CN109199719A - A kind of adjustable trilobed wheel of robot of the speeling stairway based on self-locking motor driving - Google Patents
A kind of adjustable trilobed wheel of robot of the speeling stairway based on self-locking motor driving Download PDFInfo
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- CN109199719A CN109199719A CN201811080477.XA CN201811080477A CN109199719A CN 109199719 A CN109199719 A CN 109199719A CN 201811080477 A CN201811080477 A CN 201811080477A CN 109199719 A CN109199719 A CN 109199719A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/06—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps
- A61G5/061—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs with obstacle mounting facilities, e.g. for climbing stairs, kerbs or steps for climbing stairs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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Abstract
The invention belongs to the adjustable trilobed wheel technical fields of robot, more particularly to a kind of adjustable trilobed wheel of robot of the speeling stairway based on self-locking motor driving, it includes self-locking motor mechanism, climbing blade, support teeth bar, mounting shell, servo motor, when the adjustable trilobed wheel that people are designed using the present invention, the climbing blade first having in adjusting trilobed wheel adapts it to the stair for needing to climb；Driving servo motor work at this time；Servo motor drives driving mounting disc rotation by servo motor shaft；Mounting disc rotation is driven to drive drive shaft rotation；It is rotated by drive shaft and adjusts support teeth bar and corresponding three climbing blades to adapt to stair；Driving self-locking motor mechanism works so that driving motor drives output shaft to rotate by support construction after the completion of adjusting；Output shaft drives mounting shell rotation；Mounting shell just will drive three climbing blades and rotate around the axis of mounting shell；It is gone downstairs by three climbing blade rotation band mobile robots.
Description
Technical field
The invention belongs to the adjustable trilobed wheel technical field of robot more particularly to a kind of climbings based on self-locking motor driving
The robot of stair is adjustable trilobed wheel.
Background technique
Old, weak, sick, the residual group in the whole nation is populous, and climb building trip for outdoor and interior has inconvenience more, to walking-replacing tool
Demand increasingly increase.In order to solve the realistic problem of these specific groups, diversified forms have been used both at home and abroad at present
It can be changed wheeled stair climbing wheelchair robot, including manual and electric stairs-climbing wheelchair, there is crawler type, wheel group formula, rail mounted etc..But
It is current to can be changed wheeled stair climbing wheelchair and have some defects, for example track type climbing-building wheel chair sport is not flexible, volume is big, and it is heavy,
It is big to building body damaged condition, be not suitable for the walking of ordinarily resident's corridor；And structure is complicated for wheel group formula, price is high, and stability is poor；Track
Formula needs dedicated track, is not suitable for ordinary consumer；Some need people to push away, draw by star wheel type stair-climbing wheel chair, and stability is poor, behaviour
It bothers；There are many unpractical defects for the balanced design of chair when some are for wheelchair stair activity, and are driven using motor
Dynamic elevating mechanism carrys out adjustment, although feasible, there is balance adjustments to react insensitive, the defect of malfunction；Institute
It is quick on the draw with designing a kind of balance adjustment, flexible operation, structure is simple, the robot ambulation of the higher speeling stairway of cost performance
Platform is necessary.
The adjustable trilobed wheel solution of robot that the present invention designs a kind of speeling stairway based on self-locking motor driving is as above asked
Topic.
Summary of the invention
To solve drawbacks described above in the prior art, the present invention discloses a kind of speeling stairway based on self-locking motor driving
Robot is adjustable trilobed wheel, it adopts the following technical solutions to realize.
A kind of adjustable trilobed wheel of robot of the speeling stairway based on self-locking motor driving, it is characterised in that: it includes certainly
Lock motor mechanism, support teeth bar, mounting shell, servo motor mounting shell, transmission gear, servo motor shaft, is watched climbing blade
Take motor, driving mounting disc, driving cylinder, driving adjusting rod, driving gear, drive shaft, targeting port, installation circular port, leaf
Piece targeting port, blade guide groove, drive connection bar, guiding arc block, triggering connection, rotary gear shaft, angle regulating unit, guiding circle
Hole, guiding connection, wherein self-locking motor mechanism is mounted on the mounting rack in robot；It is circumferential on the periphery of mounting shell one end
Blade guide groove there are three equably opening；It is opened on the periphery of the mounting shell other end and is evenly directed to mouth there are three circumferential；Installation
Shell is provided on the end face of targeting port one end and is provided with installation circular port；Mounting shell is provided on the inner side end of blade guide groove one end and opens
Spiral helicine blade guide groove is uniformly distributed there are three circumferential；Mounting shell is not provided with one end and the self-locking motor mechanism of installation circular port
Connection；Servo motor mounting shell is mounted on one end that installation circular port is provided on mounting shell；Servo motor is mounted on servo motor
On side on the inside of mounting shell far from mounting shell one end；Driving mounting disc is mounted in the installation circular port on mounting shell, and is driven
Dynamic mounting disc is connect with the servo motor shaft on servo motor；One end of drive shaft is mounted in driving mounting disc, and is driven
Turn axle position is in mounting shell；Driving gear is mounted in drive shaft；Three rotary gear shafts are circumferentially uniformly mounted to install
It is provided in shell on the end face of installation circular port side；Three transmission gears are separately mounted on three rotary gear shafts；Three transmissions
Gear is engaged with driving gear respectively；Three guiding connections are circumferential to be uniformly mounted to be provided with installation circular port side in mounting shell
End face on；It is installed in three guiding connections respectively one end of three support teeth bars；The other end point of three support teeth bars
Not Chuan Guo three targeting ports on mounting shell be located at the outside of mounting shell；Three support teeth bars are located at one end on the inside of mounting shell
It is engaged respectively at three transmission gears；Driving cylinder is mounted on the other end of drive shaft；Three driving adjusting rods are circumferentially uniform
Ground is mounted on the periphery of driving cylinder；It is oriented in the cambered surface of arc block one end and is provided with guiding circular hole；On three guiding arc blocks not
One end of guiding circular hole is provided with by being fitted in mounting shell with three blade guide grooves；Three driving adjusting rods are worn respectively
Cross the guiding circular hole on three guiding arc blocks；Three triggering connections are separately mounted on three guiding arc blocks；Three climbing blades
One end respectively by being fitted in mounting shell with three blade guide grooves, and three climbing blades trigger respectively at three
Connection cooperation；The other end of three climbing blades is each passed through three blade targeting ports on mounting shell and is located at the outer of mounting shell
Side, and three climbing blades are located at one end on the outside of mounting shell and pass through drive connection bar with corresponding three supports teeth bar respectively
Connection；The inside of three climbing blades is uniformly in turn equipped with multiple angle regulating units.
Above-mentioned angle regulating unit includes mounting plate, frizzen, adjustment gear, limit teeth, guide post, triggering driving
Block, compressed spring, triggering fixture block, guide groove, pilot hole, mounting groove, V-notch, are wherein provided with perforation on the inside of mounting plate
Guide groove；The lower end surface of guide groove side is provided with mounting groove；The lower end surface of mounting groove is provided with pilot hole；Adjustment gear is mounted on
Loading board is not provided on the end face of mounting groove side；The side of triggering drive block is provided with V-notch；Trigger the other side peace of drive block
Equipped with guide post；Drive block is triggered to pass through in the mounting groove of guide post and pilot hole being coupled on a mounting board；Guide post
Compressed spring is installed between pilot hole bottom surface；Limit teeth are mounted on triggering drive block and are located at the outside of mounting plate；
The side for triggering fixture block has V-shape protrusion；One end of triggering fixture block is mounted on frizzen；Trigger fixture block by frizzen with
Guide groove is fitted on the inside of mounting plate, and one end far from triggering fixture block on frizzen is located at the outside of mounting plate；Touching
The V-notch in V-shape protrusion and triggering drive block on hair fastener block cooperates.
