CN110561382B - Robot bottom moving mechanism - Google Patents
Robot bottom moving mechanism Download PDFInfo
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- CN110561382B CN110561382B CN201910816196.4A CN201910816196A CN110561382B CN 110561382 B CN110561382 B CN 110561382B CN 201910816196 A CN201910816196 A CN 201910816196A CN 110561382 B CN110561382 B CN 110561382B
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- bearing plate
- gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention discloses a robot bottom moving mechanism and a using method thereof, the robot bottom moving mechanism comprises a moving frame and a bearing plate with a trapezoidal structure and an opening at the upper part, a driving axle is fixedly arranged at one end of the inner side of the moving frame, a gear box is fixedly arranged at the middle part of the driving axle, a motor is rotatably arranged at one side of the gear box, the gear box is fixedly connected with a driving wheel at one end of the moving frame through a transmission shaft, the middle part of the bottom surface of the bearing plate is connected with the moving frame through a steel plate spring, a shock absorber A is rotatably arranged at two sides of the bottom of the bearing plate through a pin shaft, a driven wheel is rotatably arranged at the other end of the moving frame through a rotating shaft, two inner side walls of the bearing plate are connected through a shock absorber B, a connecting groove is arranged at the upper end of the, meanwhile, the torque and the rotating speed are increased, so that the wheel has certain torque and higher speed.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot bottom moving mechanism and a using method thereof.
Background
With the development of industrialization and intellectualization, robots are more and more widely applied in work and life, among walking robots, a wheeled robot is a field with the most research and application, such as the aerospace field, the fire fighting field, the carrying robot industry and the like, while the existing wheeled robot is easy to have the problem that the speed and the output torque of a gear cannot be well coordinated in the walking process of the robot due to the design of an output shaft and wheels, for example, when climbing a slope, the speed needs to be reduced, the automobile can output enough torque and traction force, the increase of the torque and the speed cannot be ensured, and most walking robots are driven by a motor, so the torque provided by the motor is generally smaller, the climbing is more laborious, the speed is reduced more quickly, and the robot is easy to jolt when walking on an uneven road surface, damage may be caused to the parts inside the robot.
Disclosure of Invention
The invention aims to provide a robot bottom moving mechanism, which aims to solve the problems that the speed and the output torque of a gear cannot be well coordinated easily in the walking process of the robot proposed in the background technology, for example, when climbing a slope, the speed of the vehicle needs to be reduced, the vehicle can output enough torque and traction force, the torque and the speed cannot be increased at the same time, most walking robots are driven by a motor, so the torque provided by the motor is generally smaller, the climbing is more labor-consuming, the speed is reduced quickly, and the robot is easy to bump when walking on an uneven road surface, and parts in the robot can be damaged.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a bottom moving mechanism of robot, is including removing frame and top open-ended trapezium structure's loading board, the inboard one end fixed mounting that removes the frame has the transaxle, the middle part fixed mounting of transaxle has the gear box, one side of gear box is rotated and is installed the motor, the gear box passes through the transmission shaft and is located the drive wheel fixed connection who removes frame one end, the bottom surface middle part of loading board passes through leaf spring and removes the frame and be connected, the bottom both sides of loading board are rotated through the round pin axle and are installed bumper shock absorber A, and bumper shock absorber A and the upper end of removing the frame rotate the installation through the round pin axle, the other end of removing the frame is rotated through the pivot and is installed from the driving wheel, connect through bumper shock absorber B between two inside walls of loading board, and.
Preferably, the driving wheel be close to and remove a fixed mounting and have planetary gear box, planetary gear box's inside wall fixed mounting has the ring gear, the sun gear is installed at the center of ring gear, the spline groove has been seted up at the sun gear center, install planetary gear between sun gear and the ring gear, planetary gear passes through the planet carrier and connects, the inboard edge of driving wheel is provided with evenly distributed's planet child, the pivot of planet child and planetary gear's axis of rotation fixed connection, the rectangle through-hole has been seted up on the tread of driving wheel, one side and the planet carrier fixed connection of driving wheel, the tread of planet child runs through the rectangle through-hole and exceeds the tread of driving wheel.
