shaft is arranged in the first shaft sleeve, and one end of the first transmission shaft penetrates through a shaft hole formed in one side of the two sides of the protective shell and is connected with a first universal joint on one side of the robot; the other end of the first transmission shaft is arranged in the circular rotating shell; the second shaft sleeve is arranged on the first transmission shaft; one end of a fourth bevel gear is fixedly arranged at one end of the second shaft sleeve, and the fourth bevel gear is respectively meshed with the fifth bevel gear and the sixth bevel gear; the seventh bevel gear is fixedly arranged at the other end of the second shaft sleeve; the tenth bevel gear is arranged at one end of the first transmission shaft, which is positioned in the circular rotating shell; one end of the third connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell and is close to the first connecting shaft; the eighth bevel gear is arranged on the third connecting shaft and meshed with the seventh bevel gear; the twelfth bevel gear is arranged at the other end of the third connecting shaft and meshed with the tenth bevel gear; one end of the fourth connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell, and the axis of the fourth connecting shaft is collinear with the axis of the third connecting shaft; the ninth bevel gear is arranged on the fourth connecting shaft and meshed with the seventh bevel gear; the thirteenth bevel gear is arranged at the other end of the fourth connecting shaft and meshed with the tenth bevel gear; one end of a fifth transmission shaft penetrates through a shaft hole formed in the other side of the two sides of the protective shell and a rotating shaft hole formed in the other side of the circular rotating shell and is installed in the circular rotating shell; the other end of the fifth transmission shaft is connected with a first universal joint on the other side of the robot; the eleventh bevel gear is arranged on the fifth transmission shaft and is meshed with the thirteenth bevel gear and the twelfth bevel gear; the first universal joint is connected with the adjusting driving mechanism; a telescopic shaft sleeve in the first telescopic shaft is connected with the first universal joint; the second universal joint is arranged on a telescopic inner rod in the first telescopic shaft; one end of the second transmission shaft is arranged on the second universal joint; one end of the first rectangular connecting block is fixedly provided with a supporting cylinder; a through shaft hole is formed in the first rectangular connecting block; the first rectangular connecting block is arranged on the second transmission shaft through the opened shaft hole; the first telescopic rod is fixedly arranged between the bottom plate and the first rectangular connecting block; the first fixed spring is fixedly installed between the bottom plate and the first rectangular connecting block and is nested outside the first telescopic rod; the front wheel is fixedly arranged on the first rectangular connecting block through a supporting cylinder and is connected with the other end of the second transmission shaft; one end of the third transmission shaft is connected with an output shaft on the differential mechanism; the third universal joint is arranged at the other end of the third transmission shaft; the telescopic shaft sleeve and the telescopic inner rod in the second telescopic shaft are connected with the guide groove in a matched manner through the guide block; a telescopic shaft sleeve in the second telescopic shaft is connected with a third universal joint; the fourth universal joint is arranged on a telescopic inner rod in the second telescopic shaft; one end of the fourth transmission shaft is arranged on the fourth universal joint; one end of the second rectangular connecting block is fixedly provided with a supporting cylinder; a through shaft hole is formed in the second rectangular connecting block; the second rectangular connecting block is arranged on the fourth transmission shaft through the opened shaft hole; the second telescopic rod is fixedly arranged between the bottom plate and the second rectangular connecting block; the second fixed spring is fixedly arranged between the bottom plate and the first rectangular connecting block and is nested outside the second telescopic rod; the rear wheel is fixedly arranged on the second rectangular connecting block through a supporting cylinder, and the rear wheel is connected with the other end of the fourth transmission shaft.

When the robot uses the wheel type four-wheel drive walking platform to linearly travel on a road, the input shaft on the driving motor is controlled to rotate; the input shaft on the driving motor rotates to drive the first driving shaft to rotate; the first driving shaft rotates to drive the circular gear to rotate; the circular gear rotates to drive the ring gear to rotate; the circular gear rotates to drive the circular rotating shell to rotate; the circular rotating shell rotates to drive the third connecting shaft and the fourth connecting shaft to rotate around the axis of the circular rotating shell; the third connecting shaft and the fourth connecting shaft rotate to drive the twelfth bevel gear and the thirteenth bevel gear to rotate around the axis of the circular rotating shell; the tenth bevel gear and the eleventh bevel gear are meshed with the twelfth bevel gear and the thirteenth bevel gear respectively, so that the twelfth bevel gear and the thirteenth bevel gear can drive the tenth bevel gear and the eleventh bevel gear to rotate when rotating; the first transmission shaft and the fifth transmission shaft are driven to rotate simultaneously by the rotation of the tenth bevel gear and the eleventh bevel gear; the first transmission shaft and the fifth transmission shaft rotate to drive the first universal joints at the two sides of the front drive of the robot to rotate; the two first universal joints can drive the two first telescopic shafts to rotate when rotating; the two first telescopic shafts can drive the two second universal joints to rotate when rotating; the two second universal joints can drive the two second transmission shafts to rotate when rotating; the two second transmission shafts can drive the two front wheels to rotate through the two supporting cylinders; the design of the invention belongs to a four-wheel drive walking platform, namely, a robot controls an input shaft on a driving motor to rotate; the input shaft on the driving motor rotates to drive the second driving shaft to rotate; the rotation of the second driving shaft can drive the input shaft on the differential mechanism to rotate; the rotation of the input shaft on the differential mechanism can drive the third universal joints on the two rear-drive sides of the robot to rotate; the two second telescopic shafts can be driven to rotate by the rotation of the two third universal joints; the two second telescopic shafts can drive the two fourth universal joints to rotate when rotating; the two fourth universal joints can drive the two fourth transmission shafts to rotate when rotating; the two fourth transmission shafts can drive the two rear wheels to rotate through the two supporting cylinders; enabling the robot to run on the road in a straight line; in the invention, the first connecting shaft and the second connecting shaft can be driven to rotate around the axis of the circular rotating shell due to the rotation of the circular rotating shell; the first connecting shaft and the second connecting shaft can drive the fifth bevel gear and the sixth bevel gear to rotate when rotating; the fifth bevel gear and the sixth bevel gear can drive the third bevel gear and the fourth bevel gear to rotate when rotating; and the third bevel gear and the fourth bevel gear are fixedly arranged on the first shaft sleeve and the second shaft sleeve respectively, namely the fifth bevel gear and the sixth bevel gear idle.