Adjustment gear in the above-mentioned angle item section unit being located on the inside of climbing blade is adjusted in unit with adjacent angular to be touched
Send out the limit teeth cooperation on drive block；One end and adjacent angle in angle regulating unit far from triggering fixture block on frizzen
Adjust the triggering fixture block connection in unit；Frizzen and triggering connection in an angle regulating unit of triggering connection connect
It connects.
Above-mentioned self-locking motor mechanism includes motor mounting shell, driving spring, driving motor, arc triggering item, mounting ring, drive
Dynamic machine shaft, wheel chuck, support construction, reset spring, input shaft, axis hole, installation cavity, support chamber, support shaft, triggering
Plate, teeth strip, shaft hole, extension spring, eccentric groove, connection mounting ring, centrifugal-block, are wherein provided on the inside of motor mounting shell
Support chamber；The side of support chamber is provided with installation cavity；The side of installation cavity is provided with the axis hole communicated with the outside world；On motor mounting shell not
It is provided on the mounting rack that one end of axis hole is mounted in robot；The support that driving motor is mounted on motor mounting shell is intracavitary,
And far from installation cavity；It is circumferential on the periphery of mounting ring one end to be equably provided with multiple eccentric grooves, the centrifugation opened in mounting ring
Slot is divided into eccentric groove that is two rows of and being located in same row in the axial direction and is circumferentially uniformly distributed；The eccentric groove opened in mounting ring
In any one eccentric groove in any one row it is equal with the angle between two eccentric grooves adjacent in another row；Mounting ring
The other end is equipped with connection mounting ring；Mounting ring is mounted in driving motor shaft by connecting mounting ring；Mounting ring and motor
Support chamber cooperation on mounting shell；One end of support construction has input shaft, and the other end of support construction has output shaft；Support
Structure is mounted on the inner headed face of mounting ring；The input shaft of installation on the support structure passes through driving spring with driving motor shaft
Connection；The output shaft of installation on the support structure passes through the outside that the axis hole on motor mounting shell is located at motor mounting shell；Gear
Chuck is mounted on output shaft and is located on the inside of motor mounting shell；Support shaft is mounted in motor mounting shell close to axis hole side
End face on；One end of teeth strip has shaft hole；Teeth strips is by shaft hole and shaft is supported to be fitted to electricity
In machine mounting shell；Teeth strip and wheel chuck cooperate；Trigger board is mounted on teeth strip；In trigger board and motor mounting shell
Reset spring is installed between disc；Arc triggering item is installed on centrifugal-block；Multiple centrifugal-blocks are separately mounted in mounting ring
Eccentric groove in；An extension spring is separately installed between each centrifugal-block and corresponding eccentric groove bottom end；It is mounted on centrifugation
Arc triggering item and trigger board on block cooperate.
Above-mentioned any one arc triggering item being mounted in mounting ring in eccentric groove in any one row and phase in another row
The cross-point of adjacent two arcs triggering item is above the minimum point of arc triggering item.
Output shaft in above-mentioned self-locking motor mechanism is connect with mounting shell.
As the further improvement of this technology, above-mentioned driving mounting disc is mounted on the circle of the installation on mounting shell by bearing
Kong Zhong.
As the further improvement of this technology, above-mentioned climbing blade has certain elasticity.
As the further improvement of this technology, above-mentioned frizzen has certain elasticity.
As the further improvement of this technology, the inner circle of above-mentioned driving adjusting rod one end and mounting shell far from driving cylinder
Face cooperation.
Relative to traditional adjustable trilobed wheel technology of robot, the robot for the speeling stairway that the present invention designs use three
Impeller can adapt to different stair by automatically adjusting；The robot of speeling stairway that the present invention designs simultaneously use three
Impeller passes through contact of the arc shape adjusted climbing blade with stair step surface on trilobed wheel in the process of walking to be made
Robot is more steady in the process of walking；Prevent climbing robot from occurring shaking and impact to user.
It is not provided on motor mounting shell in the present invention on the mounting rack that one end of axis hole is mounted in robot；Driving motor
The support being mounted on motor mounting shell is intracavitary；Mounting ring is mounted in driving motor shaft by connecting mounting ring；Support knot
Structure is mounted on the inner headed face of mounting ring；The input shaft of installation on the support structure passes through driving spring with driving motor shaft and connects
It connects；Wheel chuck is mounted on output shaft and is located on the inside of motor mounting shell；Support shaft is mounted on close in motor mounting shell
On the end face of axis hole side；Teeth strip is by shaft hole and shaft is supported to be fitted in motor mounting shell；Teeth card
Item and wheel chuck cooperate；Trigger board is mounted on teeth strip；It is equipped between trigger board and motor mounting shell inner headed face multiple
Position spring；Arc triggering item is installed on centrifugal-block；Multiple centrifugal-blocks are separately mounted in the eccentric groove in mounting ring；Each from
An extension spring is separately installed between heart block and corresponding eccentric groove bottom end；Be mounted on centrifugal-block arc triggering item with
Trigger board cooperation；When driving motor work, one side driving motor can drive mounting ring rotation by driving motor shaft；Separately
One side driving motor can drive driving spring rotation by driving motor shaft；Since wheel chuck at this time is by teeth strip card
Extremely, i.e. output shaft and input shaft is stuck；I.e. machine shaft drives driving spring rotation only driving spring can be made to revolve at this time
Turn constantly upper power on direction；When mounting ring rotation, mounting ring will drive the centrifugal-block being mounted in mounting ring around mounting ring
Axis rotation；With the revolving speed of driving motor be continuously improved the centrifugal-block that is mounted in mounting ring will under the action of the centrifugal towards
Side far from installation ring axis is mobile；Centrifugal-block is mobile to drive the arc being mounted on centrifugal-block triggering item away from installation
The side of ring axis is mobile；In arc triggering moving process, arc triggering item will be with the touching that is mounted on teeth strip
Plate is sent out to contact so that trigger board is around support shaft rotation；Trigger board around support shaft rotation just will drive teeth strip around
Support shaft rotation；The rotation of teeth strip will make teeth strip lose the constraint to wheel chuck；Driving spring is just at this time
It will drive input shaft rotation；Input shaft rotation drives output shaft rotation by support construction；When driving motor stops operating,
Teeth strip will be stuck by teeth chuck again under the action of reset spring；I.e. self-locking motor mechanism realizes self-locking function；This
It is mounted in mounting ring any one arc in eccentric groove in any one row in invention and triggers two adjacent with another row of item
The cross-point of a arc triggering item is above the minimum point of arc triggering item；It is when the arc contacted with trigger board triggers that it, which is acted on,
When the highest point of item and trigger board are detached from, when trigger board is contacted with arc triggering item again under the action of reset spring another
The highest point of arc triggering item is just moved to the underface of trigger board；So that trigger board rotates again；Prevent trigger board
The minimum point contact of item is triggered with arc, and arc triggering item and impaired the normal of self-locking motor mechanism that influence of trigger board being made
With；The effect of driving spring in the present invention is anti-by driving spring when teeth strip is in stuck state with teeth chuck
Influence driving motor is only interfered between input shaft and driving motor shaft.
