CN115402444B - Wheeled robot with annularly supported gear linkage transmission system - Google Patents

Wheeled robot with annularly supported gear linkage transmission system Download PDF

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Publication number
CN115402444B
CN115402444B CN202211356936.9A CN202211356936A CN115402444B CN 115402444 B CN115402444 B CN 115402444B CN 202211356936 A CN202211356936 A CN 202211356936A CN 115402444 B CN115402444 B CN 115402444B
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China
Prior art keywords
gear
driven
wheel device
linkage
driven wheel
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CN202211356936.9A
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Chinese (zh)
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CN115402444A (en
Inventor
李志明
季松林
陈键
陈银
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Jiangsu Puma Intelligent Industrial Design And Research Co ltd
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Jiangsu Puma Intelligent Industrial Design And Research Co ltd
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Priority to CN202211356936.9A priority Critical patent/CN115402444B/en
Publication of CN115402444A publication Critical patent/CN115402444A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0421—Electric motor acting on or near steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/142—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks

Abstract

The invention relates to the technical field of intelligent inspection robots of transformer substations, in particular to a wheeled robot with an annular supported gear linkage transmission system, which comprises a vehicle body chassis and four wheels arranged on the vehicle body chassis, wherein the four wheels are uniformly distributed and rectangular arranged on the vehicle body chassis, and the four wheels are connected with the gear linkage transmission system; the gear linkage transmission system comprises a gear linkage driving piece, a driving gear, an annular supporting frame, a central linkage gear and a driven wheel device, wherein the output end of the gear linkage driving piece is connected with the driving gear, the driving gear is connected with the central linkage gear in a meshed mode, and the annular supporting frame is fixedly connected to the central linkage gear. The original four-wheel eight-drive driving power steering system is changed, a gear linkage transmission system is added, the original four-wheel eight-drive driving effect can be realized only by 2-5 sets of drivers and motors, and the cost of the robot walking system can be greatly reduced on the premise of ensuring the advantages of the robot walking system.

Description

Wheeled robot with annularly supported gear linkage transmission system
Technical Field
The invention relates to the technical field of intelligent inspection robots of transformer substations, in particular to a wheeled robot with an annularly supported gear linkage transmission system.
Background
The intelligent inspection robot of the transformer substation is mainly used for carrying out autonomous inspection and data acquisition on outdoor equipment of the transformer substation; transmitting the polling data to a local monitoring background in real time through a wireless communication system to complete the functions of data analysis and processing, early warning, warning and the like; and the remote centralized control management of the system is realized through the remote centralized control background.
The intelligent inspection robot for the transformer substation has the functions of autonomous navigation, positioning, charging and inspection, applies the infrared thermal imaging and high-definition video dual-vision combination technology, accurately identifies the current and voltage heating phenomena of various instrument readings and equipment in the transformer substation, finds out equipment defects in time, and improves equipment inspection efficiency. Meanwhile, the abnormal information is timely informed to relevant operation and maintenance personnel through background data analysis, so that the operation and maintenance personnel can timely handle the abnormal problem. The transformer substation has the ubiquitous problems of large equipment quantity and high density; inspecting narrow roads; the road condition of the road is complex and the like. Aiming at the situations, the walking requirements of the intelligent inspection robot have the characteristics of strong power, flexible steering, small turning radius and the like.
The inspection robot with the independent steering system, with the patent number of CN201720989376.9, comprises an inspection trolley, wherein four wheels are arranged below the inspection trolley and are arranged in a square shape; each wheel is provided with an independent steering system, the independent steering system is divided into a steering assembly, a rotating arm and a driving assembly, and the steering assembly is connected with the driving assembly through the rotating arm; the steering assembly comprises a steering motor, a harmonic reducer and a magnetic encoder, the steering motor is mounted on the inspection trolley, the steering motor is coaxially connected with the harmonic reducer, the magnetic encoder is mounted at the output end of the harmonic reducer, and the output end of the harmonic reducer is connected with the upper end of the rotating arm; the driving assembly comprises a driving motor and a planetary reducer, the driving motor is installed at the lower end of the rotating arm, and the driving motor, the planetary reducer and the wheel center are coaxially connected. The four wheels of the inspection robot are matched with independent steering systems, and power driving systems of the four wheels are added to form a four-wheel eight-wheel drive power steering system, so that the inspection robot has the advantages of accurate pivot steering, accurate linear walking and the like. However, the four-wheel eight-drive power steering system can be realized only by 8 sets of drivers and motors, and has complex structure and high cost.
In view of the above, the present application proposes a wheeled robot with an annularly supported geared drive system.
Disclosure of Invention
The invention aims to provide a wheeled robot with a ring-shaped supporting gear linkage transmission system, aiming at the defects of the prior art.
In order to solve the technical problems, the following technical scheme is adopted:
the wheel type robot with the annular supporting gear linkage transmission system comprises a vehicle body chassis and four wheels arranged on the vehicle body chassis, wherein the four wheels are uniformly distributed on the vehicle body chassis in a rectangular shape, the four wheels are connected with the gear linkage transmission system, and the gear linkage transmission system is used for controlling the four wheels to turn simultaneously or turn in place.
