CN114056449A - Robot running gear and have its robot - Google Patents
Robot running gear and have its robot Download PDFInfo
- Publication number
- CN114056449A CN114056449A CN202111366211.3A CN202111366211A CN114056449A CN 114056449 A CN114056449 A CN 114056449A CN 202111366211 A CN202111366211 A CN 202111366211A CN 114056449 A CN114056449 A CN 114056449A
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- assembly
- thigh
- robot
- pulley
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- B62D57/028—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 having wheels and mechanical legs
Abstract
The invention provides a robot walking mechanism and a robot with the same, wherein the robot walking mechanism comprises: the crotch component comprises a cross shaft, the cross shaft is provided with a first connecting shaft and a second connecting shaft which are perpendicular to each other, two ends of the first connecting shaft are connected with a first bevel gear and a second bevel gear, one end of the second connecting shaft is connected with a third bevel gear, the third bevel gear is meshed with the first bevel gear and the second bevel gear respectively, the third bevel gear rotates around the first connecting shaft when the first bevel gear and the second bevel gear rotate around the same direction, and the third bevel gear rotates around the second connecting shaft when the first bevel gear and the second bevel gear rotate around opposite directions; leg component, leg component and third bevel gear fixed connection. By adopting the technical scheme of the invention, the problem that each joint of the robot in the prior art only has one degree of freedom is solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot walking mechanism and a robot with the same.
Background
With the rapid development of scientific technology, more and more mobile robots are used in dangerous and complex environmental work. The wheel-leg combined robot is a novel mobile robot formed by different combination forms of legs and wheels, combines rapidity, reliability and high efficiency of the motion of the wheel type robot and environmental adaptability of the leg-foot type robot, and has wide application value. In the prior art, each joint of a common wheel-legged robot has one degree of freedom, and a single motor is basically used for driving and controlling the corresponding joint, so that the performance requirement of the motor on the joint position with a large torque requirement is high, and when the motor is heavy, the bearing capacity of each joint part is poor, so that the overall bearing capacity of the robot is reduced.
Disclosure of Invention
The invention provides a robot walking mechanism and a robot with the same, and aims to solve the problem that each joint of the robot in the prior art only has one degree of freedom.
According to an aspect of the present invention, there is provided a robot traveling mechanism including: the crotch component comprises a cross shaft, the cross shaft is provided with a first connecting shaft and a second connecting shaft which are perpendicular to each other, two ends of the first connecting shaft are connected with a first bevel gear and a second bevel gear, one end of the second connecting shaft is connected with a third bevel gear, the third bevel gear is meshed with the first bevel gear and the second bevel gear respectively, the third bevel gear rotates around the first connecting shaft when the first bevel gear and the second bevel gear rotate around the same direction, and the third bevel gear rotates around the second connecting shaft when the first bevel gear and the second bevel gear rotate around opposite directions; leg component, leg component and third bevel gear fixed connection.
Further, the robot walking mechanism further comprises a first driving motor and a second driving motor, an output shaft of the first driving motor is in driving connection with the first bevel gear, and an output shaft of the second driving motor is in driving connection with the second bevel gear.
Furthermore, the leg assembly comprises a thigh assembly and a shank assembly, one end of the thigh assembly is fixedly connected with the third bevel gear, and the other end of the thigh assembly is rotatably connected with the shank assembly.
Further, the leg assembly further comprises: the third driving motor is arranged on the thigh component; the driving end of the third driving motor is in driving connection with one end of the first transmission assembly, the other end of the first transmission assembly is connected with the shank assembly, and the third driving motor drives the shank assembly to rotate relative to the thigh assembly through the first transmission assembly.