One end of an adjusting transmission shaft is connected with an output shaft of an adjusting motor; the other end of the adjusting transmission extension penetrates through one of the shaft holes formed in the protective shell and is positioned in the protective shell; the first bevel gear is fixedly arranged at the other end of the adjusting transmission shaft; one end of the first driving shaft is connected with the other output shaft on the driving motor; the other end of the first driving shaft penetrates through another shaft hole formed in the protective shell and is positioned in the protective shell; the circular gear is fixedly arranged at the other end of the first driving shaft; two groups of circular holes communicated with the inner side are uniformly formed in the circumferential direction on the outer circular surface of the circular rotating shell, and in the two groups of circular holes, two circular holes in each group of circular holes are respectively positioned at two ends of the circular rotating shell; one side of the circular rotating shell is provided with a round hole and is communicated with the inner side of the circular rotating shell; the other side of the circular rotating shell is provided with a rotating shaft hole which is communicated with the inner side of the circular rotating shell; the circular rotating shell is arranged in the protective shell through an annular support; the first shaft sleeve is fixedly arranged in a round hole formed in one side of the round protective shell; the second bevel gear is fixedly arranged at one end of the first shaft sleeve and meshed with the first bevel gear; the ring gear is fixedly arranged on the other side of the circular rotating shell and is meshed with the circular gear; the third bevel gear is fixedly arranged at the other end of the first shaft sleeve and is positioned at the inner side of the circular rotating shell; one end of the first connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell and is close to the circular hole formed in the circular rotating shell; the fifth bevel gear is arranged at the other end of the first connecting shaft and is meshed with the third bevel gear; one end of the second connecting shaft is arranged in one circular hole of four shaft holes formed in the outer circular surface of the circular rotating shell, and the axis of the second connecting shaft is collinear with the axis of the first connecting shaft; the sixth bevel gear is arranged at the other end of the second connecting shaft and meshed with the third bevel gear; the first transmission shaft is arranged in the first shaft sleeve, and one end of the first transmission shaft penetrates through a shaft hole formed in one side of the two sides of the protective shell and is connected with a first universal joint on one side of the robot; the other end of the first transmission shaft is arranged in the circular rotating shell; the second shaft sleeve is arranged on the first transmission shaft; one end of a fourth bevel gear is fixedly arranged at one end of the second shaft sleeve, and the fourth bevel gear is respectively meshed with the fifth bevel gear and the sixth bevel gear; the seventh bevel gear is fixedly arranged at the other end of the second shaft sleeve; the tenth bevel gear is arranged at one end of the first transmission shaft, which is positioned in the circular rotating shell; one end of the third connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell and is close to the first connecting shaft; the eighth bevel gear is arranged on the third connecting shaft and meshed with the seventh bevel gear; the twelfth bevel gear is arranged at the other end of the third connecting shaft and meshed with the tenth bevel gear; one end of the fourth connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell, and the axis of the fourth connecting shaft is collinear with the axis of the third connecting shaft; the ninth bevel gear is arranged on the fourth connecting shaft and meshed with the seventh bevel gear; the thirteenth bevel gear is arranged at the other end of the fourth connecting shaft and meshed with the tenth bevel gear; one end of a fifth transmission shaft penetrates through a shaft hole formed in the other side of the two sides of the protective shell and a rotating shaft hole formed in the other side of the circular rotating shell and is installed in the circular rotating shell; the other end of the fifth transmission shaft is connected with a first universal joint on the other side of the robot; the eleventh bevel gear is arranged on the fifth transmission shaft and is meshed with the thirteenth bevel gear and the twelfth bevel gear;

when people use the wheel type four-wheel drive walking platform to drive through a curve, the robot controls and adjusts the input shaft of the motor to rotate; an input shaft on the adjusting motor rotates to drive the adjusting transmission shaft to rotate; the first bevel gear is driven to rotate by adjusting the rotation of the transmission shaft; the first bevel gear rotates to drive the second bevel gear to rotate; the second bevel gear rotates to drive the first shaft sleeve; the first shaft sleeve rotates to drive the third bevel gear to rotate; because the fifth bevel gear and the sixth bevel gear are both meshed with the third bevel gear, the third bevel gear rotates to drive the fifth bevel gear and the sixth bevel gear to rotate, so that the fourth bevel gear is driven to rotate; the fourth bevel gear rotates to drive the second shaft sleeve to rotate; the second shaft sleeve drives the seventh bevel gear to rotate; because the eighth bevel gear and the ninth bevel gear are both meshed with the seventh bevel gear, the seventh bevel gear rotates to drive the eighth bevel gear and the ninth bevel gear to rotate; the eighth bevel gear and the ninth bevel gear can drive the third connecting shaft and the fourth connecting shaft to rotate when rotating; the third connecting shaft and the fourth connecting shaft can drive the twelfth bevel gear and the thirteenth bevel gear to rotate; because the twelfth bevel gear and the thirteenth bevel gear are both meshed with the eleventh bevel gear, the twelfth bevel gear and the thirteenth bevel gear can drive the tenth bevel gear and the eleventh bevel gear to rotate when rotating; since the rotation direction of the twelfth bevel gear and the thirteenth bevel gear is the same as one of the rotation direction of the tenth bevel gear and the rotation direction of the eleventh bevel gear, and the rotation direction of the twelfth bevel gear and the rotation direction of the thirteenth bevel gear are opposite to each other; the rotation of the twelfth and thirteenth bevel gears makes one of the tenth and eleventh bevel gears faster and the other slower; namely, the rotating speeds of the first transmission shaft and the fifth transmission shaft are increased one by one and reduced one by one; namely, the rotating speeds of the two front wheels are increased one by one and reduced one by one; the steering function of the robot is realized through the speed difference of the two wheels.

The first fixing spring, the second fixing spring, the first telescopic rod and the second telescopic rod which are arranged on the front drive and the rear drive have the functions of preventing the bottom of the robot from being interfered and also playing a role of damping and buffering the robot when the robot passes through a hollow ground.

Drawings

Fig. 1 is a schematic view of the overall structure.

FIG. 2 is a schematic illustration of a differential installation.

Fig. 3 is a schematic diagram of a precursor configuration.

FIG. 4 is a second gimbal mounting schematic.

Fig. 5 is a schematic diagram of a rear drive configuration.

FIG. 6 is a fourth gimbal mounting schematic.

Fig. 7 is a schematic view of the structure of the adjustment drive mechanism.

Fig. 8 is a schematic view of the drive motor installation.

Fig. 9 is a schematic view of the internal mounting of the adjustment drive mechanism.

Fig. 10 is a schematic view of an adjusting transmission shaft structure.

Fig. 11 is a schematic view of a first drive shaft structure.

Fig. 12 is a schematic view of the first bushing installation.

FIG. 13 is a third bevel gear installation schematic.

Fig. 14 is a schematic view of the second bushing installation.

Fig. 15 is a schematic view of the bottom plate structure.

Fig. 16 is a fifth pivot axis mounting schematic.

Fig. 17 is a schematic view of a circular rotating case structure.