The gear linkage transmission system comprises a gear linkage driving piece, a driving gear, an annular support frame, a central linkage gear and a driven wheel device, wherein the output end of the gear linkage driving piece is connected with the driving gear, the driving gear is connected with the central linkage gear in a meshed mode, and the annular support frame is fixedly connected to the central linkage gear.
The driven wheel device comprises a first driven wheel device, a second driven wheel device, a third driven wheel device and a fourth driven wheel device, the first driven wheel device and the fourth driven wheel device are arranged diagonally of a chassis of the vehicle body, and the second driven wheel device and the third driven wheel device are arranged diagonally of the chassis of the vehicle body.
The first driven wheel device and the fourth driven wheel device are meshed with the central linkage gear, and the second driven wheel device and the third driven wheel device are meshed with the annular supporting frame.
Further, first follow driving wheel device, second follow driving wheel device, third follow driving wheel device and fourth follow driving wheel device's structure the same, follow driving wheel device includes driven shaft, driven gear and driven transmission seat, the upper portion cover of driven shaft is equipped with driven gear, driven gear with the internal tooth of ring support frame meshes mutually, or driven gear with the external tooth of central linkage gear meshes mutually, the sub-unit connection driven transmission seat of driven shaft, driven transmission seat is connected with and turns to the support, it has the wheel to turn to the leg joint.
Further, the annular bracing frame includes tooth spare and connection in annular support piece, the outside annular at middle part the connecting rod of tooth spare in annular support piece and the annular, annular support piece fixed mounting in the central linkage gear, annular support piece towards annular support piece's radial outside is connected with many the connecting rod, the other end of connecting rod is connected tooth spare in the annular, the connecting rod be circumference array equipartition set up in between tooth spare in annular support piece and the annular, the internal tooth of tooth spare in the annular with the second meshes from the external tooth of driving gear of driving wheel device and third driven wheel device mutually.
Further, the outer teeth of the center linked gear mesh with the outer teeth of the driven gears of the first driven wheel device and the fourth driven wheel device.
Further, a central linkage rotating shaft is arranged at the bottom of the central linkage gear.
Furthermore, a linkage gear inner circular ring is formed in the middle of the central linkage gear in a hollow mode, an inner circular ring installation surface is arranged on the linkage gear inner circular ring, and a plurality of central linkage supporting guide wheels are connected to the inner circular ring installation surface.
Furthermore, an outer ring installation surface is arranged on the outer circumference of the annular inner tooth part, and a plurality of external linkage supporting guide wheels are connected to the outer ring installation surface.
Further, the wheel is connected with a clutch device, the clutch device comprises a first bevel gear, a second bevel gear, a first clutch, a second clutch and a clutch transmission shaft, the wheel is connected with a wheel transmission shaft, the wheel transmission shaft is sleeved with the first bevel gear, the end part of the wheel transmission shaft is connected with the first clutch, the first clutch is connected with a wheel driving motor, the first bevel gear is connected with the second bevel gear in a meshed mode, the clutch transmission shaft is sleeved in the second bevel gear, the upper portion of the clutch transmission shaft is connected with the second clutch, the outer portion of the second clutch is connected with a steering support, and the upper portion of the second clutch is connected with a driven wheel device.
Further, the steering support is connected with an electromagnetic limiting assembly, the electromagnetic limiting assembly comprises an electromagnetic limiting piece, an electromagnetic controller and an electromagnetic bolt, the electromagnetic controller is installed on the vehicle body chassis, the electromagnetic controller is provided with the electromagnetic bolt, the steering support is provided with an electromagnetic limiting piece, the electromagnetic limiting piece is provided with a plurality of electromagnetic limiting grooves, and the electromagnetic limiting grooves are matched with the electromagnetic bolt.
Further, the steering support is connected with a disc limiting assembly, the disc limiting assembly comprises a disc limiting piece, a disc controller and a disc clamping groove, the disc controller is installed on the vehicle body chassis, the disc controller is provided with the disc clamping groove, the steering support is provided with the disc limiting piece, and the disc limiting piece is matched with the disc clamping groove.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
the invention relates to a wheeled robot with a gear linkage transmission system, which changes the original four-wheel eight-drive power steering system and is additionally provided with a gear linkage transmission system, wherein the gear linkage transmission system comprises a gear linkage driving piece, a driving gear, an annular supporting frame, a central linkage gear and a driven wheel device, the driving gear is driven by the gear linkage driving piece to move, the driving gear drives the central linkage gear and the annular supporting frame to rotate, the central linkage gear drives a first driven wheel device and a fourth driven wheel device to rotate, and an annular inner gear piece of the annular supporting frame drives a second driven wheel device and a third driven wheel device to rotate, so that the first driven wheel device, the second driven wheel device, the third driven wheel device and the fourth driven wheel device respectively drive the four wheels below to perform same-direction steering motion, and the original four-wheel eight-drive effect can be realized by only 3 or 5 sets of drivers and motors normally, and the cost of the robot walking system can be greatly reduced on the premise of the robot walking system.
