CN111845984A - Traveling device of mobile robot - Google Patents
Traveling device of mobile robot Download PDFInfo
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- CN111845984A CN111845984A CN202010714637.2A CN202010714637A CN111845984A CN 111845984 A CN111845984 A CN 111845984A CN 202010714637 A CN202010714637 A CN 202010714637A CN 111845984 A CN111845984 A CN 111845984A
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- gear
- wheel
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- transmission
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B60B19/02—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group convertible, e.g. from road wheel to rail wheel; Wheels specially designed for alternative use on road and rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B33/00—Castors in general; Anti-clogging castors
- B60B33/04—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors
- B60B33/06—Castors in general; Anti-clogging castors adjustable, e.g. in height; linearly shifting castors mounted retractably
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B2200/00—Type of product being used or applied
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- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention aims to provide a traveling device of a mobile robot, which comprises a chassis, a traveling wheel mechanism, a driving mechanism, a universal wheel lifting mechanism and a transmission device, wherein the chassis is provided with a chassis base; four traveling wheel mechanisms are arranged and are arranged at four corners of the chassis; the two groups of transmission devices are respectively positioned at the left side and the right side of the chassis, each group of transmission devices comprises two transmission mechanisms and a transmission main shaft, and the two transmission mechanisms are respectively connected with the four walking wheel mechanisms at the front and rear corners of the chassis at the side; two driving mechanisms are arranged and are respectively arranged on the chassis; each group of driving mechanisms is respectively connected with any one transmission mechanism or transmission main shaft of each group of transmission devices, and the transmission power drives the travelling wheel mechanism to complete the travelling motion of the chassis; the universal wheels are arranged in two and are respectively arranged in the middle of the front side and the rear side of the lower surface of the chassis through the universal wheel lifting mechanisms. The walking device overcomes the defects of the prior art and has the characteristics of reasonable structure, convenience in operation, shock absorption and strong obstacle crossing capability.
Description
Technical Field
The invention relates to the field of mobile robot driving devices, in particular to a walking device of a mobile robot.
Background
The mobile robot deformation type wheel traveling mechanism is mainly used for traveling under complex road conditions and on flat ground, and can cross over obstacles with certain height. The existing mobile robot adopts a deformation type wheel structure, jolting is inevitable during walking, the existing scheme adopts the mode that the whole wheel mechanism is replaced by a single-wheel sheet structure and a double-wheel sheet structure, the three-wheel sheet structure is adopted, the more wheel sheets are, the smaller jolting in the vertical direction is when the mobile robot is in a wheel change type walking state, but the too many wheel sheets are too close to a circular shape in the deformed shape, the obstacle crossing capability is reduced, and therefore, the robot walking mechanism which considers the walking stability and the obstacle crossing capability has a better application prospect.
Disclosure of Invention
The invention aims to provide a traveling device of a mobile robot, which overcomes the defects of the prior art and has the characteristics of reasonable structure, convenient operation, shock absorption and strong obstacle crossing capability.
The technical scheme of the invention is as follows:
a traveling device of a mobile robot comprises a chassis, a traveling wheel mechanism, a driving mechanism, universal wheels, a universal wheel lifting mechanism and a transmission device;
four travelling wheel mechanisms are arranged and are arranged at four corners of the chassis; the two groups of transmission devices are respectively positioned at the left side and the right side of the chassis, each group of transmission device comprises two transmission mechanisms and a transmission main shaft, the two transmission mechanisms are respectively connected with the four walking wheel mechanisms at the front rear corner of the chassis at the side, and the two transmission mechanisms are connected through the transmission main shaft;
two driving mechanisms are arranged and are respectively arranged on the chassis; each group of driving mechanisms is respectively connected with any one transmission mechanism or transmission main shaft of each group of transmission devices, and the transmission power drives the travelling wheel mechanism to complete the travelling motion of the chassis;
the universal wheels are arranged in two and are respectively arranged in the middle of the front side and the rear side of the lower surface of the chassis through universal wheel lifting mechanisms, and the universal wheel lifting mechanisms can drive the universal wheels to move up and down in the vertical direction.
Preferably, the travelling wheel mechanism comprises a wheel shaft, a wheel hub, a wheel sheet and a wheel sheet telescopic mechanism; the wheel hub and the wheel sheet telescopic mechanisms are respectively arranged on a wheel shaft, and the wheel shaft is respectively connected with a group of transmission mechanisms and can rotate under the driving of the transmission mechanisms;
the wheel hub comprises four spokes which are uniformly distributed along the circumferential direction, the wheel sheets are arc-shaped sheets and are correspondingly provided with groups, and one end of each group of wheel sheets is hinged and installed at the tail end of each spoke; the wheel piece telescopic mechanisms are respectively connected with the middle parts of the wheel pieces of all groups, and the wheel piece telescopic mechanisms can drive the wheel pieces to rotate around the hinged parts of the wheel pieces and the wheel spokes.