Self-locking motor mechanism is mounted on the mounting rack in robot in the present invention；Mounting shell is not provided with installation circular port
Output axis connection in one end and self-locking motor mechanism；Servo motor mounting shell, which is mounted on, is provided with installation circular port on mounting shell
One end；Servo motor is mounted on the side on the inside of servo motor mounting shell far from mounting shell one end；Driving mounting disc is mounted on
In installation circular port on mounting shell, and mounting disc is driven to connect with the servo motor shaft on servo motor；Drive shaft
One end is mounted in driving mounting disc；Driving gear is mounted in drive shaft；Three rotary gear shafts are circumferentially uniformly mounted to
It is provided in mounting shell on the end face of installation circular port side；Three transmission gears are separately mounted on three rotary gear shafts；Three
Transmission gear is engaged with driving gear respectively；Three guiding connections are circumferential to be uniformly mounted to be provided with installation circular port in mounting shell
On the end face of side；It is installed in three guiding connections respectively one end of three support teeth bars；Three support the another of teeth bar
Three targeting ports being each passed through on mounting shell are held to be located at the outside of mounting shell；Three support teeth bars are located on the inside of mounting shell
It is engaged respectively at three transmission gears one end；Driving cylinder is mounted on the other end of drive shaft；Three driving adjusting rods are circumferential
It is uniformly mounted on the periphery of driving cylinder；Three guiding arc blocks on be not provided with guiding circular hole one end by with three leaves
Piece guide groove is fitted in mounting shell；Three driving adjusting rods are each passed through the guiding circular hole on three guiding arc blocks；Three
A triggering connection is separately mounted on three guiding arc blocks；One end of three climbing blades respectively by with three blade guide grooves
It is fitted in mounting shell, and three climbing blades are respectively at three triggering connection cooperations；The other end of three climbing blades
Three blade targeting ports being each passed through on mounting shell are located at the outside of mounting shell, and three climbing blades are located on the outside of mounting shell
One end respectively with corresponding three support teeth bars pass through drive connection bar connect；The servo motor meeting when servo motor work
Driving mounting disc rotation is driven by servo motor shaft；Mounting disc rotation is driven to drive drive shaft rotation；Drive shaft turns
It is dynamic to drive the rotation of sliding tooth wheel；The rotation of sliding tooth wheel drives three transmission gear rotations；Transmission gear rotation will make three
Support teeth bar mobile；When drive shaft rotation, drive shaft will drive driving cylinder rotation simultaneously；Cylinder is driven to rotate band
Dynamic three driving adjusting rods are rotated around the axis of drive shaft；Three driving adjusting rod rotations just will drive three guiding arc blocks
Rotation；It is oriented to and is not provided with one end of guiding circular hole on arc blocks by being fitted to installation with three blade guide grooves due to three
In shell；So guiding arc block can be moved along corresponding three blade guide grooves during three guiding arc blocks rotate.
Above-mentioned adjustment gear is mounted on mounting plate and is not provided on the end face of mounting groove side；Trigger the other side peace of drive block
Equipped with guide post；Drive block is triggered to pass through in the mounting groove of guide post and pilot hole being coupled on a mounting board；Guide post
Compressed spring is installed between pilot hole bottom surface；Limit teeth are mounted on triggering drive block and are located at the outside of mounting plate；
One end of triggering fixture block is mounted on frizzen；Triggering fixture block is fitted in mounting plate by frizzen and guide groove
Side, and one end far from triggering fixture block on frizzen is located at the outside of mounting plate；The V-shape protrusion and triggering triggered on fixture block is driven
V-notch cooperation on motion block；Adjustment gear and adjacent angular in the angle item section unit on the inside of climbing blade are adjusted
The limit teeth cooperation on drive block is triggered in unit；One end and phase in angle regulating unit far from triggering fixture block on frizzen
Triggering fixture block connection in adjacent angle regulating unit；Frizzen and touching in an angle regulating unit of triggering connection
Hair connection connection；When guiding arc block is moved along corresponding blade guide groove, if guiding arc block is moved towards the center of mounting shell
Dynamic, it is mobile towards the center of mounting shell that guiding arc block just will drive triggering connection；Triggering connection is mobile to drive touching connected to it
It is mobile to send out bar；Frizzen is mobile just to will drive the movement of trigger card block；Triggering fixture block movement will squeeze triggering drive block and to touch
Hair drive block is moved along pilot hole to the side far from triggering block；It triggers mobile drive of drive block and limits teeth away from tune
The side for saving gear is mobile；When limiting teeth and adjustment gear completely disengages, between two adjacent angle regulating units just
It can rotate automatically；The angle between two adjacent angulars adjusting units can be adjusted；I.e. climbing blade it is adjustable its from
The radian of body；Frizzen continues to move to trigger fixture block at this time and mounting groove is stuck；I.e. continue to move to will for frizzen
Corresponding angle regulating unit is driven to move integrally by triggering fixture block；Climbing blade is driven to move towards the center of mounting shell
It is dynamic；If be oriented to center movement of the arc block away from mounting shell, guiding arc block just will drive triggering connection away from peace
The center for filling shell is mobile；Triggering connection is mobile to drive frizzen connected to it mobile；Frizzen movement just will drive trigger card
Block is mobile；Triggering fixture block movement will squeeze triggering drive block and to trigger one of drive block along pilot hole to separate triggering block
Side is mobile；Trigger the mobile side movement for driving limit teeth away from adjustment gear of drive block；When limit teeth and adjust
When gear completely disengages, it can be rotated automatically between two adjacent angle regulating units；Two adjacent angulars can be adjusted
Degree adjusts the angle between unit；That is its own adjustable radian of climbing blade；Frizzen continues to move to make at this time
It is stuck with mounting groove that fixture block must be triggered；I.e. frizzen continues to move to that corresponding angle regulating unit will be driven by triggering fixture block
It moves integrally；Drive climbing blade mobile away from the side at mounting shell center.
The adjustable trilobed wheel that the present invention designs can be realized on level road in conjunction with normally travel wheel when driving.
The effect that self-locking motor mechanism is driven in the present invention is when robot stops walking by driving self-locking motor machine
Structure can lock output shaft；Prevent robot from voluntarily sliding after driving motor stopping；Improve the degree of safety of robot.
When the adjustable trilobed wheel that people are designed using the present invention, first having to adjust the climbing blade in trilobed wheel keeps it suitable
In requisition for the stair of climbing；Driving servo motor work at this time；When servo motor work, servo motor can pass through servo motor
Shaft drives driving mounting disc rotation；Mounting disc rotation is driven to drive drive shaft rotation；Drive shaft rotation drives sliding tooth
Wheel rotation；The rotation of sliding tooth wheel drives three transmission gear rotations；Transmission gear rotation will make three support teeth bars move
It is dynamic；When drive shaft rotation, drive shaft will drive driving cylinder rotation simultaneously；Drive cylinder rotation that three drivings is driven to adjust
Pole is rotated around the axis of drive shaft；Three driving adjusting rod rotations just will drive three guiding arc block rotations；Due to three
One end of guiding circular hole is not provided on a guiding arc block by being fitted in mounting shell with three blade guide grooves；So
Being oriented to arc block during three guiding arc block rotations can move along corresponding three blade guide grooves.Teeth are supported by adjusting
Bar and corresponding three climbing blades adapt to stair；The work of the self-locking motor mechanism of driving at this time is so that driving motor passes through support
Structure drives output shaft rotation；Output shaft drives mounting shell rotation；Mounting shell just will drive three climbing blades around mounting shell
Axis rotation；When the step surface that three are climbed one of them and stair in blades completely disengages, another climbing blade
Outermost just with the step face contact of stair；And three climbing blades are arc shape at this time, that is, pass through three climbing blades
The uniform rotation of trilobed wheel may be implemented；That is robot can remain a constant speed traveling when going downstairs.