Preferably, the planet carrier is cylindrical platelike structure, and the edge of planet carrier set up with planetary gear's rotation axis assorted mounting hole, the outside middle part fixed mounting of planet carrier has pivot A, the inside fixed mounting of drive wheel has the lock ring, contactless between lock ring and the planet child, pivot A extends to the inside of lock ring, the inboard fixed connection of spoke and lock ring is passed through in pivot A's the outside, and the one end of the planet carrier of keeping away from of pivot A and the outer panel fixed connection of drive wheel.
Preferably, the outer side end of the transmission shaft is fixedly provided with a spline matched with the spline groove on the gear ring.
Preferably, the transmission shaft is hollow structure, just the internally mounted of transmission shaft has the fixed axle, and the transmission shaft can free rotation for the fixed axle, the one end fixed mounting of keeping away from the gear box of fixed axle have with the spline on the sun gear spline groove phase-match, and the fixed axle is located the inside one end of gear box and passes through the lateral wall fixed connection of dead lever and gear box.
Preferably, an installation shaft for installing a leaf spring is fixedly installed between the inner side walls of the moving frame.
Preferably, the upper ends of the shock absorbers A on the two sides of the bearing plate are obliquely arranged towards the inner side, and the shock absorbers B on the inner side of the bearing plate are horizontally arranged.
Preferably, the bearing plate is rotatably provided with a supporting lug which is of an arc-shaped structure, and two ends of the supporting lug are rotatably provided with lug pins.
A moving damping method of a robot bottom moving mechanism comprises the following steps:
s1, mounting a robot on a lifting lug pin above a supporting lifting lug, enabling the robot to be located above a connecting groove, and enabling the robot not to be in contact with the bottom of the connecting groove;
s2, a lug at the front end of the steel plate spring is rotatably connected with the bottom of the bearing plate through a steel plate spring pin, a lug at the rear end of the steel plate spring is connected with the bearing plate through a steel plate spring lifting lug support, and the middle part of the steel plate spring is fixedly connected with the mounting shaft through a fixing pin or a U-shaped bolt;
s3, placing the upper ends of the shock absorbers A on the two sides of the bearing plate in an inward inclined manner, rotatably installing the upper ends of the shock absorbers A and the two sides of the lower end of the bearing plate through pin shafts, horizontally placing the shock absorbers B on the inner side of the bearing plate, and rotatably installing the two ends of the shock absorbers B and the two sides of the bearing plate through pin shafts;
and S4, an output shaft of the motor is connected with a gear ring of the planetary gear box through the gear box and the transmission shaft, the gear ring drives the planetary gear to rotate around the sun gear, the planetary gear can rotate, and the planetary gear drives the planet carrier to rotate while rotating around the sun gear.
S5, the rotating shaft of the planetary gear drives the planetary tire to rotate, and the planet carrier drives the driving wheel to rotate, so that the moving of the moving frame is realized.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the bearing plate is made of the elastic steel plate, when the moving frame vibrates, the bearing plate can generate certain deformation, so that the vibration can be reduced, and the steel plate spring and the shock absorber can play a shock absorption role on the bearing plate, so that the vibration of the robot is reduced, and parts in the robot are protected.
2. Through the arrangement of the planetary gear, the gear ring of the planetary gear set is used as a driving shaft, the planetary gear is used as a driven part, the torque is increased, the rotating speed of the planetary gear is increased, and the torque and the rotating speed are increased, so that the wheel has certain torque and higher speed, and the torque and the speed of the wheel are more coordinated.
Drawings
FIG. 1 is an exploded view of the present invention;
FIG. 2 is a schematic view of the internal structure of the planetary gear box of the present invention;
FIG. 3 is a schematic view of the planetary gearbox of the present invention;
FIG. 4 is a schematic view of a driving wheel according to the present invention;
FIG. 5 is a cross-sectional view of the drive wheel of the present invention;
FIG. 6 is a schematic view of a support lug of the present invention;
fig. 7 is an angular velocity force analysis diagram of the driving wheel according to the present invention.
In the figure: 1. a movable frame; 2. a drive axle; 3. shock absorber a/shock absorber B; 4. a carrier plate; 41. connecting grooves; 42. supporting the lifting lug; 43. a lifting lug pin; 5. a leaf spring; 6. a driven wheel; 7. installing a shaft; 8. a motor; 9. a gear case; 10. a drive wheel; 101. a support ring; 102. a planetary gear box; 103. a rectangular through hole; 11. a rotating shaft A; 12. a planetary tire; 13. a ring gear; 14. a spline groove; 141. a fixed shaft; 15. a sun gear; 16. a planetary gear; 17. a planet carrier; 18. a drive shaft; 19. a spoke.