Preferably, the wheel sheet telescopic mechanism comprises a gear I, a spiral driving disc, a telescopic sleeve, a sliding block I, a push rod and a sliding block II; the gear I and the spiral driving disc are sleeved on the wheel shaft through a bearing; the back of the spiral driving disk is fixedly connected with the gear I, and the front of the spiral driving disk is provided with a spiral slideway I; the telescopic sleeve is arranged along the radial direction of the wheel shaft and fixedly connected with the wheel hub, a sliding block I is arranged in the telescopic sleeve, and the sliding block I can slide along the telescopic sleeve; the inner side surface of the wheel sheet is provided with a slide way II corresponding to the inner cambered surface of the wheel sheet, the slide block II is arranged in the slide way II and can slide along the slide way II, and the tail end of the slide block I is hinged with the slide block II;
the push rod is arranged in parallel to the telescopic sleeve, the rear side face of the push rod is fixedly connected with the sliding block I through a connecting block, a plurality of sliding columns are uniformly arranged on the front side face of the push rod along the length direction of the push rod, and the front ends of the sliding columns are arranged in a sliding way I of the spiral driving disc;
the first gear is connected with a group of transmission mechanisms respectively, the transmission mechanism transmits power of the driving mechanism to rotate, and the push rod moves back and forth along the length direction of the telescopic sleeve based on the supporting effect of the side wall of the first slide way on the sliding column, so that the slide block I is driven to move back and forth along the length direction of the telescopic sleeve.
Preferably, the transmission mechanism comprises a bevel gear I, a gear box, a bevel gear II, a sliding gear, a spring and a gear III;
the gear boxes are arranged on the chassis corresponding to the walking wheel mechanisms, two ends of the transmission main shaft respectively extend into the front gear box and the rear gear box on the same side, and the bevel gears I are arranged at two ends of the transmission main shaft;
the wheel shaft is connected with the bottom of the chassis through a bearing and is positioned below the gear box; a gear box shaft along the left and right direction is arranged in the gear box, and the bevel gear II is arranged on the gear box shaft and meshed with the bevel gear I; the gear II is fixedly arranged at one end, close to the hub, of the gearbox shaft and meshed with the gear I; the other end of the gear box shaft is fixedly provided with a limiting ring, the sliding gear is arranged on one side of the gear box shaft on which the limiting ring is arranged, the inner ring of the sliding gear is provided with a flat key, the gear box shaft is provided with a flat key groove corresponding to the flat key, and the sliding gear is embedded into the flat key groove through the flat key and connected with the gear box shaft and can slide along the axial direction of the gear box shaft; one end of the spring is fixedly connected with the limiting ring, the other end of the spring is fixedly connected with the sliding gear, the gear III is arranged at one end, close to the inner side of the chassis, of the wheel shaft, and when the sliding gear moves to the limit of the hub under the action of the elastic force of the spring, the gear III is meshed with the sliding gear.
Preferably, the lifting rod mechanism comprises a motor II, a gear IV, a rack, a guide rail, a support rod I, a lifting rod I and a lifting rod II;
the motor II is arranged in the middle of the chassis, an output shaft of the motor II is arranged along the front-back direction of the chassis, and the gear IV is fixedly arranged on the output shaft of the motor II and can rotate under the driving of the motor II;
the guide rails are arranged below the gear IV, two ends of the guide rails respectively extend horizontally along the left and right directions of the chassis, two groups of support rods I are arranged on the guide rails through sliding blocks and can slide left and right along the guide rails, and the two groups of support rods I are positioned on the left and right sides of the gear IV;
the driving levers I and the driving levers II are arranged in two groups, are respectively arranged at the top ends of the two groups of supporting rods I and are arranged along the left-right direction, and the front ends of the two groups of driving levers I respectively extend leftwards or rightwards to be vertically connected with the middle parts of the group of driving levers II; two ends of the driving lever II extend into the gear box, are close to the sliding gear and are positioned on the outer side of the sliding gear; the rotation of the rotating shaft of the motor II can drive the two groups of racks to move inwards simultaneously, so that the driving lever I drives the two groups of driving levers II to move inwards in the horizontal direction, the driving lever II contacts with the sliding gear and drives the sliding gear to move inwards, the sliding gear is disengaged from the gear VI and connected with the gear VI, and meanwhile, the spring is compressed.
Preferably, the driving mechanism comprises a motor I and a bevel gear set; motor I locate on the chassis, the output shaft of motor I passes through bevel gear group and is connected with the transmission main shaft, drives the transmission main shaft and rotates.
Preferably, the universal wheel lifting mechanism comprises a motor III, a bevel gear III, a transmission shaft, a bevel gear IV, a gear V, a bearing seat I, a screw, a bearing seat II, a gear VI, a fixing plate, a fixed slide bar and a guide sleeve;
the motor III is arranged on the chassis through a base, a rotating shaft of the motor III is arranged along the horizontal direction, the bevel gear III is arranged at the tail end of an output shaft of the motor III, the transmission shaft is vertically arranged and is arranged on the chassis through a bearing seat I and a bearing I, the bevel gear IV is arranged in the middle of the transmission shaft, and the bevel gear III is meshed with the bevel gear IV; the gear V is arranged on the transmission shaft;
the chassis is provided with a lifting port corresponding to the universal wheel, two groups of bearing seats II and bearings II are arranged beside the lifting port through a support, an inner ring of each bearing II is fixedly provided with an internal thread sleeve, the screw rod is arranged in the internal thread sleeve in a thread fit mode, an internal thread is arranged on the inner wall of the mounting hole of the gear VI and sleeved on the screw rod in a thread fit mode, the gear VI is located between the two groups of bearing seats II, and external teeth of the gear VI are meshed with the gear V;
the fixed plate is fixedly arranged at the lower end of the screw rod, and the universal wheel is arranged on the lower surface of the fixed plate; the guide sleeve is arranged on the chassis; the lower end of the fixed sliding rod is connected with the fixed plate, the upper end of the fixed sliding rod vertically penetrates through the chassis upwards and extends to the position above the bearing seat II after passing through the guide sleeve, the fixed sliding rod is sleeved by the guide sleeve, and the gear VI can drive the screw rod to move in the vertical direction through screw transmission when rotating under the limitation of the fixed sliding rod and the guide sleeve.