Further, the thigh assembly comprises a thigh shell having a receiving cavity, the first transmission assembly comprising: the first belt wheel is rotatably arranged in the accommodating cavity and is positioned at one end of the thigh shell close to the crotch component, the second belt wheel is rotatably arranged on the thigh shell and is positioned at one end of the thigh shell far away from the crotch component, and the shank component is fixedly connected with the second belt wheel; the first synchronous belt is arranged on the first belt wheel and the second belt wheel, the third driving motor is in driving connection with the first belt wheel, and the first belt wheel drives the second belt wheel and the lower leg assembly to rotate through the first synchronous belt.
Further, the leg assembly further comprises a fourth drive motor, the lower leg assembly comprising: one end of the shank shell is rotatably connected with the thigh component; and the traveling wheel is rotatably arranged at the other end of the shank shell, and the fourth driving motor is in driving connection with the traveling wheel.
Further, the thigh assembly comprises a thigh shell having an accommodation cavity, the leg assembly further comprises a second transmission assembly, the second transmission assembly comprises: a third belt pulley disposed within the receiving cavity, the third belt pulley being located at an end of the thigh shell adjacent the crotch assembly; a fourth pulley rotatably disposed on the thigh shell, the fourth pulley being located at an end of the thigh shell distal from the crotch assembly; the fifth belt wheel is arranged at one end of the shank shell, which is far away from the thigh component, and the fifth belt wheel is fixedly connected with the travelling wheel; the second synchronous belt is sleeved on the third belt wheel and the fourth belt wheel; and the third synchronous belt is sleeved on the fourth belt wheel and the fifth belt wheel.
Further, a fourth driving motor is in driving connection with the third belt wheel.
Furthermore, one end, far away from the third bevel gear, of the second connecting shaft is connected with a fourth bevel gear, and the fourth bevel gear is meshed with the first bevel gear and the second bevel gear respectively.
According to another aspect of the present invention, there is provided a robot including a robot body and the robot running gear provided above.
By applying the technical scheme of the invention, the crotch component comprises a cross shaft, two ends of a first connecting shaft of the cross shaft are connected with a first bevel gear and a second bevel gear, one end of a second connecting shaft of the cross shaft is connected with a third bevel gear, the third bevel gear is respectively meshed with the first bevel gear and the second bevel gear, and the leg component is fixedly connected with the third bevel gear. So set up, the shank subassembly can rotate around first connecting axle and rotate around the second connecting axle, and the crotch subassembly has two degrees of freedom with the junction of shank subassembly to make robot running gear's action agile, bearing capacity is stronger. The first bevel gear, the second bevel gear and the third bevel gear are meshed, so that the connection stability is high, the rotation angle of the leg component around the first rotating shaft or the second rotating shaft can be accurately controlled, and the precision of the robot walking mechanism is improved; in addition, the crotch assembly is simple in structure, light in weight, and high in structural strength.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a schematic view of a crotch assembly provided in accordance with an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a robot walking mechanism provided in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a robot provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram illustrating a further aspect of a robot provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic structural diagram illustrating a further aspect of a robot provided in accordance with an embodiment of the present invention;
fig. 6 shows a schematic structural diagram of a robot provided in accordance with another embodiment of the present invention.
Wherein the figures include the following reference numerals:
10. a crotch component; 11. a cross shaft; 111. a first connecting shaft; 112. a second connecting shaft; 12. a first bevel gear; 13. a second bevel gear; 14. a third bevel gear; 15. a first drive motor; 16. a second drive motor; 17. a fourth bevel gear; 18. a crotch shell; 20. a leg assembly; 21. a thigh assembly; 211. a thigh shell; 22. a lower leg assembly; 221. a lower leg shell; 222. a traveling wheel; 23. a third drive motor; 241. a second pulley; 242. a first synchronization belt; 25. a fourth drive motor; 261. a fourth pulley; 262. a fifth belt pulley; 263. a second synchronous belt; 264. a third synchronous belt; 30. a robot body; 40. a first robot traveling mechanism.
Detailed Description
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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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.