Detailed Description
The invention provides a robot bottom moving mechanism, which aims to solve the problems that speed and output torque of gears cannot be well coordinated easily in the moving process of a robot, for example, when climbing a slope, the speed of the robot needs to be reduced, enough torque and traction force of an automobile are ensured to be output, the torque and the speed cannot be increased at the same time, and most of moving robots are driven by a motor, so that the torque provided by the motor is generally smaller, the robot climbs the slope more difficultly, the speed is reduced more quickly, and the robot is easy to bump when walking on an uneven road surface and can damage parts in the robot. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
Referring to fig. 1-6, the present embodiment provides a robot bottom moving mechanism and a using method thereof, including a moving frame 1 and a bearing plate 4 with a trapezoidal structure having an opening at the top, an installation shaft 7 for installing a leaf spring 5 is fixedly installed between the inner side walls of the moving frame 1, a drive axle 2 is fixedly installed at one end of the inner side of the moving frame 1, a gear box 9 is fixedly installed at the middle of the drive axle 2, a motor 8 is rotatably installed at one side of the gear box 9, the gear box 9 is fixedly connected with a drive wheel 10 through a transmission shaft 18, the middle of the bottom surface of the bearing plate 4 is connected with the moving frame 1 through the leaf spring 5, dampers A3 are rotatably installed at both sides of the bottom of the bearing plate 4 through a pin shaft, the dampers A3 is rotatably installed with the upper end of the moving frame 1 through a pin shaft, a driven wheel 6 is rotatably, the two inner side walls of the bearing plate 4 are connected through a damper B3, the damper B3 is installed in the middle of the inner side of the bearing plate, a spiral spring is arranged on the outer side of the damper B3, a connecting groove 41 is formed in the upper end of the bearing plate 4, a supporting lifting lug 42 is installed on the bearing plate 4 in a rotating mode, the supporting lifting lugs 42 are installed on two sides of the robot, and the robot is fixed.
Wherein, the bearing plate 4 is made of an elastic steel plate, when the moving frame 1 vibrates, the bearing plate 4 can generate certain deformation, so that the vibration can be reduced and a certain distance is left between the loading plate 4 and the inner sidewall of the moving frame 1, preferably, the distance is 3-5cm, one end of the spiral spring is fixedly connected with the upper end of the shock absorber B3, the other end of the spiral spring is fixedly connected with the lower end of the shock absorber B3, the buffer device has the advantages that the buffer device can buffer the bearing plate 4, the eye at the front end of the leaf spring 5 is rotatably connected with the bottom of the bearing plate 4 through a leaf spring pin, the eye at the rear end of the leaf spring 5 is connected with the bearing plate 4 through a leaf spring lifting lug support, the middle part of the leaf spring 5 is fixedly connected with the mounting shaft 7 through a fixing pin or a U-shaped bolt, at least two pieces of the leaf spring 5 are arranged, and a graphite lubricant is coated between the pieces; when bearing plate 4 shakes, leaf spring 5 plays the support to bearing plate 4 simultaneously, certain deformation can take place for leaf spring 5, thereby play certain cushioning effect to bearing plate 4, and the bumper shock absorber A3 of bearing plate 4 both sides can play main cushioning effect to bearing plate 4, make rocking of bearing plate 4 littleer, and leaf spring 5 installs the bottom surface middle part at bearing plate 4, and the direction of rotation parallel arrangement of tire, when moving frame 1 rocks, bearing plate 4 is under leaf spring 5's supporting role, also can take place deformation toward both sides, thereby consume the vibrations energy, gear box 9 internally mounted has bevel gear, a direction for the torque to the output of motor 8, motor 8 transmits the torque to transmission shaft 18 through bevel gear.