Number designation in the figures: 1. a base plate; 2. adjusting the motor; 3. a drive motor; 4. adjusting the driving mechanism; 5. precursor; 6. back drive; 7. a differential mechanism; 8. adjusting the transmission shaft; 9. a first drive shaft; 10. a second drive shaft; 11. a first universal joint; 12. a second universal joint; 13. a first telescopic shaft; 14. a first fixed spring; 15. a first rectangular connecting block; 16. a front wheel; 17. a first drive shaft; 18. a first telescopic rod; 19. a second drive shaft; 20. a rear wheel; 21. a third universal joint; 22. a fourth gimbal; 23. a second telescopic shaft; 24. a second fixed spring; 25. a third drive shaft; 26. a fourth drive shaft; 27. a second rectangular connecting block; 28. a second telescopic rod; 29. a fifth drive shaft; 30. a protective shell; 31. a circular rotating housing; 32. a ring gear; 33. a circular gear; 34. a first bevel gear; 35. a second bevel gear; 36. a first bushing; 37. a second shaft sleeve; 38. a third bevel gear; 39. a fourth bevel gear; 40. a fifth bevel gear; 41. a sixth bevel gear; 42. a first connecting shaft; 43. a second connecting shaft; 44. a seventh bevel gear; 45. an eighth bevel gear; 46. a ninth bevel gear; 47. a tenth bevel gear; 48. an eleventh bevel gear; 49. a twelfth bevel gear; 50. a thirteenth bevel gear; 51. a third connecting shaft; 52. a fourth connecting shaft; 53. adjusting a motor notch; 54. a drive motor slot; 55. an annular support; 56. a circular hole; 57. a rotating shaft hole; 58. a circular hole.

Detailed Description

As shown in fig. 1 and 15, the device comprises a bottom plate 1, an adjusting motor 2, a driving motor 3, an adjusting driving mechanism 4, a front drive 5, a rear drive 6, a differential 7, an adjusting transmission shaft 8 and a second driving shaft 10, wherein a through driving motor notch 54 is formed in the bottom plate 1; a through regulating motor notch 53 is formed on the bottom plate 1 and is close to a driving motor notch 54; the bottom plate 1 is fixedly arranged at the bottom end of the robot; the adjusting motor 2 is fixedly arranged in an adjusting motor slot 53 formed on the bottom plate 1; the driving motor 3 is fixedly arranged in a driving motor notch 54 formed on the bottom plate 1; the adjusting driving mechanism 4 is fixedly arranged on the lower end surface of the front side of the bottom plate 1; the differential 7 is fixedly arranged on the lower end surface of the rear side of the bottom plate 1; as shown in fig. 1 and 2, the adjusting motor 2 is connected with the adjusting driving mechanism 4; the driving motor 3 is connected with the adjusting driving mechanism 4; one end of the second driving shaft 10 is connected with one output shaft on the driving motor 3; the other end of the second drive shaft 10 is connected with the input shaft of the differential 7; two symmetrical front drivers 5 are positioned at the lower side of the front end of the bottom plate 1; two symmetrical rear drives 6 are located on the underside of the rear end of the sole plate 1.

As shown in fig. 7, the adjusting drive mechanism 4 includes a first drive shaft 9, a first drive shaft 17, a fifth drive shaft 29, a protective housing 30, a circular rotation housing 31, a ring gear 32, a circular gear 33, a first bevel gear 34, a second bevel gear 35, a first bushing 36, a second bushing 37, a third bevel gear 38, a fourth bevel gear 39, a fifth bevel gear 40, a sixth bevel gear 41, a first connecting shaft 42, a second connecting shaft 43, a seventh bevel gear 44, an eighth bevel gear 45, a ninth bevel gear 46, a tenth bevel gear 47, an eleventh bevel gear 48, a twelfth bevel gear 49, a thirteenth bevel gear 50, a third connecting shaft 51, a fourth connecting shaft 52, an annular support 55, a circular hole 56, a rotating shaft hole 57, and a circular hole 58, wherein, one surface of the protective shell 30 corresponding to the differential mechanism 7 is provided with two shaft holes communicated with the interior of the protective shell 30, and the two shaft holes are respectively positioned at two ends of the protective shell 30; two symmetrical shaft holes are formed in the two side faces of the protective shell 30 and communicated with the interior of the protective shell 30; one end of the adjusting transmission shaft 8 is connected with an output shaft of the adjusting motor 2; as shown in fig. 9 and 12, the other end of the adjusting transmission rod passes through one of the shaft holes formed in the protective shell 30 and is positioned in the protective shell 30; the first bevel gear 34 is fixedly arranged at the other end of the adjusting transmission shaft 8; one end of the first driving shaft 9 is connected with the other output shaft on the driving motor 3; the other end of the first driving shaft 9 passes through another shaft hole opened on the protective shell 30 and is positioned in the protective shell 30; the circular gear 33 is fixedly arranged at the other end of the first driving shaft 9; as shown in fig. 10 and 17, two sets of circular holes 58 communicated with the inner side are circumferentially and uniformly formed on the outer circumferential surface of the circular rotating shell 31, and of the two sets of circular holes 58, two circular holes 58 of each set of circular holes 58 are respectively located at two ends of the circular rotating shell 31; a circular hole 56 is formed at one side of the circular rotating shell 31 and communicated with the inner side of the circular rotating shell 31; a rotating shaft hole 57 is formed on the other side of the circular rotating shell 31 and communicated with the inner side of the circular rotating shell 31; the circular rotating shell 31 is installed in the protective shell 30 through an annular support 55; the first shaft sleeve 36 is fixedly arranged in a round hole 56 formed in one side of the round protective shell 30; as shown in fig. 9 and 12, the second bevel gear 35 is fixedly mounted at one end of the first shaft sleeve 36, and the second bevel gear 35 is meshed with the first bevel gear 34; the ring gear 32 is fixedly installed at the other side of the circular rotating shell 31 and is engaged with the circular gear 33; as shown in fig. 12 and 13, the third bevel gear 38 is fixedly mounted at the other end of the first sleeve 36 and is located inside the circular rotating shell 31; as shown in fig. 11 and 16, one end of the first connecting shaft 42 is fitted into one of four circular holes 58 formed in the outer circumferential surface of the circular rotation housing 31 and is adjacent to a circular hole 56 formed in the circular rotation housing 31; a fifth bevel gear 40 is installed at the other end of the first connecting shaft 42 and engaged with the third bevel gear 38; one end of the second connecting shaft 43 is installed in one circular hole 58 of four shaft holes formed in the outer circumferential surface of the circular rotating shell 31, and the axis of the second connecting shaft 43 is collinear with the axis of the first connecting shaft 42; a sixth bevel gear 41 is mounted on the other end of the second connecting shaft 43 and meshed with the third bevel gear 38; as shown in fig. 7 and 16, the first transmission shaft 17 is installed in the first bushing 36, and one end of the first transmission shaft 17 passes through a shaft hole formed in one of two sides of the protective shell 30 and is connected to the first universal joint 11 on one side of the robot; the other end of the first transmission shaft 17 is installed in the circular rotating shell 31; the second shaft sleeve 37 is mounted on the first transmission shaft 17; one end of a fourth bevel gear 39 is fixedly arranged at one end of the second shaft sleeve 37, and the fourth bevel gear 39 is respectively meshed with a fifth bevel gear 40 and a sixth bevel gear 41; as shown in fig. 14 and 16, a seventh bevel gear 44 is fixedly mounted on the other end of the second sleeve 37; a tenth bevel gear 47 is installed at one end of the first transmission shaft 17 inside the circular rotation housing 31; one end of the third connecting shaft 51 is mounted in one circular hole 58 of four circular holes 58 formed in the outer circumferential surface of the circular rotation housing 31, and is close to the first connecting shaft 42; an eighth bevel gear 45 is mounted on the third connecting shaft 51 and meshed with the seventh bevel gear 44; a twelfth bevel gear 49 is mounted on the other end of the third connecting shaft 51, and meshes with the tenth bevel gear 47; one end of the fourth connecting shaft 52 is installed in one circular hole 58 of four circular holes 58 formed in the outer circumferential surface of the circular rotation housing 31, and the axis of the fourth connecting shaft 52 is collinear with the axis of the third connecting shaft 51; a ninth bevel gear 46 is mounted on the fourth connecting shaft 52 and meshes with the seventh bevel gear 44; a thirteenth bevel gear 50 is mounted on the other end of the fourth connecting shaft 52, and meshes with the tenth bevel gear 47; one end of the fifth transmission shaft 29 passes through the shaft hole opened on the other side of the two sides of the protective shell 30 and the rotating shaft hole 57 opened on the other side of the circular rotating shell 31 and is installed in the circular rotating shell 31; the other end of the fifth transmission shaft 29 is connected with the first universal joint 11 on the other side of the robot; an eleventh bevel gear 48 is mounted on the fifth drive shaft 29 and meshes with a thirteenth bevel gear 50 and a twelfth bevel gear 49.