Detailed description of the invention
Fig. 1 is global facility appearance diagram.
Fig. 2 is global facility distribution schematic diagram.
Fig. 3 is servo motor mounting shell structural schematic diagram.
Fig. 4 is global facility schematic diagram of internal structure.
Fig. 5 is global facility internal structure scheme of installation.
Fig. 6 is mounting shell structural schematic diagram.
Fig. 7 is blade guide groove distribution schematic diagram.
Fig. 8 is targeting port distribution schematic diagram.
Fig. 9 is guiding arc block scheme of installation.
Figure 10 is triggering connection scheme of installation.
Figure 11 is driving adjusting rod scheme of installation.
Figure 12 is climbing blade scheme of installation.
Figure 13 is transmission gear scheme of installation.
Figure 14 is support teeth bar scheme of installation.
Figure 15 is angle regulating unit scheme of installation.
Figure 16 is angle regulating unit structural schematic diagram.
Figure 17 is angle regulating unit cooperation schematic diagram.
Figure 18 is guide post scheme of installation.
Figure 19 is triggering drive block scheme of installation.
Figure 20 is frizzen scheme of installation.
Figure 21 is adjustment gear scheme of installation.
Figure 22 is pilot hole distribution schematic diagram.
Figure 23 is triggering fixture block scheme of installation.
Figure 24 is triggering drive block structural schematic diagram.
Figure 25 is self-locking motor mechanism structure schematic diagram.
Figure 26 is the in-house structural schematic diagram of self-locking motor.
Figure 27 is the in-house structure scheme of installation of self-locking motor.
Figure 28 is motor mounting shell structural schematic diagram.
Figure 29 is that arc triggering item and trigger board cooperate schematic diagram.
Figure 30 is trigger board scheme of installation.
Figure 31 is wheel chuck scheme of installation.
Figure 32 is centrifugal-block scheme of installation.
Figure 33 is mounting ring structural schematic diagram.
Figure 34 is arc triggering scheme of installation.
Figure 35 is output shaft scheme of installation.
Figure 36 is trilobed wheel operation principle schematic diagram.
Figure label title: 1, self-locking motor mechanism；2, blade is climbed；3, teeth bar is supported；4, mounting shell；5, servo electricity
Machine mounting shell；6, output shaft；7, transmission gear；8, servo motor shaft；9, servo motor；10, mounting disc is driven；11, it drives
Cylinder；12, adjusting rod is driven；13, gear is driven；14, drive shaft；15, targeting port；16, circular port is installed；17, Leaf Conductance
To mouth；18, blade guide groove；19, drive connection bar；20, it is oriented to arc block；21, triggering connection；22, rotary gear shaft；23, mounting plate；
24, frizzen；25, adjustment gear；26, teeth are limited；27, guide post；28, drive block is triggered；29, compressed spring；30, it triggers
Fixture block；31, guide groove；32, pilot hole；33, mounting groove；34, V-notch；35, motor mounting shell；36, driving spring；37, it drives
Dynamic motor；38, arc triggers item；39, mounting ring；40, driving motor shaft；41, wheel chuck；42, support construction；43, defeated
Enter axis；44, axis hole；45, installation cavity；46, chamber is supported；47, shaft is supported；48, trigger board；49, teeth strip；50, shaft hole；
51, extension spring；52, eccentric groove；53, mounting ring is connected；54, centrifugal-block；55, angle regulating unit；56, it is oriented to circular hole；57,
Guiding connection.
Specific embodiment
As shown in Figure 1, 2, it includes self-locking motor mechanism 1, climbing blade 2, support teeth bar 3, mounting shell 4, servo electricity
Machine mounting shell 5, transmission gear 7, servo motor shaft 8, servo motor 9, driving mounting disc 10, driving cylinder 11, driving are adjusted
Bar 12, driving gear 13, drive shaft 14, targeting port 15, installation circular port 16, blade targeting port 17, blade guide groove 18, driving
Connecting rod 19, guiding arc block 20, triggering connection 21, rotary gear shaft 22, angle regulating unit 55, guiding circular hole 56, guiding connection
57, wherein as shown in Figure 1, self-locking motor mechanism 1 is mounted on the mounting rack in robot；As shown in fig. 6,4 one end of mounting shell
Periphery on circumferential equably open that there are three blade guide grooves 31；As shown in figure 8, being opened on the periphery of 4 other end of mounting shell
Mouth 15 is evenly directed to there are three circumferential；As shown in fig. 7, mounting shell 4, which is provided on the end face of 15 one end of targeting port, is provided with installation circle
Shape mouth 16；Mounting shell 4, which is provided on the inner side end of 31 one end of blade guide groove to open, is uniformly distributed spiral helicine leaf there are three circumferential
Piece guide groove 18；As shown in figure 5, one end that mounting shell 4 is not provided with installation circular port 16 is connect with self-locking motor mechanism 1；Such as Fig. 3,4
Shown, servo motor mounting shell 5 is mounted on one end that installation circular port 16 is provided on mounting shell 4；Servo motor 9 is mounted on servo
5 inside of motor mounting shell is far from the side of 4 one end of mounting shell；As shown in figure 5, driving mounting disc 10 is mounted on mounting shell 4
Installation circular port 16 in, and drive mounting disc 10 connect with the servo motor shaft 8 on servo motor 9；Drive shaft 14
One end is mounted in driving mounting disc 10, and drive shaft 14 is located in mounting shell 4；As shown in figure 12, driving gear 13 is installed
In drive shaft 14；As shown in figure 13, three rotary gear shafts 22 are circumferential is uniformly mounted to be provided with installation circle in mounting shell 4
On the end face of 16 sides of mouth；Three transmission gears 7 are separately mounted on three rotary gear shafts 22；As shown in figure 14, three transmissions
Gear 7 is engaged with driving gear 13 respectively；As shown in figure 12, three guiding connections 57 are circumferential is uniformly mounted in mounting shell 4
It is provided on the end face of installation 16 side of circular port；It is installed in three guiding connections 57 respectively one end of three support teeth bars 3；Three
The other end of a support teeth bar 3 is each passed through the outside that three targeting ports 15 on mounting shell 4 are located at mounting shell 4；Such as Figure 14
Shown, one end that three support teeth bars 3 are located at 4 inside of mounting shell is engaged respectively at three transmission gears 7；As shown in figure 11,
Driving cylinder 11 is mounted on the other end of drive shaft 14；Three driving adjusting rods 12 are circumferential to be uniformly mounted to driving cylinder 11
Periphery on；As shown in figure 13, it is oriented in the cambered surface of 20 one end of arc block and is provided with guiding circular hole 56；As shown in figure 9, three guiding
One end of guiding circular hole 56 is not provided on arc block 20 by being fitted in mounting shell 4 with three blade guide grooves 18；Three
Driving adjusting rod 12 is each passed through the guiding circular hole 56 on three guiding arc blocks 20；As shown in Figure 10, three triggerings connect 21 points
It is not mounted on three guiding arc blocks 20；Pacified respectively by the cooperation with three blade guide grooves 18 one end of three climbing blades 2
In mounting shell 4, and three climbing blades 2 are respectively at three 21 cooperations of triggering connection；As shown in Fig. 2, three climbing blades 2
The other end be each passed through the outside that three blade targeting ports 17 on mounting shell 4 are located at mounting shell 4, and three climbing blades 2
One end positioned at 4 outside of mounting shell is connected with corresponding three support teeth bar 3 by drive connection bar 19 respectively；Such as Figure 15 institute
Show, the inside of three climbing blades 2 is uniformly in turn equipped with multiple angle regulating units 55.