A planetary gear box 102 is fixedly mounted on the driving wheel 10 close to the moving frame 1, the driving wheel 10 is made of steel plates or aluminum alloy, anti-skid grains are arranged on the tread of the driving wheel 10, a gear ring 13 is fixedly mounted on the inner side wall of the planetary gear box 102, a sun wheel 15 is mounted at the center of the gear ring 13, spline grooves 14 are formed in the centers of the sun wheel 15 and the gear ring 13, splines matched with the spline grooves 14 on the gear ring 13 are fixedly mounted at the outer side end of the transmission shaft 18 and used for driving the gear ring 13 to rotate so as to ensure the connection between the gear ring 13 and the transmission shaft 18, a mounting ring integrated with the gear ring 13 is arranged at the part of the gear ring 13, the spline grooves are arranged at the center of the mounting ring, the transmission shaft 18 is of a hollow structure, a fixed shaft 141 is mounted inside the transmission shaft 18, the end of the fixed shaft 141 far away from the gear box 9 is fixedly provided with a spline matched with the spline groove 14 on the sun gear, the end of the fixed shaft 141 located inside the gear box 9 is fixedly connected with the side wall of the gear box 9 through a fixed rod, the rotation of the fixed shaft 141 can be prevented, the sun gear is positioned, the sun gear 15 is prevented from rotating, a planetary gear 16 is arranged between the sun gear 15 and the gear ring 13, the planetary gear 16 is connected through a planet carrier 17, the inner edge of the driving wheel 10 is provided with uniformly distributed planetary tires 12, the rotating shaft of the planetary tires 12 is fixedly connected with the rotating shaft of the planetary gear 16, the planetary gears 16 can drive the planetary tires 12 to rotate, so that the relative rotation between the planetary tires and the driving wheel 10 is realized, the rotating speed of the planetary tires 12 is higher than that of the driving wheel 10, and when the planetary tires 12 are, the relative speed of the planetary tires 12 and the ground is higher, so the planetary tires 12 can provide higher rotating speed, when the driving wheel 10 contacts the ground, the tread of the driving wheel 10 is provided with a rectangular through hole 103 which can rotate inside the driving wheel 10, and the tread of the planetary tires 12 penetrates through the rectangular through hole 103 and is higher than the tread of the driving wheel 10, preferably, the higher distance is 0.5-1.5cm, in order to reduce the vibration of the driving wheel 10 and the stability of the moving frame 1, the number of the planetary tires 12 is at least as small as when one of the planetary tires 12 is just away from the ground, the other planetary tire 12 just contacts the ground, preferably, the planetary tires 12 are closely arranged, the movement of the planetary gear 16 connected with the planetary tires 12 just does not interfere with each other, one side of the driving wheel 10 is fixedly connected with a planetary carrier 17, and the planetary carrier 17 can rotate with the driving wheel 10; the planet carrier 17 is a cylindrical plate-shaped structure, the edge of the planet carrier 17 is provided with a mounting hole matched with the rotation axis of the planetary gear 16, the middle part of the outer side of the planet carrier 17 is fixedly provided with a rotation axis A11, the inner part of the driving wheel 10 is fixedly provided with a support ring 101, the support ring 101 is not contacted with the planetary tire 12, the rotation axis A11 extends to the inner part of the support ring 101, the outer side of the rotation axis A11 is fixedly connected with the inner side of the support ring 101 through a spoke 19, one end of the rotation axis A11, which is far away from the planet carrier 17, is fixedly connected with the outer side plate of the driving wheel 10, the contact parts between the rotation axis A11 and the spoke 19 and the driving wheel 10 can be increased, so that the rotation effect of the driving wheel 10 is better, and because the gear ring 13 is a driving shaft, the planet carrier 17, the directions of rotation of the ring gear 13, the carrier 17 and the planet gears 16 are the same.
Calculation of planetary gear output torque, gear ratio and rotational speed:
according to the law of conservation of energy, the algebraic sum of the input and output powers of the three elements of the planetary gear, namely the sun gear, the gear ring and the planet carrier, is equal to zero, and a characteristic equation of the general motion law of the single-row planetary gear mechanism is obtained.