As shown in fig. 3 and 4, the front wheel assembly 5 includes a first universal joint 11, a second universal joint 12, a first telescopic shaft 13, a first fixed spring 14, a first rectangular connecting block 15, a front wheel 16, a first telescopic rod 18, and a second transmission shaft 19, wherein the first universal joint 11 is connected to the adjustment driving mechanism 4; the telescopic shaft sleeve and the telescopic inner rod in the first telescopic shaft 13 are connected with the guide groove in a matched manner through the guide block; a telescopic shaft sleeve in the first telescopic shaft 13 is connected with the first universal joint 11; the second universal joint 12 is mounted on a telescopic inner rod in the first telescopic shaft 13; one end of the second transmission shaft 19 is mounted on the second universal joint 12; one end of the first rectangular connecting block 15 is fixedly provided with a supporting cylinder; a through shaft hole is formed on the first rectangular connecting block 15; the first rectangular connecting block 15 is arranged on the second transmission shaft 19 through the shaft hole; the first telescopic rod 18 is fixedly arranged between the bottom plate 1 and the first rectangular connecting block 15; the first fixed spring 14 is fixedly arranged between the bottom plate 1 and the first rectangular connecting block 15 and is nested outside the first telescopic rod 18; the front wheel 16 is fixedly mounted on the first rectangular connecting block 15 through a supporting cylinder, and the front wheel 16 is connected with the other end of the second transmission shaft 19.

As shown in fig. 5 and 6, the rear drive 6 includes a rear wheel 20, a third universal joint 21, a fourth universal joint 22, a second telescopic shaft 23, a second fixed spring 24, a third transmission shaft 25, a fourth transmission shaft 26, a second rectangular connecting block 27, and a second telescopic shaft 28, wherein one end of the third transmission shaft 25 is connected to an output shaft on the differential 7; the third universal joint 21 is mounted on the other end of the third transmission shaft 25; the telescopic shaft sleeve and the telescopic inner rod in the second telescopic shaft 23 are connected with the guide groove in a matched manner through the guide block; a telescopic shaft sleeve in the second telescopic shaft 23 is connected with the third universal joint 21; the fourth universal joint 22 is mounted on a telescopic inner rod in the second telescopic shaft 23; one end of the fourth propeller shaft 26 is mounted on the fourth universal joint 22; one end of the second rectangular connecting block 27 is fixedly provided with a supporting cylinder; a through shaft hole is formed on the second rectangular connecting block 27; the second rectangular connecting block 27 is mounted on the fourth transmission shaft 26 through the opened shaft hole; the second telescopic rod 28 is fixedly arranged between the bottom plate 1 and the second rectangular connecting block 27; the second fixed spring 24 is fixedly arranged between the bottom plate 1 and the first rectangular connecting block 15 and is nested outside the second telescopic rod 28; the rear wheel 20 is fixedly mounted on the second rectangular connecting block 27 through a supporting cylinder, and the rear wheel 20 is connected with the other end of the fourth transmission shaft 26.

As shown in fig. 1 and 7, the first universal joint 11 of one of the two front drive wheels 5 is connected with the first transmission shaft 17 on the adjusting drive mechanism 4; the first universal joint 11 in the other of the two front drives 5 is connected to a fifth transmission shaft 29 on the adjusting drive 4.

As shown in fig. 1 and 8, the first connecting shaft 42, the second connecting shaft 43, the third connecting shaft 51, and the fourth connecting shaft 52 are rotatably engaged with the circular rotating case 31.

As shown in fig. 11 and 16, the first connecting shaft 42, the second connecting shaft 43, the third connecting shaft 51, and the fourth connecting shaft 52 are rotatably engaged with the circular rotating case 31.

As shown in fig. 3 and 5, the first fixing spring 14 and the second fixing spring 24 are both compression springs.

As shown in fig. 4 and 6, the two first rectangular connecting blocks 15 and the second universal joint 12 are welded; the two second rectangular connecting blocks 27 are welded with the fourth universal joint 22.

As shown in fig. 4 and 6, the two second transmission shafts 19 are mounted on the support cylinders and are engaged with the two front wheels 16 through bearings; the supporting cylinders mounted on the two fourth transmission shafts 26 are engaged with the two rear wheels 20 through bearings.

In summary, the following steps:

the invention designs a wheel type four-wheel drive walking platform for a robot, which can better control the rotation speed difference of the robot during steering, thereby realizing that one wheel is fast and the other wheel is slow, and achieving the purpose that the wheels at two sides of the robot realize the change of the rotation speed difference; the steering adjustment method is different from common steering wheel steering, when the steering adjustment method is in a static state and does not rotate, two front wheels of the robot rotate at the same speed, and when the robot passes through a curve, the steering process of the adjusting motor 2 is controlled to enable the two wheels to rotate at the same speed as long as the robot is in the static state; thereby better make the robot pass through the bend, have better result of use.