As shown in fig. 1 and 2, the present invention provides a robot chassis including a crotch assembly 10 and leg assemblies 20. The crotch assembly 10 comprises a cross 11, the cross 11 has a first connecting shaft 111 and a second connecting shaft 112 perpendicular to each other, a first bevel gear 12 and a second bevel gear 13 are connected to both ends of the first connecting shaft 111, a third bevel gear 14 is connected to one end of the second connecting shaft 112, the third bevel gear 14 is respectively engaged with the first bevel gear 12 and the second bevel gear 13, the third bevel gear 14 rotates around the first connecting shaft 111 when the first bevel gear 12 and the second bevel gear 13 rotate in the same direction, and the third bevel gear 14 rotates around the second connecting shaft 112 when the first bevel gear 12 and the second bevel gear 13 rotate in opposite directions. The first bevel gear 12 and the second bevel gear 13 both rotate about the axis of the first connecting shaft 111. As shown in fig. 1, the first bevel gear 12 and the second bevel gear 13 can rotate in a direction a or a direction B, which is opposite to the direction B. Optionally, the crotch assembly 10 further comprises a crotch shell 18, and the cross 11, the first bevel gear 12, the second bevel gear 13 and the third bevel gear 14 are all arranged in the crotch shell 18, and the crotch shell 18 is arranged to facilitate the connection of the crotch assembly 10 to the robot body 30 and avoid the interference of the outside with the first bevel gear 12, the second bevel gear 13 and the third bevel gear 14. In other embodiments, the cross shaft 11 may be replaced by a fixed frame, and the first bevel gear 12, the second bevel gear 13 and the third bevel gear 14 are all rotationally connected to the fixed frame. Leg assembly 20 is fixedly connected to third bevel gear 14. Optionally, the leg assembly 20 is fixedly connected to the third bevel gear 14 by a flange or a connecting rod.
By applying the technical scheme of the invention, the crotch component 10 comprises a cross 11, two ends of a first connecting shaft 111 of the cross 11 are connected with a first bevel gear 12 and a second bevel gear 13, one end of a second connecting shaft 112 of the cross 11 is connected with a third bevel gear 14, the third bevel gear 14 is respectively meshed with the first bevel gear 12 and the second bevel gear 13, and the leg component 20 is fixedly connected with the third bevel gear 14; the first bevel gear 12, the second bevel gear 13 and the third bevel gear 14 are meshed, so that the connection stability is high, the rotation angle of the leg component 20 around the first connecting shaft 111 or the second connecting shaft 112 can be accurately controlled, and the precision of the robot walking mechanism is improved; in addition, the crotch assembly 10 is simple in construction, light in weight, and structurally strong.
In this embodiment, the robot walking mechanism further includes a first driving motor 15 and a second driving motor 16, an output shaft of the first driving motor 15 is in driving connection with the first bevel gear 12, and an output shaft of the second driving motor 16 is in driving connection with the second bevel gear 13. Alternatively, protective cases are provided on both sides of the crotch shell 18, and the first drive motor 15 and the second drive motor 16 are respectively provided in the protective cases on both sides of the crotch shell 18 to fix and protect the first drive motor 15 and the second drive motor 16.
Specifically, the leg assembly 20 comprises a thigh assembly 21 and a shank assembly 22, one end of the thigh assembly 21 is fixedly connected with the third bevel gear 14, and the other end of the thigh assembly 21 is rotatably connected with the shank assembly 22. With the above-described arrangement, the thigh assembly 21 can be rotated about the first connecting axis 111 and the second connecting axis 112 with respect to the crotch assembly 10, and the lower leg assembly 22 can be rotated about the thigh assembly 21, and the lower leg assembly 22 has three degrees of freedom, so that the robot walking mechanism can be made to act sensitively.