On the basis of a gear linkage transmission system, a steering motor for steering and a wheel driving motor for driving can be compounded to form a unit by arranging a clutch device, so that a walking and steering multiplexing motor unit is formed. Therefore, the walking and steering multiplexing motor unit can integrate the steering motor and the wheel driving motor. The original four-wheel eight-drive driving effect can be realized only by 2 or 4 sets of drivers and motors, and the cost of the robot walking system can be greatly reduced on the premise of ensuring the advantages of the robot walking system.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
fig. 1 is a schematic structural view of a wheeled robot having a ring-supported geared transmission system according to embodiment 1 of the present invention.
Fig. 2 is a schematic perspective view of a wheeled robot having a ring-supported geared transmission system according to embodiment 1 of the present invention.
Fig. 3 is a front view schematically showing a wheeled robot having a ring-shaped supported geared transmission system according to embodiment 1 of the present invention.
Fig. 4 is a rear view schematically showing the structure of a wheeled robot having a ring-shaped supported geared transmission system according to embodiment 1 of the present invention.
Fig. 5 is a left side view schematically showing a wheeled robot having a ring-shaped supported geared transmission system according to embodiment 1 of the present invention.
Fig. 6 is a schematic right structural view of a wheeled robot having a ring-supported geared transmission system according to embodiment 1 of the present invention.
Fig. 7 is a schematic top view of a wheeled robot having a ring-supported geared transmission system according to embodiment 1 of the present invention.
Fig. 8 is a schematic bottom view of a wheeled robot having a ring-supported geared transmission system according to embodiment 1 of the present invention.
Fig. 9 is a schematic structural view of an annular bracing frame according to embodiment 1 of the invention.
Fig. 10 is a schematic structural view of a steering bracket connected with a driven wheel device in embodiment 1 of the invention.
Fig. 11 is a schematic structural diagram of a wheeled robot having a ring-supported geared transmission system according to embodiment 2 of the present invention.
Fig. 12 is a schematic perspective view of a wheeled robot having a ring-supported geared transmission system according to embodiment 2 of the present invention.
Fig. 13 is a schematic structural diagram of a wheeled robot having a ring-supported geared transmission system according to embodiment 3 of the present invention.
Fig. 14 is a schematic perspective view of a wheeled robot having a ring-supported geared transmission system according to embodiment 3 of the present invention.
Fig. 15 is a front view schematically showing a wheeled robot having a ring-shaped supported geared transmission system according to embodiment 3 of the present invention.
Fig. 16 is a rear view schematically showing the structure of a wheeled robot having a ring-shaped supported geared transmission system according to embodiment 3 of the present invention.
Fig. 17 is a left side view schematically showing a wheel robot having a ring-shaped supported gear-linked transmission system according to embodiment 3 of the present invention.
Fig. 18 is a schematic right structural view of a wheeled robot having a ring-shaped supported geared transmission system according to embodiment 3 of the present invention.
Fig. 19 is a schematic top view showing a wheeled robot having a ring-supported geared transmission system according to embodiment 3 of the present invention.
Fig. 20 is a schematic bottom view of a wheeled robot having a ring-supported geared drive train according to embodiment 3 of the present invention.
Fig. 21 is a schematic perspective view of a wheeled robot having a ring-supported geared transmission system according to embodiment 4 of the present invention.
Fig. 22 is a schematic structural view of a wheeled robot having a ring-supported geared transmission system according to embodiment 4 of the present invention.
Fig. 23 is a schematic perspective view of an electromagnetic limit clutch device according to embodiment 5 of the present invention.
Fig. 24 is a schematic front view of an electromagnetic limit clutch device according to embodiment 5 of the present invention.
Fig. 25 is a rear view structural schematic diagram of an electromagnetic limit clutch device according to embodiment 5 of the present invention.
Fig. 26 is a schematic side view of an electromagnetic limit clutch device according to embodiment 5 of the present invention.
Fig. 27 is a schematic sectional view taken along the direction a in fig. 26 according to embodiment 5 of the present invention.
Fig. 28 is a schematic top view of the electromagnetic limit clutch device according to embodiment 5 of the present invention.
Fig. 29 is a schematic perspective view of a vehicle chassis on which the electromagnetic limit clutch device according to embodiment 5 of the present invention is mounted.
Fig. 30 is a schematic perspective view of a disk spacing clutch device according to embodiment 6 of the present invention.
Fig. 31 is a schematic front view of a disk spacing clutch device according to embodiment 6 of the present invention.
Fig. 32 is a schematic rear view of the disk spacing clutch device according to embodiment 6 of the present invention.
Fig. 33 is a schematic side view of the disk spacing clutch device according to embodiment 6 of the invention.
Fig. 34 is a schematic sectional view taken along the direction a in fig. 33 according to embodiment 6 of the present invention.
Fig. 35 is a schematic top view of the disc spacing clutch device according to embodiment 6 of the present invention.