The adjusting motor 2 is fixedly arranged in an adjusting motor slot 53 formed on the bottom plate 1; the driving motor 3 is fixedly arranged in a driving motor notch 54 formed on the bottom plate 1; the differential 7 is fixedly arranged on the lower end surface of the rear side of the bottom plate 1; the adjusting motor 2 is connected with the adjusting driving mechanism 4; the driving motor 3 is connected with the adjusting driving mechanism 4; one end of the second driving shaft 10 is connected with one output shaft on the driving motor 3; the other end of the second drive shaft 10 is connected with the input shaft of the differential 7; one end of the adjusting transmission shaft 8 is connected with an output shaft of the adjusting motor 2; the first bevel gear 34 is fixedly arranged at the other end of the adjusting transmission shaft 8; one end of the first driving shaft 9 is connected with the other output shaft on the driving motor 3; the circular gear 33 is fixedly arranged at the other end of the first driving shaft 9; the circular rotating shell 31 is installed in the protective shell 30 through an annular support 55; the first shaft sleeve 36 is fixedly arranged in a round hole 56 formed in one side of the round protective shell 30; the second bevel gear 35 is fixedly arranged at one end of the first shaft sleeve 36, and the second bevel gear 35 is meshed with the first bevel gear 34; the ring gear 32 is fixedly installed at the other side of the circular rotating shell 31 and is engaged with the circular gear 33; the third bevel gear 38 is fixedly installed at the other end of the first shaft sleeve 36 and is positioned at the inner side of the circular rotating shell 31; one end of the first connecting shaft 42 is installed in one circular hole 58 of four circular holes 58 formed in the outer circumferential surface of the circular rotating shell 31, and is close to the circular hole 56 formed in the circular rotating shell 31; a fifth bevel gear 40 is installed at the other end of the first connecting shaft 42 and engaged with the third bevel gear 38; one end of the second connecting shaft 43 is installed in one circular hole 58 of four shaft holes formed in the outer circumferential surface of the circular rotating shell 31, and the axis of the second connecting shaft 43 is collinear with the axis of the first connecting shaft 42; a sixth bevel gear 41 is mounted on the other end of the second connecting shaft 43 and meshed with the third bevel gear 38; the first transmission shaft 17 is installed in the first shaft sleeve 36, and one end of the first transmission shaft 17 passes through a shaft hole formed in one of two sides of the protective shell 30 and is connected with the first universal joint 11 on one side of the robot; the other end of the first transmission shaft 17 is installed in the circular rotating shell 31; the second shaft sleeve 37 is mounted on the first transmission shaft 17; one end of a fourth bevel gear 39 is fixedly arranged at one end of the second shaft sleeve 37, and the fourth bevel gear 39 is respectively meshed with a fifth bevel gear 40 and a sixth bevel gear 41; a seventh bevel gear 44 is fixedly mounted on the other end of the second sleeve 37; a tenth bevel gear 47 is installed at one end of the first transmission shaft 17 inside the circular rotation housing 31; one end of the third connecting shaft 51 is mounted in one circular hole 58 of four circular holes 58 formed in the outer circumferential surface of the circular rotation housing 31, and is close to the first connecting shaft 42; an eighth bevel gear 45 is mounted on the third connecting shaft 51 and meshed with the seventh bevel gear 44; a twelfth bevel gear 49 is mounted on the other end of the third connecting shaft 51, and meshes with the tenth bevel gear 47; one end of the fourth connecting shaft 52 is installed in one circular hole 58 of four circular holes 58 formed in the outer circumferential surface of the circular rotation housing 31, and the axis of the fourth connecting shaft 52 is collinear with the axis of the third connecting shaft 51; a ninth bevel gear 46 is mounted on the fourth connecting shaft 52 and meshes with the seventh bevel gear 44; a thirteenth bevel gear 50 is mounted on the other end of the fourth connecting shaft 52, and meshes with the tenth bevel gear 47; one end of the fifth transmission shaft 29 passes through the shaft hole opened on the other side of the two sides of the protective shell 30 and the rotating shaft hole 57 opened on the other side of the circular rotating shell 31 and is installed in the circular rotating shell 31; the other end of the fifth transmission shaft 29 is connected with the first universal joint 11 at the other side of the robot; an eleventh bevel gear 48 is mounted on the fifth transmission shaft 29 and meshes with a thirteenth bevel gear 50 and a twelfth bevel gear 49; the first universal joint 11 is connected with the adjusting and driving mechanism 4; a telescopic shaft sleeve in the first telescopic shaft 13 is connected with the first universal joint 11; the second universal joint 12 is mounted on a telescopic inner rod in the first telescopic shaft 13; one end of the second transmission shaft 19 is mounted on the second universal joint 12; one end of the first rectangular connecting block 15 is fixedly provided with a supporting cylinder; a through shaft hole is formed on the first rectangular connecting block 15; the first rectangular connecting block 15 is arranged on the second transmission shaft 19 through the shaft hole; the first telescopic rod 18 is fixedly arranged between the bottom plate 1 and the first rectangular connecting block 15; the first fixed spring 14 is fixedly arranged between the bottom plate 1 and the first rectangular connecting block 15 and is nested outside the first telescopic rod 18; the front wheel 16 is fixedly arranged on the first rectangular connecting block 15 through a supporting cylinder, and the front wheel 16 is connected with the other end of the second transmission shaft 19; one end of the third transmission shaft 25 is connected with an output shaft on the differential 7; the third universal joint 21 is mounted on the other end of the third transmission shaft 25; the telescopic shaft sleeve and the telescopic inner rod in the second telescopic shaft 23 are connected with the guide groove in a matched manner through the guide block; a telescopic shaft sleeve in the second telescopic shaft 23 is connected with the third universal joint 21; the fourth universal joint 22 is mounted on a telescopic inner rod in the second telescopic shaft 23; one end of the fourth propeller shaft 26 is mounted on the fourth universal joint 22; one end of the second rectangular connecting block 27 is fixedly provided with a supporting cylinder; a through shaft hole is formed on the second rectangular connecting block 27; the second rectangular connecting block 27 is mounted on the fourth transmission shaft 26 through the opened shaft hole; the second telescopic rod 28 is fixedly arranged between the bottom plate 1 and the second rectangular connecting block 27; the second fixed spring 24 is fixedly arranged between the bottom plate 1 and the first rectangular connecting block 15 and is nested outside the second telescopic rod 28; the rear wheel 20 is fixedly mounted on the second rectangular connecting block 27 through a supporting cylinder, and the rear wheel 20 is connected with the other end of the fourth transmission shaft 26.