Wherein, the leg assembly 20 further comprises a third driving motor 23 and a first transmission assembly, the third driving motor 23 is arranged on the thigh assembly 21; the driving end of the third driving motor 23 is in driving connection with one end of the first transmission assembly, the other end of the first transmission assembly is connected with the lower leg assembly 22, and the third driving motor 23 drives the lower leg assembly 22 to rotate relative to the thigh assembly 21 through the first transmission assembly. Thus, the third driving motor 23 is disposed on the thigh assembly 21, and the heavy objects are gathered on the thigh assembly 21, so that the load of the shank assembly 22 is reduced, and the inertia of the leg assembly 20 during movement is reduced, so that the leg assembly 20 has high movement sensitivity. Alternatively, the first transmission assembly may be a transmission rod, a gear assembly, a synchronous belt, or the like.
In the present embodiment, the thigh assembly 21 includes a thigh housing 211, the thigh housing 211 has an accommodating chamber, and the first transmission assembly includes a first pulley, a second pulley 241, and a first timing belt 242. A first belt wheel is rotatably arranged in the accommodating cavity, the first belt wheel is positioned at one end of the thigh shell 211 close to the crotch component 10, a second belt wheel 241 is rotatably arranged on the thigh shell 211, the second belt wheel 241 is positioned at one end of the thigh shell 211 far away from the crotch component 10, and the shank component 22 is fixedly connected with the second belt wheel 241; the first synchronous belt 242 is disposed on the first pulley and the second pulley 241, the third driving motor 23 is in driving connection with the first pulley, and the first pulley drives the second pulley 241 and the lower leg assembly 22 to rotate through the first synchronous belt 242. The first pulley is disposed at the end of the thigh shell 211 near the crotch assembly 10, and the third driving motor 23 is in driving connection with the first pulley, i.e., the third driving motor 23 is disposed at the end of the thigh shell 211 near the crotch assembly 10, so that the moment of inertia of the leg assembly 20 can be further reduced, and the mobility sensitivity of the leg assembly 20 can be improved. Alternatively, the thigh shell 211 may be formed by combining two side plates arranged at intervals with a connecting plate, and the accommodating cavity is enclosed by the two side plates and the connecting plate. The first belt wheel is disposed in the accommodating cavity, and generally the second belt wheel 241 and the first synchronous belt 242 are disposed between the two side plates, so as to improve the structural compactness of the thigh assembly 21 and avoid the first transmission assembly interfering with the outside.
Specifically, the leg assembly 20 further includes a fourth drive motor 25, and the lower leg assembly 22 includes a lower leg housing 221 and road wheels 222. One end of the shank shell 221 is rotatably connected with the thigh assembly 21; the road wheel 222 is rotatably disposed at the other end of the shank housing 221, and the fourth drive motor 25 is drivingly connected to the road wheel 222. The walking wheel 222 is arranged at one end of the lower leg shell 221 far away from the thigh component 21, and the leg component 20 walks through the walking wheel 222, so that the robot walking mechanism can quickly walk on a flat road surface through the walking wheel 222. Alternatively, the fourth drive motor 25 may be disposed at an end of the lower leg assembly 22 remote from the thigh assembly 21, or at other locations on the leg assembly 20. Alternatively, the fourth drive motor 25 may drive the road wheels 222 for rotation via a transmission.
In the present embodiment, the thigh assembly 21 includes a thigh housing 211, the thigh housing 211 has an accommodating cavity, and the leg assembly 20 further includes a second transmission assembly including a third pulley, a fourth pulley 261, a fifth pulley 262, a second timing belt 263 and a third timing belt 264. A third pulley is disposed in the receiving cavity, the third pulley being located at an end of the thigh shell 211 near the crotch assembly 10; a fourth pulley 261 is rotatably disposed on thigh shell 211, fourth pulley 261 being located at an end of thigh shell 211 remote from crotch assembly 10; the fifth belt wheel 262 is arranged at one end of the shank shell 221 far away from the thigh assembly 21, and the fifth belt wheel 262 is fixedly connected with the travelling wheel 222; the second synchronous belt 263 is sleeved on the third belt wheel and the fourth belt wheel 261; the third timing belt 264 is fitted over the fourth pulley 261 and the fifth pulley 262. The second transmission assembly has a simple structure and can stably transmit power. With the second transmission assembly, the fourth drive motor 25 can be moved in a direction closer to the crotch assembly 10, thereby reducing the weight carried by the lower leg assembly 22 and further enhancing the pressure bearing capacity of the lower leg assembly 22. Optionally, a fifth pulley 262 and a road wheel 222 are provided on each side of the calf housing 221 to balance the center of gravity of the calf.