Fig. 36 is a schematic perspective view of a vehicle chassis on which the disk spacing clutch apparatus according to embodiment 6 of the present invention is mounted.
In the figure: 1-vehicle body chassis; 2-vehicle wheels; 3-a gear linkage transmission system; 4-a gear linkage driving member; 5-an annular support frame; 6-central linkage gear; 7-driven wheel means; 8-an electromagnetic limit clutch device; 9-a disc limiting clutch device; 10-an electromagnetic limit component; 11-a disc spacing assembly; 12-a steering bracket; 13-wheel drive means; 14-a master control system; 15-a driving gear; 16-a first driven wheel arrangement; 17-a second driven wheel arrangement; 18-a third driven wheel arrangement; 19-fourth driven wheel means.
41-a steering motor; 42-motor output shaft.
51-an annular support; 52-annular inner gear; 53-connecting rods; 54-outer ring mounting surface; 55-external linkage supporting guide wheels.
61-central linkage rotation axis; 62-linkage gear inner ring; 63-an inner ring mounting surface; the 64-center linkage supports the guide wheels.
71-a driven shaft; 72-a driven gear; 73-driven transmission seat.
81-a first bevel gear; 82-a second bevel gear; 83-first clutch; 84-a second clutch; 85-clutch transmission shaft.
101-an electromagnetic limiting sheet; 102-an electromagnetic controller; 103-an electromagnetic bolt; 104-electromagnetic limiting groove.
111-disc spacing pieces; 112-disk controller; 113-disc holder groove.
121-a first connection plate; 122-a second connecting plate; 123-reinforcing rib plate.
131-wheel drive motor; 132-wheel drive shaft.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example 1
As shown in fig. 1 to 10, the wheeled robot with a gear linkage transmission system according to the embodiment of the present invention includes a vehicle body chassis 1 and four wheels 2 disposed on the vehicle body chassis 1, the four wheels 2 are uniformly distributed and rectangularly disposed on the vehicle body chassis 1, the four wheels 2 are connected to a gear linkage transmission system 3, and the gear linkage transmission system 3 is used for controlling simultaneous steering or in-situ rotation of the four wheels 2.
As a further description of the present embodiment, referring to fig. 10, the steering bracket 12 is connected to each of the four wheels 2, the steering bracket 12 is overall in an inverted L shape, the steering bracket 12 includes a first connecting plate 121 at the top and a second connecting plate 122 at the bottom, the first connecting plate 121 is connected to the second connecting plate 122, and the first connecting plate 121 and the second connecting plate 122 form the inverted L-shaped steering bracket 12. The first connecting plate 121 is provided with a first mounting shaft hole (not shown in the figure) which is matched with the driven shaft 71, the second connecting plate 122 is provided with a second mounting shaft hole (not shown in the figure) which is matched with the wheel driving device 13. By providing the inverted L-shaped steering bracket 12, the first connecting plate 121 is used for connecting the gear linkage transmission system 3, and the second connecting plate 122 is used for connecting the wheel 2. Because the axial direction of the wheel 2 is vertical to the axial direction of the driven shaft 71 of the gear linkage transmission system 3, through the inverted L-shaped steering support 12, the transmission connection is realized without additionally arranging an additional transmission mechanism, and the whole layout is reasonable.
As a further explanation of the present embodiment, a reinforcing rib 123 is installed between the first connecting plate 121 and the second connecting plate 122. By providing the reinforcement rib 123, the overall strength of the steering bracket 12 is improved.
As a further description of the present embodiment, referring to fig. 8, two wheels 2 located at the front side or two wheels 2 located at the rear side among the four wheels 2 are respectively connected with a wheel driving device 13 for driving the two wheels 2 to travel, the wheel driving device 13 includes a wheel driving motor 131 and a wheel transmission shaft 132, the wheel driving motor 131 is fixedly installed on the inner side surface of the second connecting plate 122 of the steering bracket 12, the output end of the wheel driving motor 131 is connected with the wheel transmission shaft 132, and the wheel transmission shaft 132 is connected with the wheels 2. The original four-wheel eight-drive driving power steering system is changed, a gear linkage transmission system 3 is added, the original four-wheel eight-drive driving effect can be realized only by 3 sets of drivers and motors, and the cost of the robot walking system can be greatly reduced on the premise of ensuring the advantages of the robot walking system.
As a further description of the present embodiment, referring to fig. 1-2, the gear linkage transmission system 3 includes a gear linkage driving element 4, a driving gear 15, an annular supporting frame 5, a central linkage gear 6 and a driven gear device 7, an output end of the gear linkage driving element 4 is connected with the driving gear 15, the driving gear 15 is engaged with the central linkage gear 6, and the annular supporting frame 5 is fixedly connected to the central linkage gear 6.