Preferably, still include bracing piece II, bearing frame I include two, locate the both ends of transmission shaft respectively, the bearing frame I that is located the bottom is connected with the chassis, II lower extremes of bracing piece install on the chassis, the vertical upwards extension of upper end, be connected with the lateral part that is located the bearing frame I on upper portion.
The working process of the invention is as follows:
when the robot walks on the flat ground, a motor I of the driving mechanism is started, a transmission main shaft is driven to rotate through bevel gear transmission, a hub and a spiral driving disc are driven to synchronously rotate through the rotation main shaft, and a circular wheel formed by wheel sheets walks forwards;
when the robot needs to cross an obstacle, a motor I of the driving mechanism stops, a motor II of the clutch mechanism starts, a rack is driven by a gear IV to pull a driving lever I and a driving lever II, a sliding gear is shifted to the center of the chassis by the driving lever II, the sliding gear is disengaged from a gear VI and compresses a spring, and the motor II is locked; the motor I is started again to drive the spiral driving disc to rotate relative to the hub, and the side wall of the slideway I of the spiral driving disc supports the sliding column on the push rod, so that the push rod pushes the wheel sheet to rotate outwards, the wheel sheet is opened, and the obstacle crossing capability is improved; then the rotating speed of the motor I is reduced, the motor II is reversely rotated, the push rod II is slowly reset, the sliding gear slowly moves back under the action of the elastic force of the spring and gradually returns to be meshed with the gear VI, so that the hub and the spiral driving disc are driven to synchronously rotate, and a wheel body formed by expanding the rear wheel piece moves forwards to cross obstacles;
when the robot needs to turn, a motor III of the universal wheel lifting mechanism positioned on the front side is started, so that the universal wheel positioned on the front side moves downwards, the wheel sheet positioned on the front side is slightly jacked to leave the ground, the rotating speed of the motors I on the left side and the right side is changed, and the turning operation of the robot is realized through differential rotation of the wheel sheet positioned on the rear side;
when the robot needs to go down the step, the driving mechanism drives the robot to move to the front of the step, the wheel sheet positioned on the front side is close to the edge of the step, the motor III of the universal wheel lifting mechanism positioned on the front side is started, so that the universal wheel positioned on the front side moves downwards to contact the ground, the driving mechanism drives the robot to continue to advance, and meanwhile, the motor III of the universal wheel lifting mechanism positioned on the front side is controlled to rotate reversely, so that the front side of the chassis is downward close to the bottom of the step; when the wheel piece at the rear side is close to the edge of the step, a motor III of the universal wheel lifting mechanism at the front side is started to enable the universal wheel at the front side to move downwards to contact the ground, the driving mechanism drives the robot to continue to move forwards, a motor III of the universal wheel lifting mechanism at the rear side is started to enable the universal wheel at the rear side to move downwards to contact the ground, the driving mechanism drives the robot to continue to move forwards, and meanwhile, the motor III of the universal wheel lifting mechanism at the rear side is controlled to rotate reversely, so that the rear side of the chassis is close to the bottom of the step downwards; the operations are repeated, and descending movement of each step is completed in sequence, so that at least three wheels are kept in contact with the steps in the step descending process, and the stability of the robot is kept.
The four dynamically telescopic wheel sheets are adopted to form the travelling wheels of the robot, the obstacle crossing capability is improved, meanwhile, the shock absorption capability is ensured, and the wheel sheets are stretched by the spiral driving disc with the spiral slideway, so that the wheel sheets are more convenient and faster to stretch; the clutch mechanism is arranged, so that the robot can be switched back and forth between walking and wheel piece stretching more conveniently, the convenience of operation is improved, and the complexity of the structure is reduced; the universal wheel lifting mechanism is matched with the universal wheels, so that the robot can descend steps, the universal wheels on the front side and the rear side are used for supporting the robot in an auxiliary mode, the running stability of the robot can be improved, and the obstacle crossing capability of the robot is greatly improved; the universal wheel lifting mechanism can slightly jack up the front side travelling wheels in the steering process of the robot, so that the friction of the front side travelling wheels in the steering process is reduced; the lifting stability of the universal wheel is improved by adopting the structural combination of the fixed plate, the slide rod and the guide sleeve; the support of the transmission shaft is enhanced by the structure of the support rod II, and the operation stability of the transmission shaft is ensured.