Specifically, the fourth drive motor 25 is drivingly connected to the third pulley. With this arrangement, the fourth drive motor 25 can be disposed at the end of the thigh assembly 21 near the crotch assembly 10, so that the weight is concentrated on the thigh assembly 21, the load of the lower leg assembly 22 is reduced, and the moment of inertia of the leg assembly 20 is reduced, thereby making the leg assembly 20 more sensitive in movement and stronger in pressure-bearing capacity. Alternatively, the fourth drive motor 25 and the third drive motor 23 are respectively provided on both sides of the thigh housing 211, and the fourth drive motor 25 and the third drive motor 23 are provided inside the protective case.
In the present embodiment, a fourth bevel gear 17 is connected to one end of the second connecting shaft 112 away from the third bevel gear 14, and the fourth bevel gear 17 is engaged with the first bevel gear 12 and the second bevel gear 13. The provision of the fourth bevel gear 17 ensures the stability of the connection between the first bevel gear 12, the second bevel gear 13 and the third bevel gear 14, thereby enhancing the structural stability of the crotch assembly 10.
Specifically, in the actual operation process, the first drive motor 15 drives the first bevel gear 12 to rotate, the second drive motor 16 drives the second bevel gear 13 to rotate, and when the first bevel gear 12 and the second bevel gear 13 both rotate around the a direction or the B direction, the third bevel gear 14 rotates around the first connecting shaft 111, so as to drive the leg assembly 20 to rotate around the first connecting shaft 111, that is, the up-down position adjustment of the leg assembly 20 is completed, and the leg lifting operation of the leg assembly 20 is realized; when one of the first bevel gear 12 and the second bevel gear 13 rotates around the direction a and the other rotates around the direction B, the third bevel gear 14 rotates around the second connecting shaft 112, so as to drive the leg assembly 20 to rotate around the second connecting shaft 112, that is, the swing adjustment of the leg assembly 20 in the front-back direction is completed, and the leg assembly 20 is stepped forward or backward. The third drive motor 23 rotates the lower leg assembly 22 relative to the thigh assembly 21, thereby driving the lower leg assembly 22 to perform a bending or straightening operation. The fourth driving motor 25 drives the traveling wheels 222 to rotate, so that the robot traveling mechanism is driven to move forward integrally. When the road surface is uneven, the first drive motor 15, the second drive motor 16 and the third drive motor 23 can be matched with each other to drive the leg assembly 20 to adjust the direction and take a step forward. When the road surface is relatively flat, the fourth driving motor 25 can drive the traveling wheels 222 to rotate, so that the robot traveling mechanism is driven to integrally travel.
As shown in fig. 3 to 5, the present invention further provides a robot, which includes a robot body 30 and the robot traveling mechanism provided above. The robot includes a plurality of robot running gear, and robot running gear symmetric distribution is in robot body 30 both sides. The plurality of robot traveling mechanisms move in the same direction, thereby moving the robot body 30. The robot adopting the robot walking mechanism has the advantages of strong load capacity of the leg joints of the robot, high energy efficiency, good motion flexibility, small inertia of the leg assembly 20 and light weight. The robot can climb the translational motion all around, can realize the all-round motion of robot promptly. By changing the angles among the crotch component 10, the thigh component 21 and the shank component 22, the height of the robot body and the width between the wheel legs on two sides can be adjusted, so that the robot is suitable for walking in ridges or gullies with different spans. The robot provided by the invention has the advantages of strong survivability, strong maneuverability, strong adaptability and strong bearing capacity under complex conditions, and can adapt to normal road conditions, uneven road conditions such as sand and the like. In addition, the robot provided by the invention has the advantages of simple structure, easiness in realization, moderate cost and high actual working efficiency.