As a further explanation of the present embodiment, referring to fig. 1 to 8, the driven wheel device 7 includes a first driven wheel device 16, a second driven wheel device 17, a third driven wheel device 18, and a fourth driven wheel device 19, the first driven wheel device 16 and the fourth driven wheel device 19 are disposed diagonally of the vehicle body chassis, and the second driven wheel device 17 and the third driven wheel device 18 are disposed diagonally of the vehicle body chassis. In the matching, it is assumed that, among the four wheels, the right side of the front end of the vehicle body chassis is a first wheel, the left side of the front end of the vehicle body chassis is a second wheel, the right side of the rear end of the vehicle body chassis is a third wheel, and the left side of the rear end of the vehicle body chassis is a fourth wheel, where the first wheel corresponds to the first driven wheel device 16 above the first wheel, the second wheel corresponds to the second driven wheel device 17 above the second wheel, the third wheel corresponds to the third driven wheel device 18 above the third wheel, and the fourth wheel corresponds to the fourth driven wheel device 19 above the fourth wheel.
As a further explanation of the present embodiment, the first driven wheel device 16 and the fourth driven wheel device 19 are engaged with the central linkage gear 6, and the second driven wheel device 17 and the third driven wheel device 18 are engaged with the ring support frame 5. In the spatial arrangement, in order to realize simultaneous and same-direction steering of the four wheels, the annular support frame 5 and the central linkage gear 6 are required to be vertically arranged up and down in the vertical direction, wherein in the vertical direction, the annular support frame 5 is positioned at the upper part of the central linkage gear 6. Because the annular support frame 5 and the central linkage gear 6 rotate concentrically, the central linkage gear 6 is linked with the lower first driven wheel device 16 and the lower fourth driven wheel device 19 to move together, and then the first wheel and the fourth wheel which are respectively arranged at the lower parts of the first driven wheel device 16 and the fourth driven wheel device 19 are driven to rotate in the same direction together. Meanwhile, the second driven wheel device 17 and the third driven wheel device 18 on the upper portion of the linkage of the annular support frame 5 move together, and then the second driven wheel device 17 and the third driven wheel device 18 are driven to do equidirectional steering motion together with the second wheel and the third wheel on the lower portion respectively, so that the four wheels do equidirectional steering motion, the effect of original four-wheel eight-drive driving can be realized normally only by 3 sets of drivers and motors, and on the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced. Here, it should be noted that the same effects can be achieved by adjusting the structures of the ring-shaped support frame 5 and the central linkage gear 6 to a certain degree, the ring-shaped support frame 5 is located at the lower part of the central linkage gear 6, the ring-shaped support frame 5 is connected with the first driven wheel device 16 and the fourth driven wheel, and the central linkage gear 6 is connected with the second driven wheel device 17 and the third driven wheel, which also belongs to the protection scope of the present embodiment.
The invention changes the original four-wheel eight-drive power steering system, and adds a gear linkage transmission system 3, wherein the gear linkage transmission system 3 comprises a gear linkage driving piece 4, a driving gear 15, an annular supporting frame 5, a central linkage gear 6 and a driven wheel device 7, the driving gear 15 is driven by the gear linkage driving piece 4 to move, the driving gear 15 drives the central linkage gear 6 and the annular supporting frame 5 to rotate, the central linkage gear 6 drives a first driven wheel device 16 and a fourth driven wheel device 19 to rotate, and an annular inner gear piece of the annular supporting frame 5 drives a second driven wheel device 17 and a third driven wheel device 18 to rotate, so that the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18 and the fourth driven wheel device 19 respectively drive four wheels below to rotate in the same direction, thus the original four-wheel eight-drive effect can be realized by only 3 sets of drivers and motors normally, and the cost of the robot traveling system can be greatly reduced on the premise of ensuring the advantages of the robot traveling system.
As a further explanation of the present embodiment, referring to fig. 5, fig. 6 and fig. 8, the gear linkage driving element 4 is a steering motor 41 and a motor output shaft 42, the steering motor 41 is fixedly installed on the vehicle body chassis 1, the output end of the steering motor 41 is connected with the motor output shaft 42, and the driving gear 15 is installed on the motor output shaft 42. The steering motor 41 may be an existing stepper motor or a servo motor.
As a further explanation of the present embodiment, a steering motor driver (not shown) is connected to the steering motor 41, and the steering motor driver is connected to the main control system 14.
As a further explanation of the present embodiment, a wheel driving motor driver (not shown) is connected to the wheel driving motor 131, and the wheel driving motor driver is connected to the main control system 14.
As a further explanation of the present embodiment, referring to fig. 1, fig. 2 and fig. 7, the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18 and the fourth driven wheel device 19 have the same structure, the driven wheel device 7 includes a driven shaft 71, a driven gear 72 and a driven transmission seat 73, the driven gear 72 is sleeved on the upper portion of the driven shaft 71, the driven gear 72 is engaged with the internal teeth of the annular supporting frame 5, or the driven gear 72 is engaged with the external teeth of the central linking gear 6, the driven transmission seat 73 is connected on the lower portion of the driven shaft 71, the driven transmission seat 73 is connected with the steering support 12, and the wheel 1 is connected with the steering support 12. Driven transmission seat 73 includes the bearing frame on upper portion and the connecting block of lower part, be equipped with the dead eye on the bearing frame, be equipped with the connecting hole on the connecting block, dead eye and driven shaft 71 phase-match, connecting block and driven shaft 71 phase-match, the connecting block is connected and is turned to support 12. The driven transmission base 73 is a transmission base of the prior art, and the structure is not described herein.