Characteristic equation: n is1+an2-(1+a)n3=0
Wherein n is1Is the sun wheel speed, n2Is the rotational speed of the ring gear, n3Is the rotational speed of the planet carrier, and a is the gear ratio of the gear ring to the sun gear
In this design, the sun gear is fixed, so the rotational speed of the sun gear is 0, and the characteristic equation is: an2-(1+a)n3=0
After calculation, n is obtained2/n3=1+ a/a, it can be concluded that 1+ a/a is greater than 1;
the transmission ratio of the sun gear to the planet carrier is the equivalent tooth number z of the planet carrier3Number of teeth z with sun gear2Is equal to the ratio of the rotational speeds of the sun wheel and the planet carrier, i = z3/z2=n2/n3=1+ a/a is greater than 1, so the process is a slowdown process;
torque T output from the carrier: t = input torque × i, and since i is greater than 1, the output torque T is increased.
Therefore, the torque output by the planet carrier 17 is larger than the torque input by the planet gear, so that the planet carrier 17 increases the torque, and the torque output to the wheels is larger;
the rotating speed ratio of the planetary gear to the gear ring is as follows:
n4/n2=z2/z4then n is4=n2×z2/z4，
Wherein n is4Speed of rotation of a single planetary gear, n2Is the ring gear speed, z2Number of teeth of ring gear, z4For a single planetary gear tooth number, the number of teeth of the ring gear is much greater than that of the single gear, so the rotating speed n of the single planetary gear4Much greater than the speed n of rotation of the ring gear2Since the rotating shaft of the planetary gear is fixedly connected with the rotating shaft of the planetary tire 12, the planetary tire has a higher rotating speed;
therefore, in the design, the planet carrier 17 is fixedly connected with the driving wheel 10, and provides a large torque for the driving wheel 10; at the same time, the planet gear 16 gives the planet tyre 12 a greater speed of rotation, and the planet tyre 12 provides the driving wheel with a greater speed of rotation relative to the ground.
Referring to fig. 7, when the driving wheel 10 rotates, the planet carrier 17 gives the driving wheel 10 an angular velocity w with reference to the contact point between the tire and the ground1In a direction tangential to the driven wheel 10, and the planetary tires 12 are in contact with the ground, and the planetary gear 16 provides an angular velocity w to the planetary tires 122The direction of which is also tangential to the planetary tires 12, and the angular velocity of the contact point of the ground surface of the driving wheel 10 can be approximated by w1+w2And the radius r of the driving wheel 10 is approximately constant, the linear velocity of the wheel is: v = (w)1+w2) Xr, and when the vehicle is running, it is generally considered that the friction force borne by the vehicle is not greater than the maximum static friction force during the running of the vehicle, so that the faster the angular velocity of the vehicle, the faster the linear velocity thereof, and the faster the speed of the vehicle.
Therefore, under the same conditions, the faster the design can output torque and rotational speed to the wheels.
The bearing plate 4 is an isosceles trapezoid structure with an opening at the top, the opening above the bearing plate 4 is larger than the bottom of the bearing plate 4, preferably, the opening above the bearing plate 4 is 1.2-1.5 times the length of the bottom of the bearing plate 4, the upper end of the bearing plate 4 extends to two sides to form side plates, the shock absorbers 3 on two sides of the bearing plate 4 are mounted on the side plates, the upper ends of the shock absorbers 3 of the part are obliquely placed to the inner side to provide the bearing force of the bearing plate 4 in an oblique upward mode, the stability of the bearing plate 4 can be guaranteed, and the shock absorbers 3 on the inner side of the bearing plate 4.
The using method of the embodiment comprises the following steps:
s1, mounting a robot on a lifting lug pin 43 above a supporting lifting lug 42, enabling the robot to be located above a connecting groove 41, and enabling the robot not to be in contact with the bottom of the connecting groove 41;
s2, a lug at the front end of the steel plate spring 5 is rotatably connected with the bottom of the bearing plate 4 through a steel plate spring pin, a lug at the rear end of the steel plate spring 5 is connected with the bearing plate 4 through a steel plate spring lifting lug support, and the middle part of the steel plate spring 5 is fixedly connected with the mounting shaft 7 through a fixing pin or a U-shaped bolt;
s3, placing the upper ends of the shock absorbers 3 on the two sides of the bearing plate 4 obliquely inwards, rotatably installing the upper ends of the shock absorbers 3 and the two sides of the lower end of the bearing plate 4 through pin shafts, horizontally placing the shock absorbers 3 on the inner side of the bearing plate 4 on the lower end of the shock absorbers 3, and rotatably installing the two ends of the shock absorbers 3 and the two sides of the bearing plate 4 through pin shafts;
s4, an output shaft of the motor 8 is connected with a gear ring 13 of the planetary gear set through the gear box 9 and the transmission shaft 18, the gear ring 13 drives the planetary gear 16 to rotate around the sun gear 15, meanwhile, the planetary gear 16 also rotates, and the planetary gear 16 drives the planet carrier 17 to rotate while the planetary gear 16 rotates around the sun gear.