As shown in figure 20, above-mentioned angle regulating unit 55 includes mounting plate 23, frizzen 24, adjustment gear 25, limiting tooth
Tooth 26, guide post 27, triggering drive block 28, compressed spring 29, triggering fixture block 30, guide groove 31, pilot hole 32, mounting groove 33, V
V notch v 34, wherein as shown in figure 22, the inside of mounting plate 23 is provided with the guide groove 31 of perforation；The lower end surface of 31 side of guide groove
It is provided with mounting groove 33；The lower end surface of mounting groove 33 is provided with pilot hole 32；As shown in figure 21, adjustment gear 25 is mounted on mounting plate 23
It is not provided on the end face of 33 side of mounting groove；As shown in figure 24, the side for triggering drive block 28 is provided with V-notch 34；Triggering is driven
The other side of motion block 28 is equipped with guide post 27；As shown in figure 16, triggering drive block 28 passes through guide post 27 and pilot hole 32
It is fitted in the mounting groove 33 on mounting plate 23；As shown in figure 18, it is equipped between 32 bottom surface of guide post 27 and pilot hole
Compressed spring 29；As shown in figure 20, limit teeth 26 are mounted on triggering drive block 28 and are located at the outside of mounting plate 23；Such as figure
Shown in 23, the side of triggering fixture block 30 has V-shape protrusion；One end of triggering fixture block 30 is mounted on frizzen 24；Such as Figure 19
Shown, triggering fixture block 30 is fitted to 23 inside of mounting plate by frizzen 24 and guide groove 31, and remote on frizzen 24
One end from triggering fixture block 30 is located at the outside of mounting plate 23；It triggers in the V-shape protrusion and triggering drive block 28 on fixture block 30
V-notch 34 cooperate.
As shown in figure 17, the adjustment gear 25 and adjacent angular in the above-mentioned angle item section unit for being located at 2 inside of climbing blade
Degree adjusts the limit teeth 26 triggered on drive block 28 in unit 55 and cooperates；Far from touching on frizzen 24 in angle regulating unit 55
One end of hair fastener block 30 is connect with the triggering fixture block 30 in adjacent angle regulating unit 55；Close to an angle of triggering connection 21
Degree adjusts 21 connection of frizzen 24 and triggering connection in unit 55.
As shown in figure 25, above-mentioned self-locking motor mechanism 1 includes motor mounting shell 35, driving spring 36, driving motor 37, arc
Shape triggers item 38, mounting ring 39, driving motor shaft 40, wheel chuck 41, support construction 42, reset spring, input shaft 43, axis
Hole 44, installation cavity 45, support chamber 46, support shaft 47, trigger board 48, teeth strip 49, shaft hole 50, extension spring 51, from
Heart slot 52, connection mounting ring 53, centrifugal-block 54, wherein as shown in figure 28, the inside of motor mounting shell 35 is provided with support chamber 46；Branch
The side of support chamber 46 is provided with installation cavity 45；The side of installation cavity 45 is provided with the axis hole 44 communicated with the outside world；On motor mounting shell 35
It is not provided on the mounting rack that one end of axis hole 44 is mounted in robot；As shown in figure 26, driving motor 37 is mounted on motor peace
It fills in the support chamber 46 on shell 35, and far from installation cavity 45；As shown in figure 33, circumferential uniform on the periphery of 39 one end of mounting ring
Ground is provided with multiple eccentric grooves 52, and the eccentric groove 52 opened in mounting ring 39 is divided into two rows of in the axial direction and is located in same row
Eccentric groove 52 circumferential be uniformly distributed；Any one eccentric groove 52 in the eccentric groove 52 opened in mounting ring 39 in any one row
Angle between two eccentric grooves 52 adjacent in another row is equal；The other end of mounting ring 39 is equipped with connection mounting ring
53；As shown in figure 27, mounting ring 39 is mounted in driving motor shaft 40 by connecting mounting ring 53；Mounting ring 39 and motor are pacified
The support chamber 46 filled on shell 35 cooperates；As shown in figure 35, one end of support construction 42 have input shaft 43, support construction 42 it is another
One end has output shaft 6；As shown in figure 27, support construction 42 is mounted on the inner headed face of mounting ring 39；It is mounted on support construction
Input shaft 43 on 42 is connect with driving motor shaft 40 by driving spring 36；The output shaft 6 being mounted in support construction 42
Axis hole 44 on motor mounting shell 35 is located at the outside of motor mounting shell 35；As shown in figure 31, wheel chuck 41 is mounted on
On output shaft 6 and it is located at 35 inside of motor mounting shell；As shown in figure 29, support shaft 47 is mounted on close in motor mounting shell 35
On the end face of 44 side of axis hole；As shown in figure 30, one end of teeth strip 49 has shaft hole 50；Teeth strip 49 passes through shaft
Hole 50 is fitted in motor mounting shell 35 with support shaft 47；Teeth strip 49 and wheel chuck 41 cooperate；Trigger board
48 are mounted on teeth strip 49；Reset spring is installed between 35 inner headed face of trigger board 48 and motor mounting shell；Such as Figure 34 institute
Show, arc triggering item 38 is installed on centrifugal-block 54；As shown in figure 32, multiple centrifugal-blocks 54 are separately mounted in mounting ring 39
In eccentric groove 52；An extension spring 51 is separately installed between each centrifugal-block 54 and corresponding 52 bottom end of eccentric groove；Installation
Arc triggering item 38 and trigger board 48 on centrifugal-block 54 cooperate.
It is above-mentioned be mounted in mounting ring 39 in eccentric groove 52 in any one row any one arc triggering item 38 with it is another
The cross-point of two adjacent arcs triggering item 38 is above the minimum point of arc triggering item 38 in row.
Output shaft 6 in above-mentioned self-locking motor mechanism 1 is connect with mounting shell 4.
Above-mentioned driving mounting disc 10 is mounted in the installation round hole on mounting shell 4 by bearing.
Above-mentioned climbing blade 2 has certain elasticity.
Above-mentioned frizzen 24 has certain elasticity.
The inner headed face of above-mentioned driving adjusting rod 12 one end and mounting shell 4 far from driving cylinder 11 cooperates.
In summary:
The trilobed wheel that the robot for the speeling stairway that the present invention designs uses can be adapted to different by automatically adjusting
Stair；The trilobed wheel that the robot for the speeling stairway that the present invention designs simultaneously uses, which passes through in the process of walking on trilobed wheel, to be adjusted
Contact of the arc shape climbing blade 2 of section with stair step surface can make robot more steady in the process of walking；It prevents
Shaking, which occurs, in climbing robot impacts user.