Drawings
Fig. 1 is a plan view of a traveling apparatus of a mobile robot according to the present invention;
fig. 2 is a schematic structural diagram i of a travelling wheel mechanism of a travelling device of a mobile robot provided by the invention;
fig. 3 is a schematic structural diagram ii of a travelling wheel mechanism of a travelling device of a mobile robot provided by the present invention;
fig. 4 is a schematic structural diagram of a transmission mechanism of a traveling device of a mobile robot according to the present invention;
FIG. 5 is a schematic view of a connection structure between a sliding gear and a gear box shaft of a traveling gear of the mobile robot provided by the invention;
fig. 6 is a schematic structural view of a clutch mechanism of a traveling device of a mobile robot according to the present invention;
fig. 7 is a schematic structural view of a universal wheel lifting mechanism of a traveling device of a mobile robot according to the present invention;
the names and serial numbers of the parts in the figure are as follows:
the device comprises a chassis 1, a traveling wheel mechanism 2, a driving mechanism 3, a clutch mechanism 4, a universal wheel 5, a universal wheel lifting mechanism 6, a transmission mechanism 7, a fixing plate 8, a sliding rod 9, a guide sleeve 10 and a support rod II 11, wherein the chassis is arranged on the chassis;
21 is a wheel shaft, 22 is a wheel hub, 23 is a wheel sheet, 24 is a wheel sheet telescopic mechanism, and 25 is a spoke;
241 is a gear I, 242 is a spiral driving disk, 243 is a telescopic sleeve, 244 is a sliding block I, 245 is a push rod, 246 is a sliding block II, 247 is a sliding way I, 248 is a sliding way II, and 249 is a sliding column;
a motor I is 31, and a transmission main shaft is 32;
41 is a motor II, 42 is a gear IV, 43 is a rack, 44 is a guide rail, 45 is a support rod I, 46 is a driving lever I, and 47 is a driving lever II;
61 is a motor III, 62 is a bevel gear III, 63 is a transmission shaft, 64 is a bevel gear IV, 65 is a gear V, 66 is a bearing seat I, 67 is a screw rod, 68 is a bearing seat II, and 69 is a gear VI;
71 is bevel gear i, 72 is the gear box, 73 is bevel gear ii, 74 is gear ii, 75 is the glide gear, 76 is the spring, 77 is gear iii.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
Example 1
As shown in fig. 1 to 7, the traveling device of the mobile robot provided in this embodiment includes a chassis 1, a traveling wheel mechanism 2, a driving mechanism 3, a universal wheel 5, a universal wheel lifting mechanism 6, and a transmission device;
four travelling wheel mechanisms 2 are arranged and are arranged at four corners of the chassis 1; the two groups of transmission devices are respectively positioned at the left side and the right side of the chassis 1, each group of transmission devices comprises two transmission mechanisms 7 and a transmission main shaft 32, the two transmission mechanisms 7 are respectively connected with the four walking wheel mechanisms 2 at the front and rear corners of the chassis 1 at the side, and the two transmission mechanisms 7 are connected through the transmission main shaft 32;
two driving mechanisms 3 are arranged and are respectively arranged on the chassis 1; each group of driving mechanisms 3 is respectively connected with any one transmission mechanism 7 or transmission main shaft 32 of each group of transmission devices, and the transmission power drives the travelling wheel mechanism 2 to complete the travelling motion of the chassis 1;
the two universal wheels 5 are respectively arranged in the middle of the front side and the rear side of the lower surface of the chassis 1 through universal wheel lifting mechanisms 6, and the universal wheel lifting mechanisms 6 can drive the universal wheels 5 to move up and down in the vertical direction;
the travelling wheel mechanism 2 comprises a wheel shaft 21, a wheel hub 22, a wheel sheet 23 and a wheel sheet telescopic mechanism 24; the wheel hub 22 and the wheel sheet telescopic mechanism 24 are respectively arranged on the wheel shaft 21, and the wheel shaft 21 is respectively connected with a group of transmission mechanisms 7 and can rotate under the driving of the transmission mechanisms 7;
the wheel hub 22 comprises four spokes 25 which are uniformly distributed along the circumferential direction, the wheel sheets 23 are arc-shaped sheets and are correspondingly provided with 4 groups, and one end of each group of wheel sheets 23 is hinged and installed at the tail end of each spoke 25; the wheel piece telescopic mechanisms 24 are respectively connected with the middle parts of the wheel pieces 23, and the wheel piece telescopic mechanisms 24 can drive the wheel pieces 23 to rotate around the hinged parts of the wheel pieces and the spokes 25;
the wheel sheet telescopic mechanism 24 comprises a gear I241, a spiral driving disc 242, a telescopic sleeve 243, a sliding block I244, a push rod 245 and a sliding block II 246; the gear I241 and the spiral driving disc 242 are sleeved on the wheel shaft 21 through bearings; the back surface of the spiral driving disk 242 is fixedly connected with a gear I241, and the front surface is provided with a spiral slideway I247; the telescopic sleeve 243 is arranged along the radial direction of the wheel shaft 21, the telescopic sleeve 243 is fixedly connected with the wheel hub 22, a sliding block I244 is arranged in the telescopic sleeve 243, and the sliding block I244 can slide along the telescopic sleeve 243; a slide way II 248 corresponding to the inner arc surface of the wheel piece 23 is arranged on the inner side surface of the wheel piece, the sliding block II 246 is arranged in the slide way II 248 and can slide along the slide way II 248, and the tail end of the sliding block I244 is hinged with the sliding block II 246;
the push rod 245 is arranged in parallel to the telescopic sleeve 243, the rear side face of the push rod 245 is fixedly connected with the sliding block I244 through a connecting block, a plurality of sliding columns 249 are uniformly arranged on the front side face of the push rod 245 along the length direction of the push rod, and the front ends of the sliding columns 249 are arranged in a sliding way I247 of the spiral driving disk 242;
the gear I241 is respectively connected with a group of transmission mechanisms 7, the transmission mechanisms 7 transmit power of the driving mechanism 3 to rotate, and the push rod 245 moves back and forth along the length direction of the telescopic sleeve 243 based on the supporting effect of the side wall of the slide I247 on the slide column 249, so that the slide I244 is driven to move back and forth along the length direction of the telescopic sleeve 243;