S5, the rotation shaft of the planetary gear 16 drives the planetary tire 12 to rotate, and the planet carrier 17 drives the driving wheel 10 to rotate, so that the movement of the moving frame 1 is realized.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a robot bottom moving mechanism, is including removing loading board (4) of frame (1) and top open-ended trapezium structure, the inboard one end fixed mounting that removes frame (1) has transaxle (2), the middle part fixed mounting of transaxle (2) has gear box (9), one side of gear box (9) is rotated and is installed motor (8), gear box (9) are through transmission shaft (18) and drive wheel (10) fixed connection that are located removal frame (1) one end, its characterized in that: the middle of the bottom surface of the bearing plate (4) is connected with the moving frame (1) through a steel plate spring (5), two sides of the bottom of the bearing plate (4) are rotatably provided with a shock absorber A (3) through a pin shaft, the shock absorber A (3) is rotatably arranged at the upper end of the moving frame (1) through a pin shaft, the other end of the moving frame (1) is rotatably provided with a driven wheel (6) through a rotating shaft, two inner side walls of the bearing plate (4) are connected through a shock absorber B (3), the outer side of the shock absorber B (3) is provided with a spiral spring, and the upper end of the bearing plate (4) is provided with a connecting groove (41);
a planetary gear box (102) is fixedly arranged on one side of the driving wheel (10) close to the movable frame (1), a gear ring (13) is rotatably arranged on the inner side wall of the planetary gear box (102), a sun gear (15) is arranged at the center of the gear ring (13), the centers of the sun gear (15) and the gear ring (13) are provided with spline grooves (14), a planetary gear (16) is arranged between the sun gear (15) and the gear ring (13), the planetary gears (16) are connected through a planet carrier (17), the inner side edge of the driving wheel (10) is provided with uniformly distributed planetary tires (12), the rotating shaft of the planet tyre (12) is fixedly connected with the rotating shaft of the planet gear (16), a rectangular through hole (103) is arranged on the tread of the driving wheel (10), one side of the driving wheel (10) is fixedly connected with the planet carrier (17), the tread of the planet tire (12) penetrates through the rectangular through hole (103) and is higher than the tread of the driving wheel (10);
planet carrier (17) are cylindrical platelike structure, and the edge of planet carrier (17) set up with planetary gear (16) the rotation axis assorted mounting hole, the outside middle part fixed mounting of planet carrier (17) has pivot A (11), the inside fixed mounting of drive wheel (10) has lock ring (101), contactless between lock ring (101) and planet child (12), pivot A (11) extend to the inside of lock ring (101), the inboard fixed connection of spoke (19) and lock ring (101) is passed through in the outside of pivot A (11), and the one end of keeping away from planet carrier (17) of pivot A (11) and the outer panel fixed connection of drive wheel (10).
2. A robot bottom moving mechanism according to claim 1, wherein: and a spline matched with the spline groove (14) on the gear ring (13) is fixedly arranged at the outer side end of the transmission shaft (18).
3. A robot bottom moving mechanism according to claim 2, wherein: the transmission shaft (18) is of a hollow structure, a fixed shaft (141) is installed inside the transmission shaft (18), the transmission shaft (18) can rotate freely relative to the fixed shaft (141), a spline matched with a spline groove (14) on the sun gear is fixedly installed at one end, far away from the gear box (9), of the fixed shaft (141), and the fixed shaft (141) is located at one end inside the gear box (9) and fixedly connected with the side wall of the gear box (9) through a fixed rod.
4. A robot bottom moving mechanism according to claim 1, wherein: an installation shaft (7) used for installing a leaf spring (5) is fixedly installed between the inner side walls of the moving frame (1).
5. A robot bottom moving mechanism according to claim 1, wherein: the upper ends of the shock absorbers A (3) on the two sides of the bearing plate (4) are obliquely placed towards the inner side, and the shock absorbers B (3) on the inner side of the bearing plate (4) are horizontally placed.