When the steering motor 41 drives the driving gear 15 to move, the driving gear 15 drives the central linkage gear 6 and the annular support frame 5 to rotate, meanwhile, the central linkage gear 6 drives the first driven wheel device 16 and the fourth driven wheel device 19 to rotate, and the annular inner gear 52 of the annular support frame 5 drives the second driven wheel device 17 and the third driven wheel device 18 to rotate. Specifically, the driven gears 72 of the first driven wheel device 16 and the fourth driven wheel device 19 are meshed with the central linkage gear 6, and under the meshing action of the driven gears 72 and the central linkage gear 6, the driven shafts 71 of the first driven wheel device 16 and the fourth driven wheel device 19 are driven to rotate, so that the connecting blocks of the driven transmission seats 73 of the first driven wheel device 16 and the fourth driven wheel device 19 are driven to rotate, the connecting blocks are connected with the steering support 12, and the steering support 12 is connected with the first wheel and the fourth wheel, so that the first wheel and the fourth wheel are steered in the same direction. Meanwhile, as the driven gears 72 of the second driven wheel device 17 and the third driven wheel device 18 are meshed with the annular inner gear 52 of the annular support frame 5, under the meshing action of the driven gears 72 and the annular inner gear 52, the driven shafts 71 of the second driven wheel device 17 and the third driven wheel device 18 are driven to rotate, so that the connecting blocks of the driven transmission seats 73 of the second driven wheel device 17 and the third driven wheel device 18 are driven to rotate, the connecting blocks are connected with the steering support 12, and the steering support 12 is connected with the second wheel and the third wheel, so that the same-direction steering of the second wheel and the third wheel is realized. Therefore, the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18 and the fourth driven wheel device 19 respectively drive the four wheels below the four wheels to do equidirectional steering motion, so that the original four-wheel eight-drive driving effect can be realized normally only by 3 sets of drivers and motors, and the cost of the robot walking system can be greatly reduced on the premise of ensuring the advantages of the robot walking system.
As a further explanation of the present embodiment, referring to fig. 9, the annular supporting frame 5 includes a middle annular supporting member 51, an outer annular internal gear 52, and a connecting rod 53 connecting the annular supporting member 51 and the annular internal gear 52, the annular supporting member 51 is fixedly installed in the central linking gear 6, the annular supporting member 51 is connected to a plurality of connecting rods 53 radially outward of the annular supporting member 51, the other ends of the connecting rods 53 are connected to the annular internal gear 52, the connecting rods 53 are uniformly arranged between the annular supporting member 51 and the annular internal gear 52 in a circumferential array, and internal teeth of the annular internal gear 52 are engaged with external teeth of the driven gears 72 of the second driven wheel device 17 and the third driven wheel device 18. The annular support frame 5 is divided into three parts, namely an annular support part 51 in the middle, an annular inner gear 52 outside and a connecting rod 53 for connecting the annular support part 51 and the annular inner gear 52, wherein the annular support part 51 is used for connecting the central linkage gear 6, so that the central linkage gear 6 can conveniently drive the annular support part 51 to rotate together when rotating. The annular inner gear 52 is provided with inner annular teeth, and the inner annular teeth are used for connecting the driven gears 72 of the second driven wheel device 17 and the third driven wheel device 18, so that the second driven wheel device 17 and the third driven wheel device 18 can be conveniently driven to move. The connecting rod 53 is provided with a plurality of connecting rods, on one hand, used for connecting the annular supporting piece 51 and the annular inner gear piece 52, and on the other hand, used for balancing the whole annular supporting frame 5, so as to ensure the rotation stability of the annular supporting frame 5.
As a further explanation of the present embodiment, referring to fig. 1 and 7, the external teeth of the central linking gear 6 are engaged with the external teeth of the driven gears 72 of the first driven wheel device 16 and the fourth driven wheel device 19. Since the driven gears 72 of the first driven wheel device 16 and the fourth driven wheel device 19 are meshed with the central linkage gear 6, under the meshing action of the driven gears 72 and the central linkage gear 6, the driven shafts 71 of the first driven wheel device 16 and the fourth driven wheel device 19 are driven to rotate, and therefore the connecting blocks of the driven transmission seats 73 of the first driven wheel device 16 and the fourth driven wheel device 19 are driven to rotate.
As a further explanation of the present embodiment, referring to fig. 1 and 7, the bottom of the central linking gear 6 is provided with a central linking rotating shaft 61. Through the arrangement of the central linkage rotating shaft 61, a rotating table (not shown in the figure) is arranged at the bottom of the central linkage rotating shaft 61, so that the central linkage gear 6 can conveniently rotate.