the transmission mechanism 7 comprises a bevel gear I71, a gear box 72, a bevel gear II 73, a gear II 74, a sliding gear 75, a spring 76 and a gear III 77;
the gear boxes 72 are arranged on the chassis 1 corresponding to the walking wheel mechanisms 2, two ends of the transmission main shaft 32 respectively extend into the front gear box 72 and the rear gear box 72 on the same side, and the bevel gears I71 are arranged at two ends of the transmission main shaft 32;
the wheel shaft 21 is connected with the bottom of the chassis 1 through a bearing and is positioned below the gear box 72; a gear box shaft 721 along the left-right direction is arranged in the gear box 72, and the bevel gear II 73 is arranged on the gear box shaft 721 and meshed with the bevel gear I71; the gear II 74 is fixedly arranged at one end of the gearbox shaft 721 close to the hub 22 and is meshed with the gear I241; a limit ring 723 is fixedly arranged at the other end of the gearbox shaft 721, the sliding gear 75 is arranged at one side of the gearbox shaft 721 provided with the limit ring 723, a flat key 751 is arranged on an inner ring of the sliding gear 75, a flat key slot 722 corresponding to the flat key 751 is arranged on the gearbox shaft 721, and the sliding gear 75 is embedded into the flat key slot 722 through the flat key 751 to be connected with the gearbox shaft 721 and can slide along the axial direction of the gearbox shaft 721; one end of the spring 76 is fixedly connected with the limiting ring 723, the other end of the spring is fixedly connected with the sliding gear 75, the gear III 77 is arranged at one end, close to the inner side of the chassis 1, of the wheel shaft 21, and when the sliding gear 75 moves to the hub 22 to the limit under the elastic force action of the spring 76, the gear III 77 is meshed with the sliding gear 75;
the lifting mechanism 4 comprises a motor II 41, a gear IV 42, a rack 43, a guide rail 44, a support rod I45, a lifting lever I46 and a lifting lever II 47;
the motor II 41 is arranged in the middle of the chassis 1, an output shaft of the motor II 41 is arranged along the front-back direction of the chassis 1, and the gear IV 42 is fixedly arranged on the output shaft of the motor II 41 and can be driven by the motor II 41 to rotate;
the guide rail 44 is arranged below the gear IV 42, two ends of the guide rail are respectively horizontally extended along the left and right direction of the chassis 1, two groups of support rods I45 are arranged and are respectively arranged on the guide rail 44 through sliding blocks and can slide left and right along the guide rail 44, and the two groups of support rods I45 are positioned on the left side and the right side of the gear IV 42;
the driving levers I46 and the driving levers II 47 are provided with two groups, the two groups of driving levers I46 and the two groups of driving levers II 47 are respectively installed at the top ends of the two groups of supporting rods I45 and are arranged along the left-right direction, and the front ends of the two groups of driving levers I46 respectively extend leftwards or rightwards to be vertically connected with the middle parts of the group of driving levers II 47; two ends of the second shifting lever 47 extend into the gear box 72, are close to the sliding gear 75 and are positioned on the outer side of the sliding gear 75; the rotation of the rotating shaft of the motor II 41 can drive the two groups of racks 43 to move inwards at the same time, so that the driving lever I46 drives the two groups of driving levers II 47 to move inwards along the horizontal direction, the driving lever II 47 contacts the sliding gear 75 and drives the sliding gear 75 to move inwards, the sliding gear 75 is disengaged from the gear VI 69 and is connected with the gear VI 69, and meanwhile, the spring 76 is compressed;
the driving mechanism 3 comprises a motor I31 and a bevel gear group; the motor I31 is arranged on the chassis 1, and an output shaft of the motor I31 is connected with the transmission main shaft 32 through a bevel gear set to drive the transmission main shaft 32 to rotate;
the universal wheel lifting mechanism 6 comprises a motor III 61, a bevel gear III 62, a transmission shaft 63, a bevel gear IV 64, a gear V65, a bearing seat I66, a screw 67, a bearing seat II 68, a gear VI 69, a fixing plate 8, a fixed slide rod 9 and a guide sleeve 10;
the motor III 61 is arranged on the chassis 1 through a base, a rotating shaft of the motor III 61 is arranged along the horizontal direction, the bevel gear III 62 is arranged at the tail end of an output shaft of the motor III 61, the transmission shaft 63 is vertically arranged and is arranged on the chassis 1 through a bearing seat I66 and a bearing I, the bevel gear IV 64 is arranged in the middle of the transmission shaft 63, and the bevel gear III 62 is meshed with the bevel gear IV 64; the gear V65 is arranged on the transmission shaft 63;
the chassis 1 is provided with a lifting port corresponding to the universal wheel 5, two groups of bearing seats II 68 and a bearing II are arranged beside the lifting port through a support, an inner ring of the bearing II is fixedly provided with an internal thread sleeve, the screw 67 is arranged in the internal thread sleeve in a thread fit manner, an internal thread is arranged on the inner wall of an installation hole of the gear VI 69 and sleeved on the screw 67 in a thread fit manner, the gear VI 69 is positioned between the two groups of bearing seats II 68, and the external teeth of the gear VI 69 are meshed with the gear V65;
the fixed plate 8 is fixedly arranged at the lower end of the screw 67, and the universal wheel 5 is arranged on the lower surface of the fixed plate 8; the guide sleeve 10 is arranged on the chassis 1; the lower end of the fixed slide rod 9 is connected with the fixed plate 8, the upper end of the fixed slide rod vertically penetrates through the chassis 1 upwards and extends to the position above the bearing seat II 68 after passing through the guide sleeve 10, the fixed slide rod 9 is sleeved by the guide sleeve, and the gear VI 69 can drive the screw 67 to move in the vertical direction through screw transmission when rotating under the limitation of the fixed slide rod 9 and the guide sleeve 10;
still include bracing piece II 11, bearing frame I66 include two, locate the both ends of transmission shaft 63 respectively, the bearing frame I66 that is located the bottom is connected with chassis 1, II 11 lower extremes of bracing piece install on chassis 1, the vertical upwards extension in upper end, be connected with the lateral part that is located the bearing frame I66 on upper portion.