6. A robot bottom moving mechanism according to claim 4, wherein: the bearing plate (4) is rotatably provided with a supporting lifting lug (42), the supporting lifting lug (42) is of an arc-shaped structure, and two ends of the supporting lifting lug (42) are rotatably provided with lifting lug pins (43).
7. A method for damping movement of a robot bottom moving mechanism using the robot bottom moving mechanism according to claim 6, comprising the steps of:
s1, a robot is arranged on a lifting lug pin (43) above a supporting lifting lug (42), the robot is positioned above a connecting groove (41), and the robot is not in contact with the bottom of the connecting groove (41);
s2, a lug at the front end of the steel plate spring (5) is rotatably connected with the bottom of the bearing plate (4) through a steel plate spring pin, a lug at the rear end of the steel plate spring (5) is connected with the bearing plate (4) through a steel plate spring lifting lug support, and the middle part of the steel plate spring (5) is fixedly connected with a mounting shaft (7) through a fixing pin or a U-shaped bolt;
s3, placing the upper ends of the shock absorbers A (3) on the two sides of the bearing plate (4) in an inward inclined mode, rotatably installing the upper ends of the shock absorbers A (3) and the two sides of the lower end of the bearing plate (4) through pin shafts, horizontally placing the shock absorbers B (3) on the inner side of the bearing plate (4), and rotatably installing the two ends of the shock absorbers B (3) and the two sides of the bearing plate (4) through the pin shafts;
s4, an output shaft of the motor (8) is connected with a gear ring (13) of the planetary gear box through the gear box (9) and a transmission shaft (18), the gear ring (13) drives the planetary gear (16) to rotate around the sun gear (15), meanwhile, the planetary gear (16) can also rotate, and the planetary gear (16) drives the planet carrier (17) to rotate while rotating around the sun gear;
s5, the rotation shaft of the planetary gear (16) drives the planetary tire (12) to rotate, and the planet carrier (17) drives the driving wheel (10) to rotate, so that the moving frame (1) is moved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910816196.4A CN110561382B (en) | 2019-08-30 | 2019-08-30 | Robot bottom moving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910816196.4A CN110561382B (en) | 2019-08-30 | 2019-08-30 | Robot bottom moving mechanism |
Publications (2)
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| CN201132553Y (en) * | 2007-11-08 | 2008-10-15 | 武汉递进科技开发有限责任公司 | Star wheel planet wheel type stair-climbing wheel |
| CN105082999A (en) * | 2014-05-23 | 2015-11-25 | 通用汽车环球科技运作有限责任公司 | Torque vectoring hybrid transaxle |
| CN206704342U (en) * | 2017-04-26 | 2017-12-05 | 安徽工程大学 | Base apparatus and there is its detection vehicle and robot |
| CN107600256A (en) * | 2017-10-10 | 2018-01-19 | 禹州市铭威科技有限公司 | Trailing wheel four-wheel driven electric vehicle |
| CN208069859U (en) * | 2018-03-16 | 2018-11-09 | 安徽工程大学 | A kind of full landform Multipurpose mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101628842B1 (en) * | 2014-09-03 | 2016-06-09 | 한국산업기술대학교산학협력단 | Convertible wheel for wheelchair |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4917200A (en) * | 1986-07-14 | 1990-04-17 | Lucius Ivan R | Steering method and apparatus for skid-steering vehicle |
| CN201132553Y (en) * | 2007-11-08 | 2008-10-15 | 武汉递进科技开发有限责任公司 | Star wheel planet wheel type stair-climbing wheel |
| CN105082999A (en) * | 2014-05-23 | 2015-11-25 | 通用汽车环球科技运作有限责任公司 | Torque vectoring hybrid transaxle |
| CN206704342U (en) * | 2017-04-26 | 2017-12-05 | 安徽工程大学 | Base apparatus and there is its detection vehicle and robot |
| CN107600256A (en) * | 2017-10-10 | 2018-01-19 | 禹州市铭威科技有限公司 | Trailing wheel four-wheel driven electric vehicle |
| CN208069859U (en) * | 2018-03-16 | 2018-11-09 | 安徽工程大学 | A kind of full landform Multipurpose mobile robot |
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