It is not provided on motor mounting shell 35 in the present invention on the mounting rack that one end of axis hole 44 is mounted in robot；Driving
Motor 37 is mounted in the support chamber 46 on motor mounting shell 35；Mounting ring 39 is mounted on driving motor by connecting mounting ring 53
In shaft 40；Support construction 42 is mounted on the inner headed face of mounting ring 39；The input shaft 43 being mounted in support construction 42 and drive
Dynamic machine shaft 40 is connected by driving spring 36；Wheel chuck 41 is mounted on output shaft 6 and is located in motor mounting shell 35
Side；Support shaft 47 is mounted in motor mounting shell 35 on the end face of 44 side of axis hole；Teeth strip 49 passes through shaft hole
50 are fitted in motor mounting shell 35 with support shaft 47；Teeth strip 49 and wheel chuck 41 cooperate；Trigger board 48
It is mounted on teeth strip 49；Reset spring is installed between 35 inner headed face of trigger board 48 and motor mounting shell；On centrifugal-block 54
Arc triggering item 38 is installed；Multiple centrifugal-blocks 54 are separately mounted in the eccentric groove 52 in mounting ring 39；Each centrifugal-block 54
An extension spring 51 is separately installed between corresponding 52 bottom end of eccentric groove；The arc triggering item being mounted on centrifugal-block 54
38 cooperate with trigger board 48；When driving motor 37 works, one side driving motor 37 can be driven by driving motor shaft 40
Mounting ring 39 rotates；Another aspect driving motor 37 can drive driving spring 36 to rotate by driving motor shaft 40；Due to this
When wheel chuck 41 it is stuck by teeth strip 49, i.e. output shaft 6 and input shaft 43 is stuck；I.e. machine shaft drives driving at this time
The rotation of spring 36 can only make the constantly upper power in a rotational direction of driving spring 36；When mounting ring 39 rotates, mounting ring 39 can band
The dynamic centrifugal-block 54 being mounted in mounting ring 39 is rotated around the axis of mounting ring 39；As the revolving speed of driving motor 37 constantly mentions
Height is mounted on the centrifugal-block 54 in mounting ring 39 will be mobile away from the side of 39 axis of mounting ring under the action of the centrifugal；From
Heart block 54 is mobile to drive the arc triggering item 38 being mounted on centrifugal-block 54 mobile away from the side of 39 axis of mounting ring；?
Arc trigger 38 moving process of item in, arc triggering item 38 will be contacted with the trigger board 48 being mounted on teeth strip 49 so that
Trigger board 48 is rotated around support shaft 47；Trigger board 48 just will drive teeth strip 49 around branch around the support rotation of shaft 47
Shaft 47 is supportted to rotate；The rotation of teeth strip 49 will make teeth strip 49 lose the constraint to wheel chuck 41；It drives at this time
Spring 36 just will drive the rotation of input shaft 43；The rotation of input shaft 43 drives output shaft 6 to rotate by support construction 42；When driving electricity
When machine 37 stops operating, teeth strip 49 will be stuck by teeth chuck again under the action of reset spring；That is self-locking motor
Mechanism 1 realizes self-locking function；Any one arc in eccentric groove 52 in any one row is mounted in mounting ring 39 in the present invention
The cross-point of the triggering item 38 two arcs triggering item 38 adjacent with another row is above the minimum point of arc triggering item 38；Its
Effect is when the highest point of the arc triggering item 38 contacted with trigger board 48 and the disengaging of trigger board 48, and trigger board 48 is resetting bullet
The highest point of another arc triggering item 38 is just moved to trigger board when contacting again with arc triggering item 38 under the action of spring
48 underface；So that trigger board 48 rotates again；Prevent trigger board 48 and arc from triggering the minimum point contact of item 38, and
So that arc triggering item 38 and the impaired normal use for influencing self-locking motor mechanism 1 of trigger board 48；Driving spring in the present invention
36 effect is to prevent input shaft 43 by driving spring 36 when teeth strip 49 is in stuck state with teeth chuck and drive
Interfering between dynamic machine shaft 40 influences driving motor 37.
Self-locking motor mechanism 1 is mounted on the mounting rack in robot in the present invention；Mounting shell 4 is not provided with installation circular port
16 one end is connect with the output shaft 6 in self-locking motor mechanism 1；Servo motor mounting shell 5, which is mounted on mounting shell 4, is provided with installation
One end of circular port 16；Servo motor 9 is mounted on 5 inside of servo motor mounting shell far from the side of 4 one end of mounting shell；Driving
Mounting disc 10 is mounted in the installation circular port 16 on mounting shell 4, and drives the servo motor on mounting disc 10 and servo motor 9
Shaft 8 connects；One end of drive shaft 14 is mounted in driving mounting disc 10；Driving gear 13 is mounted in drive shaft 14；
On the circumferential end face for being uniformly mounted to be provided with installation 16 side of circular port in mounting shell 4 of three rotary gear shafts 22；Three transmissions
Gear 7 is separately mounted on three rotary gear shafts 22；Three transmission gears 7 are engaged with driving gear 13 respectively；Three guiding connect
It connects on the 57 circumferential end faces for being uniformly mounted to be provided with installation 16 side of circular port in mounting shell 4；The one of three support teeth bars 3
It is installed in three guiding connections 57 respectively at end；The other end of three support teeth bars 3 is each passed through three guiding on mounting shell 4
Mouth 15 is located at the outside of mounting shell 4；Three support teeth bars 3 are located at one end of 4 inside of mounting shell respectively at three transmission gears 7
Engagement；Driving cylinder 11 is mounted on the other end of drive shaft 14；Three driving adjusting rods 12 are circumferential to be uniformly mounted to drive
On the periphery of cylinder 11；Be not provided on three guiding arc blocks 20 one end of guiding circular hole 56 by with three blade guide grooves 18
It is fitted in mounting shell 4；Three driving adjusting rods 12 are each passed through guiding circular hole 56 on three guiding arc blocks 20；Three touchings
Hair connection 21 is separately mounted on three guiding arc blocks 20；Three climbing blade 2 one end respectively by with three blade guide grooves
18 are fitted in mounting shell 4, and three climbing blades 2 are respectively at three 21 cooperations of triggerings connection；Three climbing blades 2
The other end be each passed through the outside that three blade targeting ports 17 on mounting shell 4 are located at mounting shell 4, and three climbing blades 2
One end positioned at 4 outside of mounting shell is connected with corresponding three support teeth bar 3 by drive connection bar 19 respectively；When servo electricity
Servo motor 9 can drive driving mounting disc 10 to rotate by servo motor shaft 8 when machine 9 works；Mounting disc 10 is driven to rotate band
Dynamic drive shaft 14 rotates；The rotation of drive shaft 14 drives driving gear 13 to rotate；The rotation of gear 13 is driven to drive three transmissions
Gear 7 rotates；The rotation of transmission gear 7 will make three support teeth bars 3 mobile；It is driven simultaneously when drive shaft 14 rotates
Shaft 14 will drive driving cylinder 11 and rotate；The rotation of cylinder 11 is driven to drive three driving adjusting rods 12 around drive shaft 14
Axis rotation；Three rotations of driving adjusting rod 12 just will drive three guiding arc blocks 20 and rotate；Due on three guiding arc blocks 20
It is not provided with one end of guiding circular hole 56 by being fitted in mounting shell 4 with three blade guide grooves 18；So being led at three
Arc block 20 is oriented to during rotating to arc block 20 to be moved along corresponding three blade guide grooves 18.