The working process of the embodiment is as follows:
when the robot walks on the flat ground, a motor I of the driving mechanism is started, a transmission main shaft is driven to rotate through bevel gear transmission, a hub and a spiral driving disc are driven to synchronously rotate through the rotation main shaft, and a circular wheel formed by wheel sheets walks forwards;
when the robot needs to cross an obstacle, a motor I of the driving mechanism stops, a motor II of the clutch mechanism starts, a rack is driven by a gear IV to pull a driving lever I and a driving lever II, a sliding gear is shifted to the center of the chassis by the driving lever II, the sliding gear is disengaged from a gear VI and compresses a spring, and the motor II is locked; the motor I is started again to drive the spiral driving disc to rotate relative to the hub, and the side wall of the slideway I of the spiral driving disc supports the sliding column on the push rod, so that the push rod pushes the wheel sheet to rotate outwards, the wheel sheet is opened, and the obstacle crossing capability is improved; then the rotating speed of the motor I is reduced, the motor II is reversely rotated, the push rod II is slowly reset, the sliding gear slowly moves back under the action of the elastic force of the spring and gradually returns to be meshed with the gear VI, so that the hub and the spiral driving disc are driven to synchronously rotate, and a wheel body formed by expanding the rear wheel piece moves forwards to cross obstacles;
when the robot needs to turn, a motor III of the universal wheel lifting mechanism positioned on the front side is started, so that the universal wheel positioned on the front side moves downwards, the wheel sheet positioned on the front side is slightly jacked to leave the ground, the rotating speed of the motors I on the left side and the right side is changed, and the turning operation of the robot is realized through differential rotation of the wheel sheet positioned on the rear side;
when the robot needs to go down the step, the driving mechanism drives the robot to move to the front of the step, the wheel sheet positioned on the front side is close to the edge of the step, the motor III of the universal wheel lifting mechanism positioned on the front side is started, so that the universal wheel positioned on the front side moves downwards to contact the ground, the driving mechanism drives the robot to continue to advance, and meanwhile, the motor III of the universal wheel lifting mechanism positioned on the front side is controlled to rotate reversely, so that the front side of the chassis is downward close to the bottom of the step; when the wheel piece at the rear side is close to the edge of the step, a motor III of the universal wheel lifting mechanism at the front side is started to enable the universal wheel at the front side to move downwards to contact the ground, the driving mechanism drives the robot to continue to move forwards, a motor III of the universal wheel lifting mechanism at the rear side is started to enable the universal wheel at the rear side to move downwards to contact the ground, the driving mechanism drives the robot to continue to move forwards, and meanwhile, the motor III of the universal wheel lifting mechanism at the rear side is controlled to rotate reversely, so that the rear side of the chassis is close to the bottom of the step downwards; the operations are repeated, and descending movement of each step is completed in sequence, so that at least three wheels are kept in contact with the steps in the step descending process, and the stability of the robot is kept.
The front side of the present invention refers to the lower side of fig. 1, the rear side refers to the upper side of fig. 1, and the left and right sides refer to the left and right sides of fig. 1, respectively.
Claims (8)
1. The utility model provides a running gear of mobile robot, includes chassis (1), walking wheel mechanism (2), actuating mechanism (3), universal wheel (5), universal wheel elevating system (6), transmission, its characterized in that:
four walking wheel mechanisms (2) are arranged and are arranged at four corners of the chassis (1); the two groups of transmission devices are respectively positioned at the left side and the right side of the chassis (1), each group of transmission device comprises two transmission mechanisms (7) and a transmission main shaft (32), the two transmission mechanisms (7) are respectively connected with the four walking wheel mechanisms (2) at the front and rear corners of the chassis (1) at the side, and the two transmission mechanisms (7) are connected through the transmission main shaft (32);
two driving mechanisms (3) are arranged and are respectively arranged on the chassis (1); each group of driving mechanisms (3) is respectively connected with any transmission mechanism (7) or transmission main shaft (32) of each group of transmission devices, and the transmission power drives the walking wheel mechanism (2) to finish the walking motion of the chassis (1);
the two universal wheels (5) are respectively installed in the middle of the front side and the rear side of the lower surface of the chassis (1) through universal wheel lifting mechanisms (6), and the universal wheel lifting mechanisms (6) can drive the universal wheels (5) to move up and down in the vertical direction.
2. The mobile robot traveling apparatus according to claim 1, wherein:
the walking wheel mechanism (2) comprises a wheel shaft (21), a wheel hub (22), a wheel sheet (23) and a wheel sheet telescopic mechanism (24); the wheel hub (22) and the wheel sheet telescopic mechanism (24) are respectively arranged on a wheel shaft (21), and the wheel shaft (21) is respectively connected with a group of transmission mechanisms (7) and can rotate under the driving of the transmission mechanisms (7);
the wheel hub (22) comprises four spokes (25) which are uniformly distributed along the circumferential direction, the wheel sheets (23) are arc-shaped sheets, 4 groups of the arc-shaped sheets are correspondingly arranged, and one end of each group of the wheel sheets (23) is hinged to the tail end of each spoke (25); the wheel piece telescopic mechanisms (24) are respectively connected with the middle parts of the wheel pieces (23), and the wheel piece telescopic mechanisms (24) can drive the wheel pieces (23) to rotate around the hinged parts of the wheel pieces and the spokes (25).