When the robot uses the wheel type four-wheel drive walking platform to linearly travel on a road, the input shaft on the driving motor 3 is controlled to rotate; the input shaft on the driving motor 3 rotates to drive the first driving shaft 9 to rotate; the first driving shaft 9 rotates to drive the circular gear 33 to rotate; the circular gear 33 rotates to drive the ring gear 32 to rotate; the rotation of the ring gear 32 drives the circular rotating shell 31 to rotate; the rotation of the circular rotating shell 31 drives the third connecting shaft 51 and the fourth connecting shaft 52 to rotate around the axis of the circular rotating shell 31; the rotation of the third connecting shaft 51 and the fourth connecting shaft 52 drives the twelfth bevel gear 49 and the thirteenth bevel gear 50 to rotate around the axis of the circular rotating shell 31; since tenth bevel gear 47 and eleventh bevel gear 48 are engaged with twelfth bevel gear 49 and thirteenth bevel gear 50, respectively, rotation of twelfth bevel gear 49 and thirteenth bevel gear 50 will drive tenth bevel gear 47 and eleventh bevel gear 48 to rotate; the rotation of the tenth bevel gear 47 and the eleventh bevel gear 48 drives the first transmission shaft 17 and the fifth transmission shaft 29 to rotate simultaneously; the first transmission shaft 17 and the fifth transmission shaft 29 rotate to drive the first universal joints 11 on both sides of the robot front drive 5 to rotate; the two first universal joints 11 can drive the two first telescopic shafts 13 to rotate when rotating; the two first telescopic shafts 13 rotate to drive the two second universal joints 12 to rotate; the two second universal joints 12 rotate to drive the two second transmission shafts 19 to rotate; the two second transmission shafts 19 rotate to drive the two front wheels 16 to rotate through the two supporting cylinders; the design of the invention belongs to a four-wheel drive walking platform, namely, the robot controls the rotation of an input shaft on a driving motor 3; the input shaft on the driving motor 3 rotates to drive the second driving shaft 10 to rotate; the rotation of the second driving shaft 10 drives the input shaft on the differential mechanism 7 to rotate; the rotation of the input shaft on the differential 7 drives the third universal joints 21 on the two sides of the rear drive 6 of the robot to rotate; the two second telescopic shafts 23 are driven to rotate by the rotation of the two third universal joints 21; the two second telescopic shafts 23 rotate to drive the two fourth universal joints 22 to rotate; the rotation of the two fourth universal joints 22 drives the rotation of the two fourth transmission shafts 26; the rotation of the two fourth transmission shafts 26 drives the two rear wheels 20 to rotate through the two supporting cylinders; enabling the robot to run on the road in a straight line; in the invention, the rotation of the circular rotating shell 31 can also drive the first connecting shaft 42 and the second connecting shaft 43 to rotate around the axis of the circular rotating shell 31; the rotation of the first connecting shaft 42 and the second connecting shaft 43 drives the fifth bevel gear 40 and the sixth bevel gear 41 to rotate; the rotation of the fifth bevel gear 40 and the sixth bevel gear 41 drives the third bevel gear 38 and the fourth bevel gear 39 to rotate; since the third bevel gear 38 and the fourth bevel gear 39 are fixedly mounted on the first bushing 36 and the second bushing 37, respectively, the fifth bevel gear 40 and the sixth bevel gear 41 idle.

One end of an adjusting transmission shaft 8 is connected with an output shaft of an adjusting motor 2; the other end of the adjusting transmission extension penetrates through one of the shaft holes formed in the protective shell 30 and is positioned in the protective shell 30; the first bevel gear 34 is fixedly arranged at the other end of the adjusting transmission shaft 8; one end of the first driving shaft 9 is connected with the other output shaft on the driving motor 3; the other end of the first driving shaft 9 passes through another shaft hole opened on the protective shell 30 and is positioned in the protective shell 30; the circular gear 33 is fixedly arranged at the other end of the first driving shaft 9; two groups of circular holes 58 communicated with the inner side are uniformly formed in the circumferential direction on the outer circular surface of the circular rotating shell 31, and in the two groups of circular holes 58, two circular holes 58 in each group of circular holes 58 are respectively positioned at two ends of the circular rotating shell 31; a circular hole 56 is formed at one side of the circular rotating shell 31 and communicated with the inner side of the circular rotating shell 31; a rotating shaft hole 57 is formed on the other side of the circular rotating shell 31 and communicated with the inner side of the circular rotating shell 31; the circular rotating shell 31 is installed in the protective shell 30 through an annular support 55; the first shaft sleeve 36 is fixedly arranged in a round hole 56 formed in one side of the round protective shell 30; the second bevel gear 35 is fixedly arranged at one end of the first shaft sleeve 36, and the second bevel gear 35 is meshed with the first bevel gear 34; the ring gear 32 is fixedly installed at the other side of the circular rotating shell 31 and is engaged with the circular gear 33; the third bevel gear 38 is fixedly installed at the other end of the first shaft sleeve 36 and is positioned at the inner side of the circular rotating shell 31; one end of the first connecting shaft 42 is installed in one circular hole 58 of four circular holes 58 formed in the outer circumferential surface of the circular rotating shell 31, and is close to the circular hole 56 formed in the circular rotating shell 31; a fifth bevel gear 40 is installed at the other end of the first connecting shaft 42 and engaged with the third bevel gear 38; one end of the second connecting shaft 43 is installed in one circular hole 58 of four shaft holes formed in the outer circumferential surface of the circular rotating shell 31, and the axis of the second connecting shaft 43 is collinear with the axis of the first connecting shaft 42; a sixth bevel gear 41 is mounted on the other end of the second connecting shaft 43 and meshed with the third bevel gear 38; the first transmission shaft 17 is installed in the first shaft sleeve 36, and one end of the first transmission shaft 17 passes through a shaft hole formed in one of two sides of the protective shell 30 and is connected with the first universal joint 11 on one side of the robot; the other end of the first transmission shaft 17 is installed in the circular rotating shell 31; the second shaft sleeve 37 is mounted on the first transmission shaft 17; one end of a fourth bevel gear 39 is fixedly arranged at one end of the second shaft sleeve 37, and the fourth bevel gear 39 is respectively meshed with a fifth bevel gear 40 and a sixth bevel gear 41; a seventh bevel gear 44 is fixedly mounted on the other end of the second sleeve 37; a tenth bevel gear 47 is installed at one end of the first transmission shaft 17 inside the circular rotation housing 31; one end of the third connecting shaft 51 is mounted in one circular hole 58 of four circular holes 58 formed in the outer circumferential surface of the circular rotation housing 31, and is close to the first connecting shaft 42; an eighth bevel gear 45 is mounted on the third connecting shaft 51 and meshed with the seventh bevel gear 44; a twelfth bevel gear 49 is mounted on the other end of the third connecting shaft 51, and meshes with the tenth bevel gear 47; one end of the fourth connecting shaft 52 is installed in one circular hole 58 of four circular holes 58 formed in the outer circumferential surface of the circular rotation housing 31, and the axis of the fourth connecting shaft 52 is collinear with the axis of the third connecting shaft 51; a ninth bevel gear 46 is mounted on the third connecting shaft 51 and meshed with the seventh bevel gear 44; a thirteenth bevel gear 50 is mounted on the other end of the fourth connecting shaft 52, and meshes with the tenth bevel gear 47; one end of the fifth transmission shaft 29 passes through the shaft hole opened on the other side of the two sides of the protective shell 30 and the rotating shaft hole 57 opened on the other side of the circular rotating shell 31 and is installed in the circular rotating shell 31; the other end of the fifth transmission shaft 29 is connected with the first universal joint 11 on the other side of the robot; an eleventh bevel gear 48 is mounted on the fifth drive shaft 29 and meshes with a thirteenth bevel gear 50 and a twelfth bevel gear 49.