As shown in fig. 6, the robot may further include two first robot traveling mechanisms 40, and the first robot traveling mechanism 40 is different from the robot traveling mechanism provided above in that one end of the lower leg assembly, which is far away from the upper leg assembly, is a spherical structure, and the first robot traveling mechanism 40 does not include the second transmission assembly. Optionally, the robot includes four robot traveling mechanisms and two first robot traveling mechanisms 40, the four robot traveling mechanisms and the two first robot traveling mechanisms 40 are symmetrically disposed on both sides of the robot body 30, and the first robot traveling mechanisms 40 are disposed between the two robot traveling mechanisms.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a running gear of robot which characterized in that, running gear of robot includes:
a crotch component (10), said crotch component (10) comprising a cross (11), the cross shaft (11) is provided with a first connecting shaft (111) and a second connecting shaft (112) which are perpendicular to each other, a first bevel gear (12) and a second bevel gear (13) are connected with both ends of the first connecting shaft (111), one end of the second connecting shaft (112) is connected with a third bevel gear (14), the third bevel gear (14) is respectively meshed with the first bevel gear (12) and the second bevel gear (13), the third bevel gear (14) rotates around the first connecting shaft (111) when the first bevel gear (12) and the second bevel gear (13) rotate around the same direction, when the first bevel gear (12) and the second bevel gear (13) rotate around opposite directions, the third bevel gear (14) rotates around the second connecting shaft (112);
a leg assembly (20), the leg assembly (20) being fixedly connected with the third bevel gear (14).
2. The robot running gear according to claim 1, characterized in that it further comprises a first drive motor (15) and a second drive motor (16), the output shaft of the first drive motor (15) being in driving connection with the first bevel gear (12) and the output shaft of the second drive motor (16) being in driving connection with the second bevel gear (13).
3. The robot running gear according to claim 1, characterized in that the leg assembly (20) comprises a thigh assembly (21) and a shank assembly (22), one end of the thigh assembly (21) being fixedly connected to the third bevel gear (14) and the other end of the thigh assembly (21) being rotatably connected to the shank assembly (22).
4. The robotic walking mechanism of claim 3, wherein the leg assembly (20) further comprises:
a third drive motor (23) provided on the thigh assembly (21);
the driving end of the third driving motor (23) is in driving connection with one end of the first driving assembly, the other end of the first driving assembly is connected with the lower leg assembly (22), and the third driving motor (23) drives the lower leg assembly (22) to rotate relative to the thigh assembly (21) through the first driving assembly.
5. The robotic walking mechanism of claim 4, wherein the thigh assembly (21) comprises a thigh housing (211), the thigh housing (211) having a receiving cavity, the first transmission assembly comprising:
a first pulley and a second pulley (241), the first pulley being rotatably disposed in the receiving cavity and located at an end of the thigh shell (211) close to the crotch assembly (10), the second pulley (241) being rotatably disposed on the thigh shell (211), the second pulley (241) being located at an end of the thigh shell (211) far from the crotch assembly (10), the lower leg assembly (22) being fixedly connected with the second pulley (241);
the first synchronous belt (242) is arranged on the first belt wheel and the second belt wheel (241), the third driving motor (23) is in driving connection with the first belt wheel, and the first belt wheel drives the second belt wheel (241) and the lower leg assembly (22) to rotate through the first synchronous belt (242).