3. The mobile robot traveling apparatus according to claim 2, wherein:
the wheel sheet telescopic mechanism (24) comprises a gear I (241), a spiral driving disc (242), a telescopic sleeve (243), a sliding block I (244), a push rod (245) and a sliding block II (246); the gear I (241) and the spiral driving disk (242) are sleeved on the wheel shaft (21) through bearings; the back surface of the spiral driving disk (242) is fixedly connected with a gear I (241), and the front surface is provided with a spiral slideway I (247); the telescopic sleeve (243) is arranged along the radial direction of the wheel shaft (21), the telescopic sleeve (243) is fixedly connected with the wheel hub (22), a sliding block I (244) is arranged in the telescopic sleeve (243), and the sliding block I (244) can slide along the telescopic sleeve (243); a slide way II (248) corresponding to the inner arc surface of the wheel sheet (23) is arranged on the inner side surface of the wheel sheet, the sliding block II (246) is installed in the slide way II (248) and can slide along the slide way II (248), and the tail end of the sliding block I (244) is hinged with the sliding block II (246);
the push rod (245) is arranged in parallel to the telescopic sleeve (243), the rear side face of the push rod (245) is fixedly connected with the sliding block I (244) through a connecting block, a plurality of sliding columns (249) are uniformly arranged on the front side face of the push rod (245) along the length direction of the push rod, and the front ends of the sliding columns (249) are arranged in a sliding way I (247) of the spiral driving disc (242);
the first gear (241) is connected with the group of transmission mechanisms (7) respectively, the transmission of the transmission mechanisms (7) is achieved, the driving mechanism (3) rotates in a power mode, and the push rod (245) moves back and forth along the length direction of the telescopic sleeve (243) based on the supporting effect of the side wall of the slide way I (247) on the slide column (249), so that the slide block I (244) is driven to move back and forth along the length direction of the telescopic sleeve (243).
4. The mobile robot traveling apparatus according to claim 3, wherein:
the transmission mechanism (7) comprises a bevel gear I (71), a gear box (72), a bevel gear II (73), a gear II (74), a sliding gear (75), a spring (76) and a gear III (77);
the gear boxes (72) are arranged on the chassis (1) corresponding to the walking wheel mechanisms (2), two ends of the transmission main shaft (32) respectively extend into the front gear box and the rear gear box (72) on the same side, and the bevel gears I (71) are arranged at two ends of the transmission main shaft (32);
the wheel shaft (21) is connected with the bottom of the chassis (1) through a bearing and is positioned below the gear box (72); a gear box shaft (721) along the left-right direction is arranged in the gear box (72), and a bevel gear II (73) is arranged on the gear box shaft (721) and meshed with the bevel gear I (71); the gear II (74) is fixedly arranged at one end of the gearbox shaft (721) close to the hub (22) and is meshed with the gear I (241); a limit ring (723) is fixedly arranged at the other end of the gearbox shaft (721), the sliding gear (75) is arranged on one side of the gearbox shaft (721) on which the limit ring (723) is arranged, a flat key (751) is arranged on an inner ring of the sliding gear (75), a flat key groove (722) corresponding to the flat key (751) is arranged on the gearbox shaft (721), and the sliding gear (75) is embedded into the flat key groove (722) through the flat key (751) and is connected with the gearbox shaft (721) and can slide along the axial direction of the gearbox shaft (721); one end of the spring (76) is fixedly connected with the limiting ring (723), the other end of the spring is fixedly connected with the sliding gear (75), the gear III (77) is arranged at one end, close to the inner side of the chassis (1), of the wheel shaft (21), and when the sliding gear (75) moves to the limit to the wheel hub (22) under the elastic force action of the spring (76), the gear III (77) is meshed with the sliding gear (75).
5. The mobile robot traveling apparatus according to claim 4, wherein:
the automatic lifting device is characterized by further comprising a lifting lever mechanism (4), wherein the lifting lever mechanism (4) comprises a motor II (41), a gear IV (42), a rack (43), a guide rail (44), a support rod I (45), a lifting lever I (46) and a lifting lever II (47);
the motor II (41) is arranged in the middle of the chassis (1), an output shaft of the motor II (41) is arranged along the front-back direction of the chassis (1), and the gear IV (42) is fixedly arranged on the output shaft of the motor II (41) and can be driven by the motor II (41) to rotate;
the guide rails (44) are arranged below the gear IV (42), two ends of the guide rails respectively extend horizontally along the left and right directions of the chassis (1), two groups of support rods I (45) are arranged and are respectively installed on the guide rails (44) through sliding blocks and can slide left and right along the guide rails (44), and the two groups of support rods I (45) are positioned on the left side and the right side of the gear IV (42);
the two groups of driving levers I (46) and II (47) are respectively arranged at the top ends of the two groups of supporting rods I (45) and arranged along the left-right direction, and the front ends of the two groups of driving levers I (46) respectively extend leftwards or rightwards to be vertically connected with the middle part of the group of driving levers II (47); two ends of the second shifting lever (47) extend into the gear box (72), are close to the sliding gear (75) and are positioned on the outer side of the sliding gear (75); the rotation of the rotating shaft of the motor II (41) can drive the two groups of racks (43) to move inwards at the same time, so that the driving lever I (46) drives the two groups of driving levers II (47) to move inwards in the horizontal direction, the driving lever II (47) contacts with the sliding gear (75) and drives the sliding gear (75) to move inwards, the sliding gear (75) is disengaged and connected with the gear VI (69), and meanwhile, the spring (76) is compressed.