When the robot runs through a curve by using the wheel type four-wheel drive walking platform, the robot controls and adjusts the rotation of the input shaft of the motor 2; an input shaft on the adjusting motor 2 rotates to drive the adjusting transmission shaft 8 to rotate; the rotation of the transmission shaft 8 is adjusted to drive the first bevel gear 34 to rotate; the rotation of the first bevel gear 34 drives the rotation of the second bevel gear 35; the rotation of the second bevel gear 35 drives the first shaft sleeve 36; the rotation of the first shaft sleeve 36 drives the third bevel gear 38 to rotate; since the fifth bevel gear 40 and the sixth bevel gear 41 are both meshed with the third bevel gear 38, the third bevel gear 38 rotates to drive the fifth bevel gear 40 and the sixth bevel gear 41 to rotate, so as to drive the fourth bevel gear 39 to rotate; the fourth bevel gear 39 rotates to drive the second shaft sleeve 37 to rotate; the second shaft sleeve 37 drives the seventh bevel gear 44 to rotate; since the eighth bevel gear 45 and the ninth bevel gear 46 are both meshed with the seventh bevel gear 44, the seventh bevel gear 44 rotates to drive the eighth bevel gear 45 and the ninth bevel gear 46 to rotate; the rotation of the eighth bevel gear 45 and the ninth bevel gear 46 drives the third connecting shaft 51 and the fourth connecting shaft 52 to rotate; the rotation of the third connecting shaft 51 and the fourth connecting shaft 52 drives the twelfth bevel gear 49 and the thirteenth bevel gear 50 to rotate; since the twelfth bevel gear 49 and the thirteenth bevel gear 50 are meshed with the eleventh bevel gear 48, the twelfth bevel gear 49 and the thirteenth bevel gear 50 rotate to drive the tenth bevel gear 47 and the eleventh bevel gear 48 to rotate; since the rotation directions of the twelfth and thirteenth bevel gears 49 and 50 are the same as one of the rotation directions of the tenth and eleventh bevel gears 47 and 48, the other rotation direction is opposite; rotation of twelfth and thirteenth bevel gears 49 and 50 causes one of tenth and eleventh bevel gears 47 and 48 to rotate faster and the other to rotate slower; namely, the rotating speeds of the first transmission shaft 17 and the fifth transmission shaft 29 are increased one by one and decreased one by one; i.e. the rotational speed of the two front wheels 16 is one faster and one slower; the steering function of the robot is realized through the speed difference of the two wheels.

The first fixing spring 14, the second fixing spring 24, the first telescopic rod 18 and the second telescopic rod 28 which are arranged on the front driving part 5 and the rear driving part 6 are used for preventing the bottom of the robot from being interfered, and also play a role in damping and buffering the robot when the robot passes through a hollow ground.

The specific implementation mode is as follows: the robot controls and adjusts the input shaft of the motor 2 to rotate; an input shaft on the adjusting motor 2 rotates to drive the adjusting transmission shaft 8 to rotate; the rotation of the transmission shaft 8 is adjusted to drive the first bevel gear 34 to rotate; the rotation of the first bevel gear 34 drives the rotation of the second bevel gear 35; the rotation of the second bevel gear 35 drives the first shaft sleeve 36; the rotation of the first shaft sleeve 36 drives the third bevel gear 38 to rotate; since the fifth bevel gear 40 and the sixth bevel gear 41 are both meshed with the third bevel gear 38, the third bevel gear 38 rotates to drive the fifth bevel gear 40 and the sixth bevel gear 41 to rotate, so as to drive the fourth bevel gear 39 to rotate; the fourth bevel gear 39 rotates to drive the second shaft sleeve 37 to rotate; the second shaft sleeve 37 drives the seventh bevel gear 44 to rotate; since the eighth bevel gear 45 and the ninth bevel gear 46 are both meshed with the seventh bevel gear 44, the seventh bevel gear 44 rotates to drive the eighth bevel gear 45 and the ninth bevel gear 46 to rotate; the rotation of the eighth bevel gear 45 and the ninth bevel gear 46 drives the third connecting shaft 51 and the fourth connecting shaft 52 to rotate; the rotation of the third connecting shaft 51 and the fourth connecting shaft 52 drives the twelfth bevel gear 49 and the thirteenth bevel gear 50 to rotate; since the twelfth bevel gear 49 and the thirteenth bevel gear 50 are meshed with the eleventh bevel gear 48, the twelfth bevel gear 49 and the thirteenth bevel gear 50 rotate to drive the tenth bevel gear 47 and the eleventh bevel gear 48 to rotate; since the rotation directions of the twelfth and thirteenth bevel gears 49 and 50 are the same as one of the rotation directions of the tenth and eleventh bevel gears 47 and 48, the other rotation direction is opposite; rotation of twelfth and thirteenth bevel gears 49 and 50 causes one of tenth and eleventh bevel gears 47 and 48 to rotate faster and the other to rotate slower; namely, the rotating speeds of the first transmission shaft 17 and the fifth transmission shaft 29 are increased one by one and decreased one by one; i.e. the rotational speed of the two front wheels 16 is one faster and one slower; the steering function of the robot is realized through the speed difference of the two wheels.

Claims

1. The utility model provides a wheeled four-wheel drive walking platform that robot used which characterized in that: the device comprises a bottom plate, an adjusting motor, a driving motor, an adjusting driving mechanism, a front drive, a rear drive, a differential, an adjusting transmission shaft and a second driving shaft, wherein a through driving motor notch is formed in the bottom plate; the bottom plate is provided with a through regulating motor notch which is close to the driving motor notch; the bottom plate is fixedly arranged at the bottom end of the robot; the adjusting motor is fixedly arranged in an adjusting motor slot formed on the bottom plate; the driving motor is fixedly arranged in a driving motor notch formed on the bottom plate; the adjusting driving mechanism is fixedly arranged on the lower end surface of the front side of the bottom plate; the differential is fixedly arranged on the lower end face of the rear side of the bottom plate; the adjusting motor is connected with the adjusting driving mechanism; the driving motor is connected with the adjusting driving mechanism; one end of the second driving shaft is connected with one output shaft on the driving motor; the other end of the second driving shaft is connected with an input shaft of the differential mechanism; the two symmetrical front drivers are positioned at the lower side of the front end of the bottom plate; the two symmetrical rear drives are positioned at the lower side of the rear end of the bottom plate;