Above-mentioned adjustment gear 25 is mounted on mounting plate 23 and is not provided on the end face of 33 side of mounting groove；Trigger drive block 28
The other side is equipped with guide post 27；Triggering drive block 28 is fitted on mounting plate 23 by guide post 27 and pilot hole 32
Mounting groove 33 in；Guide post 27 and pilot hole are equipped with compressed spring 29 between 32 bottom surface；Limit teeth 26 are mounted on triggering
Outside on drive block 28 and positioned at mounting plate 23；One end of triggering fixture block 30 is mounted on frizzen 24；It is logical to trigger fixture block 30
That crosses frizzen 24 and guide groove 31 is fitted to 23 inside of mounting plate, and one end far from triggering fixture block 30 on frizzen 24
Positioned at the outside of mounting plate 23；The V-notch 34 triggered on V-shape protrusion and the triggering drive block 28 on fixture block 30 cooperates；Position
Adjustment gear 25 and adjacent angular in the angle item section unit of 2 inside of climbing blade, which are adjusted, triggers drive block 28 in unit 55
On limit teeth 26 cooperate；One end and adjacent angle in angle regulating unit 55 far from triggering fixture block 30 on frizzen 24
The triggering fixture block 30 adjusted in unit 55 connects；Close to triggering connection 21 an angle regulating unit 55 in frizzen 24 with
21 connection of triggering connection；When guiding arc block 20 is moved along corresponding blade guide groove 18, if being oriented to arc block 20 towards installation
The center of shell 4 is mobile, and it is mobile towards the center of mounting shell 4 that guiding arc block 20 just will drive triggering connection 21；Triggering connection 21 moves
It is dynamic to drive frizzen 24 connected to it mobile；Frizzen 24 is mobile just to will drive the movement of trigger card block 30；Fixture block 30 is triggered to move
The dynamic triggering drive block 28 that will squeeze moves triggering drive block 28 to the side far from triggering block along pilot hole 32；Triggering
Drive block 28 is mobile to drive limit teeth 26 mobile away from the side of adjustment gear 25；When limit teeth 26 and adjustment gear
25 when completely disengaging, and can rotate automatically between two adjacent angle regulating units 55；Two adjacent angulars can be adjusted
Degree adjusts the angle between unit 55；That is its own adjustable radian of climbing blade 2；Frizzen 24 continues to move to just at this time
Meeting is so that triggering fixture block 30 and mounting groove 33 are stuck；I.e. frizzen 24 continues to move to drive by triggering fixture block 30 corresponding
Angle regulating unit 55 moves integrally；Drive climbing blade 2 mobile towards the center of mounting shell 4；If being oriented to 20 court of arc block
The center far from mounting shell 4 it is mobile when, guiding arc block 20 just will drive triggering connection 21 and move away from the center of mounting shell 4
It is dynamic；Triggering connection 21 is mobile to drive frizzen 24 connected to it mobile；Frizzen 24 is mobile just to will drive the shifting of trigger card block 30
It is dynamic；Triggering 30 movement of fixture block will squeeze triggering drive block 28 and to trigger drive block 28 along pilot hole 32 to far from triggering block
Side it is mobile；Trigger the mobile side movement for driving limit teeth 26 away from adjustment gear 25 of drive block 28；Work as limit
When teeth 26 and adjustment gear 25 completely disengage, it can be rotated automatically between two adjacent angle regulating units 55；?
To adjust the angle between two adjacent angulars adjusting units 55；That is its own adjustable radian of climbing blade 2；It touches at this time
Hair bar 24 continues to move to trigger fixture block 30 and mounting groove 33 is stuck；I.e. frizzen 24 continues to move to that triggering will be passed through
Fixture block 30 drives corresponding angle regulating unit 55 to move integrally；Drive climbing blade 2 away from the one of 4 center of mounting shell
Side is mobile.
The adjustable trilobed wheel that the present invention designs can be realized on level road in conjunction with normally travel wheel when driving.
The effect that self-locking motor mechanism 1 is driven in the present invention is when robot stops walking by driving self-locking motor machine
Structure 1 can lock output shaft；Prevent robot from voluntarily sliding after driving motor stopping；Improve the degree of safety of robot.
Specific embodiment: it when the adjustable trilobed wheel that people are designed using the present invention, first has to adjust in trilobed wheel
Climbing blade 2 adapts it to the stair for needing to climb；Driving servo motor 9 works at this time；The servo electricity when servo motor 9 works
Machine 9 can drive driving mounting disc 10 to rotate by servo motor shaft 8；The rotation of mounting disc 10 is driven to drive 14 turns of drive shaft
It is dynamic；The rotation of drive shaft 14 drives driving gear 13 to rotate；Drive the rotation of gear 13 that three transmission gears 7 is driven to rotate；Transmission
The rotation of gear 7 will make three support teeth bars 3 mobile；When drive shaft 14 rotates, drive shaft 14 will drive drive simultaneously
Dynamic cylinder 11 rotates；Drive the rotation of cylinder 11 that three driving adjusting rods 12 is driven to rotate around the axis of drive shaft 14；Three
The driving rotation of adjusting rod 12 just will drive three guiding arc blocks 20 and rotate；Due to not being provided with guiding circular hole on three guiding arc blocks 20
56 one end with three blade guide grooves 18 by being fitted in mounting shell 4；So being oriented to what arc block 20 rotated at three
Guiding arc block 20 can be moved along corresponding three blade guide grooves 18 in the process.Teeth bar 3 and corresponding three is supported by adjusting
A climbing blade 2 adapts to stair；The self-locking motor mechanism 1 of driving at this time works so that driving motor 37 passes through 42 band of support construction
Dynamic output shaft 6 rotates；As shown in Figure 36 a, output shaft 6 drives mounting shell 4 to rotate；As shown in Figure 36 b, mounting shell 4 just be will drive
Three climbing blades 2 are rotated around the axis of mounting shell 4；As shown in Figure 36 c, when three climb blades 2 in one of them with
When the step surface of stair completely disengages, another climbing blade 2 outermost just with the step face contact of stair；And at this time three
A climbing blade 2 is arc shape, i.e., the uniform rotation of trilobed wheel may be implemented by three climbing blades 2；I.e. robot is under
Can remain a constant speed traveling when stair.
Claims (5)
1. a kind of adjustable trilobed wheel of robot of the speeling stairway based on self-locking motor driving, it is characterised in that: it includes self-locking
Motor mechanism, climbing blade, support teeth bar, mounting shell, servo motor mounting shell, transmission gear, servo motor shaft, servo
Motor, driving mounting disc, driving cylinder, driving adjusting rod, driving gear, drive shaft, targeting port, installation circular port, blade
Targeting port, blade guide groove, drive connection bar, guiding arc block, triggering connection, rotary gear shaft, angle regulating unit, be oriented to circular hole,
Guiding connection, wherein self-locking motor mechanism is mounted on the mounting rack in robot；It is circumferential equal on the periphery of mounting shell one end
Blade guide groove there are three opening evenly；It is opened on the periphery of the mounting shell other end and is evenly directed to mouth there are three circumferential；Mounting shell
It is provided on the end face of targeting port one end and is provided with installation circular port；Mounting shell is provided on the inner side end of blade guide groove one end and is provided with
Three circumferential directions are uniformly distributed spiral helicine blade guide groove；Mounting shell is not provided with one end of installation circular port and self-locking motor mechanism connects
It connects；Servo motor mounting shell is mounted on one end that installation circular port is provided on mounting shell；Servo motor is mounted on servo motor peace
It fills on the side on the inside of shell far from mounting shell one end；Driving mounting disc is mounted in the installation circular port on mounting shell, and is driven
Mounting disc is connect with the servo motor shaft on servo motor；One end of drive shaft is mounted in driving mounting disc, and is driven
Shaft is located in mounting shell；Driving gear is mounted in drive shaft；Three rotary gear shafts are circumferentially uniformly mounted to mounting shell
It is inside provided on the end face of installation circular port side；Three transmission gears are separately mounted on three rotary gear shafts；Three driving cogs
Wheel is engaged with driving gear respectively；Three guiding connections are circumferential to be uniformly mounted to be provided with installation circular port side in mounting shell
On end face；It is installed in three guiding connections respectively one end of three support teeth bars；The other end difference of three support teeth bars