6. The mobile robot traveling apparatus according to claim 1, wherein:
the driving mechanism (3) comprises a motor I (31) and a bevel gear set; the motor I (31) is arranged on the chassis (1), and an output shaft of the motor I (31) is connected with the transmission main shaft (32) through a bevel gear set to drive the transmission main shaft (32) to rotate.
7. The mobile robot traveling apparatus according to claim 1, wherein:
the universal wheel lifting mechanism (6) comprises a motor III (61), a bevel gear III (62), a transmission shaft (63), a bevel gear IV (64), a gear V (65), a bearing seat I (66), a screw rod (67), a bearing seat II (68), a gear VI (69), a fixing plate (8), a fixed sliding rod (9) and a guide sleeve (10);
the motor III (61) is installed on the chassis (1) through a base, a rotating shaft of the motor III (61) is arranged along the horizontal direction, the bevel gear III (62) is installed at the tail end of an output shaft of the motor III (61), the transmission shaft (63) is vertically arranged and installed on the chassis (1) through a bearing seat I (66) and a bearing I, the bevel gear IV (64) is installed in the middle of the transmission shaft (63), and the bevel gear III (62) and the bevel gear IV (64) are meshed; the gear V (65) is arranged on the transmission shaft (63);
the chassis (1) is provided with a lifting port corresponding to the universal wheel (5), two groups of bearing seats II (68) and a bearing II are arranged beside the lifting port through a support, an inner ring of the bearing II is fixedly provided with an internal thread sleeve, the screw rod (67) is arranged in the internal thread sleeve in a threaded fit manner, the inner wall of a mounting hole of the gear VI (69) is provided with internal threads and sleeved on the screw rod (67) in a threaded fit manner, the gear VI (69) is positioned between the two groups of bearing seats II (68), and external teeth of the gear VI (69) are meshed with the gear V (65);
the fixing plate (8) is fixedly arranged at the lower end of the screw rod (67), and the universal wheel (5) is arranged on the lower surface of the fixing plate (8); the guide sleeve (10) is arranged on the chassis (1); the lower end of the fixed sliding rod (9) is connected with the fixed plate (8), the upper end of the fixed sliding rod vertically penetrates through the chassis (1) upwards and extends to the position above the bearing seat II (68) after passing through the guide sleeve (10), the fixed sliding rod (9) is sleeved by the guide sleeve, and under the limitation of the fixed sliding rod (9) and the guide sleeve (10), the gear VI (69) can drive the screw rod (67) to move in the vertical direction through thread transmission when rotating.
8. The mobile robot traveling apparatus according to claim 7, wherein:
still include bracing piece II (11), bearing frame I (66) include two, locate the both ends of transmission shaft (63) respectively, the bearing frame I (66) that are located the bottom are connected with chassis (1), bracing piece II (11) lower extreme install on chassis (1), the vertical upwards extension of upper end, be connected with the lateral part that is located the bearing frame I (66) on upper portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010714637.2A CN111845984A (en) | 2020-07-23 | 2020-07-23 | Traveling device of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010714637.2A CN111845984A (en) | 2020-07-23 | 2020-07-23 | Traveling device of mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN111845984A true CN111845984A (en) | 2020-10-30 |
Family
ID=72949739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010714637.2A Pending CN111845984A (en) | 2020-07-23 | 2020-07-23 | Traveling device of mobile robot |
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| Country | Link |
|---|---|
| CN (1) | CN111845984A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113682082A (en) * | 2021-09-24 | 2021-11-23 | 广西科技大学 | Walking mechanism of deformable wheel type mobile robot |
| CN114906240A (en) * | 2022-05-16 | 2022-08-16 | 广东电网有限责任公司 | Pole construction equipment |
| CN117340887A (en) * | 2023-11-16 | 2024-01-05 | 泰州学院 | Computer remote operation robot |
| CN117428793A (en) * | 2023-10-07 | 2024-01-23 | 广东海洋大学 | Marine wind-powered electricity generation inspection robot |
-
2020
- 2020-07-23 CN CN202010714637.2A patent/CN111845984A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113682082A (en) * | 2021-09-24 | 2021-11-23 | 广西科技大学 | Walking mechanism of deformable wheel type mobile robot |
| CN113682082B (en) * | 2021-09-24 | 2023-04-28 | 广西科技大学 | Travelling mechanism of deformed wheel type mobile robot |
| CN114906240A (en) * | 2022-05-16 | 2022-08-16 | 广东电网有限责任公司 | Pole construction equipment |
| CN114906240B (en) * | 2022-05-16 | 2023-10-20 | 广东电网有限责任公司 | Electric pole construction equipment |
| CN117428793A (en) * | 2023-10-07 | 2024-01-23 | 广东海洋大学 | Marine wind-powered electricity generation inspection robot |
| CN117340887A (en) * | 2023-11-16 | 2024-01-05 | 泰州学院 | Computer remote operation robot |
| CN117340887B (en) * | 2023-11-16 | 2024-05-17 | 泰州学院 | Computer remote operation robot |
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