The working principle of the embodiment is as follows: when the wheeled robot needs to turn or rotate in place, the master control system 14 controls the steering motor driver to work, then the steering motor 41 drives the driving gear 15 to move, the driving gear 15 drives the central linkage gear 6 and the annular support frame 5 to rotate, meanwhile, the central linkage gear 6 drives the first driven wheel device 16 and the fourth driven wheel device 19 to rotate, the annular inner gear 52 of the annular support frame 5 drives the second driven wheel device 17 and the third driven wheel device 18 to rotate, and therefore the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18 and the fourth driven wheel device 19 respectively drive the four wheels below to rotate in the same direction.
Specifically, the driven gears 72 of the first driven wheel device 16 and the fourth driven wheel device 19 are meshed with the central linkage gear 6, and under the meshing action of the driven gears 72 and the central linkage gear 6, the driven shafts 71 of the first driven wheel device 16 and the fourth driven wheel device 19 are driven to rotate, so that the connecting blocks of the driven transmission seats 73 of the first driven wheel device 16 and the fourth driven wheel device 19 are driven to rotate, the connecting blocks are connected with the steering support 12, and the steering support 12 is connected with the first wheel and the fourth wheel, so that the first wheel and the fourth wheel are steered in the same direction. Meanwhile, as the driven gears 72 of the second driven wheel device 17 and the third driven wheel device 18 are meshed with the annular inner gear 52 of the annular support frame 5, under the meshing action of the driven gears 72 and the annular inner gear 52, the driven shafts 71 of the second driven wheel device 17 and the third driven wheel device 18 are driven to rotate, so that the connecting blocks of the driven transmission seats 73 of the second driven wheel device 17 and the third driven wheel device 18 are driven to rotate, the connecting blocks are connected with the steering support 12, and the steering support 12 is connected with the second wheel and the third wheel, so that the same-direction steering of the second wheel and the third wheel is realized. Therefore, the first driven wheel device 16, the second driven wheel device 17, the third driven wheel device 18 and the fourth driven wheel device 19 respectively drive the four wheels below the four wheels to do equidirectional steering motion, so that the original four-wheel eight-drive driving effect can be realized normally only by 3 sets of drivers and motors, and the cost of the robot walking system can be greatly reduced on the premise of ensuring the advantages of the robot walking system.
Example 2
Referring to fig. 11 to 12, on the basis of embodiment 1, the four wheels 2 are respectively connected with a wheel driving device 13 for driving the wheels 2 to travel, the wheel driving device 13 includes a wheel driving motor 131 and a wheel transmission shaft 132, the wheel driving motor 131 is fixedly installed on an inner side surface of the second connecting plate 122 of the steering bracket 12, an output end of the wheel driving motor 131 is connected with the wheel transmission shaft 132, and the wheel transmission shaft 132 is connected with the wheels 2. The original four-wheel eight-drive driving power steering system is changed, a gear linkage transmission system 3 is added, the original four-wheel eight-drive driving effect can be realized only by 5 sets of drivers and motors, and the cost of the robot walking system can be greatly reduced on the premise of ensuring the advantages of the robot walking system.
Example 3
Referring to fig. 13 to 20, since the central interlocking gear 6 of embodiment 1 has a large weight, embodiment 3 improves the central interlocking gear 6 on the basis of embodiment 1, and reduces the weight of the entire robot. Specifically, the middle part of the central linkage gear 6 is hollowed, and a linkage gear inner ring 62 is formed by hollowing the middle part. This reduces the position of the installation center interlocking rotation shaft 61. Therefore, an inner ring mounting surface 63 is arranged on the inner ring 62 of the linkage gear, and a plurality of central linkage supporting guide wheels 64 are connected to the inner ring mounting surface 63. Through the plurality of center linkage support guide wheels 64, on one hand, the center linkage gear 6 is limited, so that the center linkage gear 6 rotates along the circle center formed by the plurality of center linkage support guide wheels 64, on the other hand, the center linkage gear 6 is supported, and the center linkage gear 6 is guided to rotate, so that the motion stability of the center linkage gear 6 is ensured. In the present embodiment, the number of the center-linked support guide wheels 64 is 4, and generally three or more than three are provided to ensure the movement stability.
In addition to the above-described arrangement of the center linked gear 6, in order to prevent the center linked gear 6 from falling outward, an outer ring attachment surface 54 is provided on the outer circumference of the annular inner gear 52, and a plurality of outer linked support guide wheels 55 are attached to the outer ring attachment surface 54. Through the external linkage supporting guide wheels 55, on one hand, the central linkage gear 6 is limited, so that the central linkage gear 6 rotates along the circle center formed by the plurality of external linkage supporting guide wheels 55, on the other hand, the central linkage gear 6 is supported and guided to rotate, and the motion stability of the central linkage gear 6 is ensured. In this embodiment, the number of the outer interlocking support guide wheels 55 is 4, and generally three or more than three are provided to ensure the movement stability.