Three targeting ports on mounting shell are located at the outside of mounting shell；Three support teeth bars are located at one end on the inside of mounting shell point
It is not engaged in three transmission gears；Driving cylinder is mounted on the other end of drive shaft；Three driving adjusting rods are circumferential equably
It is mounted on the periphery of driving cylinder；It is oriented in the cambered surface of arc block one end and is provided with guiding circular hole；It is not opened on three guiding arc blocks
There is one end of guiding circular hole by being fitted in mounting shell with three blade guide grooves；Three driving adjusting rods are each passed through
Guiding circular hole on three guiding arc blocks；Three triggering connections are separately mounted on three guiding arc blocks；Three are climbed blade
One end with three blade guide grooves respectively by being fitted in mounting shell, and three climbing blades connect respectively at three triggerings
Connect cooperation；The other end of three climbing blades is each passed through the outside that three blade targeting ports on mounting shell are located at mounting shell,
And three climbing blades are located at one end on the outside of mounting shell and are connected respectively with corresponding three support teeth bars by drive connection bar
It connects；The inside of three climbing blades is uniformly in turn equipped with multiple angle regulating units；
Above-mentioned angle regulating unit includes mounting plate, frizzen, adjustment gear, limit teeth, guide post, triggering drive block, pressure
Contracting spring, triggering fixture block, guide groove, pilot hole, mounting groove, V-notch, are wherein provided with the guiding of perforation on the inside of mounting plate
Slot；The lower end surface of guide groove side is provided with mounting groove；The lower end surface of mounting groove is provided with pilot hole；Adjustment gear is mounted on mounting plate
It is not provided on the end face of mounting groove side；The side of triggering drive block is provided with V-notch；The other side of triggering drive block is equipped with
Guide post；Drive block is triggered to pass through in the mounting groove of guide post and pilot hole being coupled on a mounting board；Guide post with lead
Compressed spring is installed between the bottom surface of hole；Limit teeth are mounted on triggering drive block and are located at the outside of mounting plate；Triggering
The side of fixture block has V-shape protrusion；One end of triggering fixture block is mounted on frizzen；It triggers fixture block and passes through frizzen and guiding
Slot is fitted on the inside of mounting plate, and one end far from triggering fixture block on frizzen is located at the outside of mounting plate；Trigger card
The V-notch in V-shape protrusion and triggering drive block on block cooperates；
Adjustment gear and adjacent angular in the above-mentioned angle item section unit being located on the inside of climbing blade, which adjust to trigger in unit, drives
Limit teeth cooperation on motion block；One end and adjacent angular adjustment in angle regulating unit far from triggering fixture block on frizzen
Triggering fixture block connection in unit；Frizzen and triggering connection connection in an angle regulating unit of triggering connection；
Above-mentioned self-locking motor mechanism includes motor mounting shell, driving spring, driving motor, arc triggering item, mounting ring, driving electricity
Machine shaft, wheel chuck, support construction, reset spring, input shaft, axis hole, installation cavity, support chamber, support shaft, trigger board,
Teeth strip, shaft hole, extension spring, eccentric groove, connection mounting ring, centrifugal-block, are wherein provided with branch on the inside of motor mounting shell
Support chamber；The side of support chamber is provided with installation cavity；The side of installation cavity is provided with the axis hole communicated with the outside world；It is not opened on motor mounting shell
There is one end of axis hole to be mounted on the mounting rack in robot；The support that driving motor is mounted on motor mounting shell is intracavitary, and
Far from installation cavity；It is circumferential on the periphery of mounting ring one end to be equably provided with multiple eccentric grooves, the eccentric groove opened in mounting ring
It is divided into eccentric groove that is two rows of and being located in same row in the axial direction to be circumferentially uniformly distributed；In the eccentric groove opened in mounting ring
Any one eccentric groove in any one row is equal with the angle between two eccentric grooves adjacent in another row；Mounting ring it is another
One end is equipped with connection mounting ring；Mounting ring is mounted in driving motor shaft by connecting mounting ring；Mounting ring and motor are pacified
Fill the support chamber cooperation on shell；One end of support construction has input shaft, and the other end of support construction has output shaft；Support knot
Structure is mounted on the inner headed face of mounting ring；The input shaft of installation on the support structure passes through driving spring with driving motor shaft and connects
It connects；The output shaft of installation on the support structure passes through the outside that the axis hole on motor mounting shell is located at motor mounting shell；Gear card
Disk is mounted on output shaft and is located on the inside of motor mounting shell；Support shaft is mounted in motor mounting shell close to axis hole side
On end face；One end of teeth strip has shaft hole；Teeth strips is by shaft hole and shaft is supported to be fitted to motor
In mounting shell；Teeth strip and wheel chuck cooperate；Trigger board is mounted on teeth strip；Trigger board and motor mounting shell inner circle
Reset spring is installed between face；Arc triggering item is installed on centrifugal-block；Multiple centrifugal-blocks are separately mounted in mounting ring
In eccentric groove；An extension spring is separately installed between each centrifugal-block and corresponding eccentric groove bottom end；It is mounted on centrifugal-block
On arc triggering item and trigger board cooperate；
Above-mentioned any one arc triggering item being mounted in mounting ring in eccentric groove in any one row is adjacent with another row
The cross-point of two arc triggering items is above the minimum point of arc triggering item；
Output shaft in above-mentioned self-locking motor mechanism is connect with mounting shell.
2. a kind of adjustable trilobed wheel of robot of speeling stairway based on self-locking motor driving according to claim 1,
It is characterized in that: in the installation round hole that above-mentioned driving mounting disc is mounted on mounting shell by bearing.
3. a kind of adjustable trilobed wheel of robot of speeling stairway based on self-locking motor driving according to claim 1,
Be characterized in that: above-mentioned climbing blade has certain elasticity.
4. a kind of adjustable trilobed wheel of robot of speeling stairway based on self-locking motor driving according to claim 1,
Be characterized in that: the above-mentioned frizzen in an angle regulating unit of triggering connection does not have elasticity, other are non-close to touching
Sending out the frizzen in the angle regulating unit of connection has certain elasticity.
5. a kind of adjustable trilobed wheel of robot of speeling stairway based on self-locking motor driving according to claim 1,
Be characterized in that: the inner headed face of above-mentioned driving adjusting rod one end and mounting shell far from driving cylinder cooperates.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017113849227 | 2017-12-20 | ||
| CN201711384922.7A CN108125753A (en) | 2017-12-20 | 2017-12-20 | A kind of adjustable trilobed wheel of robot of the speeling stairway based on self-locking motor driving |
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| Publication Number | Publication Date |
|---|---|
| CN109199719A true CN109199719A (en) | 2019-01-15 |
| CN109199719B CN109199719B (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711384922.7A Pending CN108125753A (en) | 2017-12-20 | 2017-12-20 | A kind of adjustable trilobed wheel of robot of the speeling stairway based on self-locking motor driving |
| CN201811080477.XA Active CN109199719B (en) | 2017-12-20 | 2018-09-17 | Adjustable three-impeller of robot based on self-locking motor drive for climbing stairs |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711384922.7A Pending CN108125753A (en) | 2017-12-20 | 2017-12-20 | A kind of adjustable trilobed wheel of robot of the speeling stairway based on self-locking motor driving |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110403776A (en) * | 2019-08-22 | 2019-11-05 | 大连理工大学 | A kind of multifunctional intellectual wheelchair |
| CN113460183A (en) * | 2021-07-05 | 2021-10-01 | 哈尔滨学院 | Robot chassis capable of crossing obstacles in large range |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113018116B (en) * | 2021-03-03 | 2022-08-02 | 包力源 | Accompanying device of old-people-assisting robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108125753A (en) | 2018-06-08 |
| CN109199719B (en) | 2020-07-31 |
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