6. The robotic walking mechanism of claim 3, wherein the leg assembly (20) further comprises a fourth drive motor (25), the lower leg assembly (22) comprising:
a lower leg shell (221), wherein one end of the lower leg shell (221) is rotatably connected with the thigh assembly (21);
and the traveling wheel (222) is rotatably arranged at the other end of the lower leg shell (221), and the fourth driving motor (25) is in driving connection with the traveling wheel (222).
7. The robotic walking mechanism of claim 6, wherein the thigh assembly (21) comprises a thigh housing (211), the thigh housing (211) having a receiving cavity, the leg assembly (20) further comprising a second transmission assembly comprising:
a third pulley disposed within the receiving cavity, the third pulley being located at an end of the thigh shell (211) proximate to the crotch assembly (10);
a fourth pulley (261), said fourth pulley (261) rotatably disposed on said thigh shell (211), said fourth pulley (261) located at an end of said thigh shell (211) distal from said crotch assembly (10);
the fifth belt wheel (262), the fifth belt wheel (262) is arranged at one end of the shank shell (221) far away from the thigh assembly (21), and the fifth belt wheel (262) is fixedly connected with the travelling wheel (222);
a second synchronous belt (263), wherein the second synchronous belt (263) is sleeved on the third belt pulley and the fourth belt pulley (261);
and the third synchronous belt (264), wherein the fourth belt wheel (261) and the fifth belt wheel (262) are sleeved with the third synchronous belt (264).
8. The robot running gear according to claim 7, characterized in that the fourth drive motor (25) is in driving connection with the third pulley.
9. The robot walking mechanism according to claim 1, characterized in that a fourth bevel gear (17) is connected to one end of the second connecting shaft (112) far away from the third bevel gear (14), and the fourth bevel gear (17) is engaged with the first bevel gear (12) and the second bevel gear (13) respectively.
10. A robot comprising a robot body and the robot walking mechanism of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111366211.3A CN114056449A (en) | 2021-11-18 | 2021-11-18 | Robot running gear and have its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111366211.3A CN114056449A (en) | 2021-11-18 | 2021-11-18 | Robot running gear and have its robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114056449A true CN114056449A (en) | 2022-02-18 |
Family
ID=80278191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111366211.3A Pending CN114056449A (en) | 2021-11-18 | 2021-11-18 | Robot running gear and have its robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114056449A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190525650A (en) * | 1905-12-09 | 1906-07-05 | Ernest Bowater | Improvements in or relating to Ratchet Gearing. |
| US6593718B1 (en) * | 1999-09-28 | 2003-07-15 | Tazmo Co., Ltd. | Horizontal multi-joint industrial robot |
| US20090025502A1 (en) * | 2007-07-27 | 2009-01-29 | Kabushiki Kaisha Toshiba | Manipulator and robot |
| US20100061835A1 (en) * | 2008-09-11 | 2010-03-11 | Samsung Electronics Co., Ltd. | Robot hand and humanoid robot having the same |
| CN103661667A (en) * | 2013-12-11 | 2014-03-26 | 北京航空航天大学 | Smart quadruped robot with flexible waist |
| CN106627831A (en) * | 2017-02-21 | 2017-05-10 | 哈尔滨工业大学 | Single leg mechanism of quadruped robot |
| CN108583709A (en) * | 2018-04-28 | 2018-09-28 | 哈尔滨工业大学 | A kind of intermittent hopping robot of biped |
| CN112373594A (en) * | 2020-11-18 | 2021-02-19 | 中国矿业大学 | Wheel-leg hybrid drive type mining metamorphic robot |
| CN113353172A (en) * | 2021-06-04 | 2021-09-07 | 华中科技大学 | Leg structure with low inertia and high bearing capacity and foot type robot applying same |