the adjusting and driving mechanism comprises a first driving shaft, a fifth driving shaft, a protective shell, a circular rotating shell, a ring gear, a circular gear, a first bevel gear, a second bevel gear, a first shaft sleeve, a second shaft sleeve, a third bevel gear, a fourth bevel gear, a fifth bevel gear, a sixth bevel gear, a first connecting shaft, a second connecting shaft, a seventh bevel gear, an eighth bevel gear, a ninth bevel gear, a tenth bevel gear, an eleventh bevel gear, a twelfth bevel gear, a thirteenth bevel gear, a third connecting shaft, a fourth connecting shaft, an annular support, a round hole, a rotating shaft hole and a round hole, wherein two shaft holes communicated with the interior of the protective shell are formed in one surface of the protective shell corresponding to the differential mechanism, and the two shaft holes are respectively positioned at two ends of the protective shell; two symmetrical shaft holes are formed in the two side faces of the protective shell and communicated with the interior of the protective shell; one end of the adjusting transmission shaft is connected with an output shaft of the adjusting motor; the other end of the adjusting transmission shaft penetrates through one of the shaft holes formed in the protective shell and is positioned in the protective shell; the first bevel gear is fixedly arranged at the other end of the adjusting transmission shaft; one end of the first driving shaft is connected with the other output shaft on the driving motor; the other end of the first driving shaft penetrates through another shaft hole formed in the protective shell and is positioned in the protective shell; the circular gear is fixedly arranged at the other end of the first driving shaft; two groups of circular holes communicated with the inner side are uniformly formed in the circumferential direction on the outer circular surface of the circular rotating shell, and in the two groups of circular holes, two circular holes in each group of circular holes are respectively positioned at two ends of the circular rotating shell; one side of the circular rotating shell is provided with a round hole and is communicated with the inner side of the circular rotating shell; the other side of the circular rotating shell is provided with a rotating shaft hole which is communicated with the inner side of the circular rotating shell; the circular rotating shell is arranged in the protective shell through an annular support; the first shaft sleeve is fixedly arranged in a round hole formed in one side of the round protective shell; the second bevel gear is fixedly arranged at one end of the first shaft sleeve and meshed with the first bevel gear; the ring gear is fixedly arranged on the other side of the circular rotating shell and is meshed with the circular gear; the third bevel gear is fixedly arranged at the other end of the first shaft sleeve and is positioned at the inner side of the circular rotating shell; one end of the first connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell and is close to the circular hole formed in the circular rotating shell; the fifth bevel gear is arranged at the other end of the first connecting shaft and is meshed with the third bevel gear; one end of the second connecting shaft is arranged in one circular hole of four shaft holes formed in the outer circular surface of the circular rotating shell, and the axis of the second connecting shaft is collinear with the axis of the first connecting shaft; the sixth bevel gear is arranged at the other end of the second connecting shaft and meshed with the third bevel gear; the first transmission shaft is arranged in the first shaft sleeve, and one end of the first transmission shaft penetrates through a shaft hole formed in one side of the two sides of the protective shell and is connected with a first universal joint on one side of the robot; the other end of the first transmission shaft is arranged in the circular rotating shell; the second shaft sleeve is arranged on the first transmission shaft; one end of a fifth bevel gear is fixedly arranged at one end of the second shaft sleeve, and the fifth bevel gear is respectively meshed with the fourth bevel gear and the sixth bevel gear; the seventh bevel gear is fixedly arranged at the other end of the second shaft sleeve; the tenth bevel gear is arranged at one end of the first transmission shaft, which is positioned in the circular rotating shell; one end of the second connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell and is close to the first connecting shaft; the eighth bevel gear is arranged on the third connecting shaft and meshed with the seventh bevel gear; the twelfth bevel gear is arranged at the other end of the third connecting shaft and meshed with the tenth bevel gear; one end of the fourth connecting shaft is arranged in one of four circular holes formed in the outer circular surface of the circular rotating shell, and the axis of the fourth connecting shaft is collinear with the axis of the third connecting shaft; the ninth bevel gear is arranged on the fourth connecting shaft and meshed with the seventh bevel gear; the thirteenth bevel gear is arranged at the other end of the fourth connecting shaft and meshed with the tenth bevel gear; one end of a fifth transmission shaft penetrates through a shaft hole formed in the other side of the two sides of the protective shell and a rotating shaft hole formed in the other side of the circular rotating shell and is installed in the circular rotating shell; the other end of the fifth transmission shaft is connected with the first universal joint on the other side of the robot; the eleventh bevel gear is arranged on the fifth transmission shaft and is meshed with the thirteenth bevel gear and the twelfth bevel gear;

the front drive comprises a first universal joint, a second universal joint, a first telescopic shaft, a first fixed spring, a first rectangular connecting block, a front wheel, a first telescopic rod and a second transmission shaft, wherein the first universal joint is connected with an adjusting driving mechanism; the telescopic shaft sleeve and the telescopic inner rod in the first telescopic shaft are connected with the guide groove in a matched manner through the guide block; a telescopic shaft sleeve in the first telescopic shaft is connected with the first universal joint; the second universal joint is arranged on a telescopic inner rod in the first telescopic shaft; one end of the second transmission shaft is arranged on the second universal joint; one end of the first rectangular connecting block is fixedly provided with a supporting cylinder; a through shaft hole is formed in the first rectangular connecting block; the first rectangular connecting block is arranged on the second transmission shaft through the opened shaft hole; the first telescopic rod is fixedly arranged between the bottom plate and the first rectangular connecting block; the first fixed spring is fixedly installed between the bottom plate and the first rectangular connecting block and is nested outside the first telescopic rod; the front wheel is fixedly arranged on the first rectangular connecting block through a supporting cylinder and is connected with the other end of the second transmission shaft;

the rear drive comprises a rear wheel, a third universal joint, a fourth universal joint, a second telescopic shaft, a second fixed spring, a third transmission shaft, a fourth transmission shaft, a second rectangular connecting block and a second telescopic rod, wherein one end of the third transmission shaft is connected with an output shaft on the differential mechanism; the third universal joint is arranged at the other end of the third transmission shaft; the telescopic shaft sleeve and the telescopic inner rod in the second telescopic shaft are connected with the guide groove in a matched manner through the guide block; a telescopic shaft sleeve in the second telescopic shaft is connected with a third universal joint; the fourth universal joint is arranged on a telescopic inner rod in the second telescopic shaft; one end of the fourth transmission shaft is arranged on the fourth universal joint; one end of the second rectangular connecting block is fixedly provided with a supporting cylinder; a through shaft hole is formed in the second rectangular connecting block; the second rectangular connecting block is arranged on the fourth transmission shaft through the opened shaft hole; the second telescopic rod is fixedly arranged between the bottom plate and the second rectangular connecting block; the second fixed spring is fixedly arranged between the bottom plate and the first rectangular connecting block and is nested outside the second telescopic rod; the rear wheel is fixedly arranged on the second rectangular connecting block through a supporting cylinder and is connected with the other end of the fourth transmission shaft;

a first universal joint in one of the two front driving wheels is connected with a first transmission shaft on the adjusting driving mechanism; a first universal joint in the other front driving of the two front driving is connected with a fifth transmission shaft on the adjusting driving mechanism;

2. A wheeled four-wheel drive walking platform for use with a robot according to claim 1, wherein: the first connecting shaft, the second connecting shaft, the third connecting shaft and the fourth connecting shaft are in running fit with the circular rotating shell.

3. A wheeled four-wheel drive walking platform for use with a robot according to claim 1, wherein: the first fixing spring and the second fixing spring are both compression springs.

4. A wheeled four-wheel drive walking platform for use with a robot according to claim 1, wherein: the two first rectangular connecting blocks are welded with the second universal joint; and the two second rectangular connecting blocks and the fourth universal joint are welded.

5. A wheeled four-wheel drive walking platform for use with a robot according to claim 1, wherein: the supporting cylinders arranged on the two second transmission shafts are matched with the two front wheels through bearings; and the supporting cylinders arranged on the two fourth transmission shafts are matched with the two rear wheels through bearings.