| CN214189859U (en) * | 2020-12-15 | 2021-09-14 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Robot leg and quadruped robot based on differential mechanism |
| CN113525550A (en) * | 2021-08-26 | 2021-10-22 | 清华大学 | Robot leg and quadruped robot based on differential structure |
-
2021
- 2021-11-18 CN CN202111366211.3A patent/CN114056449A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB190525650A (en) * | 1905-12-09 | 1906-07-05 | Ernest Bowater | Improvements in or relating to Ratchet Gearing. |
| US6593718B1 (en) * | 1999-09-28 | 2003-07-15 | Tazmo Co., Ltd. | Horizontal multi-joint industrial robot |
| US20090025502A1 (en) * | 2007-07-27 | 2009-01-29 | Kabushiki Kaisha Toshiba | Manipulator and robot |
| US20100061835A1 (en) * | 2008-09-11 | 2010-03-11 | Samsung Electronics Co., Ltd. | Robot hand and humanoid robot having the same |
| CN103661667A (en) * | 2013-12-11 | 2014-03-26 | 北京航空航天大学 | Smart quadruped robot with flexible waist |
| CN106627831A (en) * | 2017-02-21 | 2017-05-10 | 哈尔滨工业大学 | Single leg mechanism of quadruped robot |
| CN108583709A (en) * | 2018-04-28 | 2018-09-28 | 哈尔滨工业大学 | A kind of intermittent hopping robot of biped |
| CN112373594A (en) * | 2020-11-18 | 2021-02-19 | 中国矿业大学 | Wheel-leg hybrid drive type mining metamorphic robot |
| CN214189859U (en) * | 2020-12-15 | 2021-09-14 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Robot leg and quadruped robot based on differential mechanism |
| CN113353172A (en) * | 2021-06-04 | 2021-09-07 | 华中科技大学 | Leg structure with low inertia and high bearing capacity and foot type robot applying same |
| CN113525550A (en) * | 2021-08-26 | 2021-10-22 | 清华大学 | Robot leg and quadruped robot based on differential structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8030873B2 (en) | Walk and roll robot | |
| CN102699893B (en) | Differential driving magnetic attracting multifunctional wall-climbing robot with mechanical arms of multiple degrees of freedom | |
| CN111003074B (en) | Parallel wheel-foot type robot leg structure and mobile robot | |
| CN100354171C (en) | Dangerous operation robot with wheel-leg-caterpillar track composite moving mechanism | |
| CN110510029B (en) | Mecanum wheel duplex branched chain leg and omnidirectional moving posture adjusting platform | |
| CN113120110B (en) | Wheel-foot robot | |
| CN110077486B (en) | Bionic eight-foot special robot | |
| CN111846001B (en) | Wheel-leg variable-structure robot | |
| CN110654194A (en) | Six-wheel independently-steering liftable mobile platform | |
| CN107128390A (en) | A kind of wheels device people | |
| CN112373594A (en) | Wheel-leg hybrid drive type mining metamorphic robot | |
| CN112519915A (en) | Cooperative interaction robot based on wheel-foot type hybrid movement | |
| CN115285250A (en) | Six-wheel leg composite moving action robot with leg and arm multiplexing function | |
| CN213473334U (en) | Emergency rescue unmanned vehicle | |
| CN214189857U (en) | Wheel-foot hybrid robot | |
| CN207015472U (en) | A kind of wheels device people | |
| CN117485422A (en) | Active steering transfer trolley for wind power blade and wind power blade transfer method | |
| CN218986800U (en) | Self-stabilizing omnidirectional mobile robot and mobile device | |
| CN114056449A (en) | Robot running gear and have its robot | |
| KR20200010936A (en) | Mobile robot | |
| CN214189854U (en) | Cooperative interaction robot based on wheel-foot type hybrid movement | |
| CN110103212B (en) | modularization polytropic robot based on dolly | |
| CN112519918A (en) | Wheel-foot hybrid robot | |
| CN114074723A (en) | Wheel-track type mobile robot based on Mecanum wheels | |
| CN112519916A (en) | Wheel-foot hybrid robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220218 |
|
| RJ01 | Rejection of invention patent application after publication |