Example 4
Referring to fig. 21 to 22, on the basis of embodiment 3, the four wheels 2 are respectively connected with wheel driving devices 13 for driving the wheels 2 to travel, the wheel driving devices 13 are wheel driving motors 131 and wheel transmission shafts 132, the wheel driving motors 131 are fixedly installed on the inner side surfaces of the second connecting plates 122 of the steering brackets 12, the output ends of the wheel driving motors 131 are connected with the wheel transmission shafts 132, and the wheel transmission shafts 132 are connected with the wheels 2. The original four-wheel eight-drive driving power steering system is changed, a gear linkage transmission system 3 is added, the original four-wheel eight-drive driving effect can be realized only by 5 sets of drivers and motors, and the cost of the robot walking system can be greatly reduced on the premise of ensuring the advantages of the robot walking system.
Example 5
Referring to fig. 23 to 29, in order to reduce the wheel driving device 13, on the basis of embodiments 1 to 4, a clutch device may be connected to the wheel 2, the clutch device is an electromagnetic limit clutch device 8, the electromagnetic limit clutch device 8 includes a first bevel gear 81, a second bevel gear 82, a first clutch 83, a second clutch 84 and a clutch transmission shaft 85, the wheel 2 is connected to a wheel transmission shaft 132, the wheel transmission shaft 132 is sleeved with the first bevel gear 81, an end of the wheel transmission shaft 132 is connected to the first clutch 83, the first clutch 83 is connected to the wheel driving motor 131, the first bevel gear 81 is connected to the second bevel gear 82 in a meshing manner, the clutch transmission shaft 85 is sleeved in the second bevel gear 82, the second clutch 84 is connected to an upper portion of the clutch transmission shaft 85, the steering bracket 12 is connected to an outer portion of the second clutch 84, and the driven shaft 71 is connected to an upper portion of the second clutch 84. The steering support 12 is connected with an electromagnetic limiting assembly 10, the electromagnetic limiting assembly 10 comprises an electromagnetic limiting piece 101, an electromagnetic controller 102 and an electromagnetic bolt 103, the electromagnetic controller 102 is installed on the vehicle body chassis 1, the electromagnetic bolt 103 is arranged on the electromagnetic controller 102, the electromagnetic limiting piece 101 is arranged on the steering support 12, a plurality of electromagnetic limiting grooves 104 are formed in the electromagnetic limiting piece 101, and the electromagnetic limiting grooves 104 are matched with the electromagnetic bolt 103. The first clutch 83 and the second clutch 84 are the existing automobile electromagnetic clutch or automobile magnetic powder clutch, wherein the automobile electromagnetic clutch controls the connection and the separation of the clutches by the power-on and the power-off of a coil, the automobile magnetic powder clutch places the magnetic powder between a driving part and a driven part, the magnetic powder is in a loose state when the driving part and the driven part are not electrified, the magnetic powder is combined when the driving part and the driven part rotate simultaneously when the driving part and the driven part are electrified.
Specifically, in the present embodiment, a wheel driving motor 131 is horizontally mounted on the inner side surface of the second connecting plate 122 of the steering bracket 12, and the wheel driving motor 131 is connected to the wheel 2 through a wheel transmission shaft 132 and the first clutch 83. A bevel gear transmission mechanism consisting of a first bevel gear 81 and a second bevel gear 82 is arranged on the wheel transmission shaft 132, wherein the first bevel gear 81 is arranged on the wheel transmission shaft 132, the first bevel gear 81 is connected with the second bevel gear 82 in an engaged manner, and the second bevel gear 82 is connected with the vehicle body chassis 1 through a clutch transmission shaft 85 and a second clutch 84.
When the wheeled robot normally walks, the main control system 14 controls the first clutch 83 to be engaged, the second clutch 84 is disengaged, the wheel driving motor 131 drives the wheels 2 at the moment, and the wheeled robot normally moves forwards or backwards;
when the wheeled robot needs to turn, the main control system 14 controls the first clutch 83 to be disengaged, the second clutch 84 to be engaged, and the wheel driving motor 131 drives the first bevel gear 81 to rotate around the second bevel gear 82 to drive the steering bracket 12 to rotate. The electromagnetic bolt 103 of the electromagnetic controller 102 is controlled by the main control system 14 to be inserted into the electromagnetic limiting groove 104, so that the rotation of the electromagnetic limiting sheet 101 and the steering support 12 is limited, the steering angle is locked, and finally the wheel 2 is driven to rotate to realize in-situ circling or steering.
By providing the clutch device described above, the steering motor 41 for steering and the wheel drive motor 131 for driving can be combined into one unit to form a travel/steering multi-motor unit. Therefore, the walking and steering multi-purpose motor unit can integrate the steering motor 41 and the wheel driving motor 131 into one.
On the basis of embodiment 1 and embodiment 3, only 2 sets of drivers and motors are needed to realize the effect of the original four-wheel eight-drive driving, and on the premise of ensuring the advantages of the robot walking system, the cost of the robot walking system can be greatly reduced.
On the basis of embodiment 2 and embodiment 4, only need 4 sets of drivers and motors can realize the effect of original four-wheel eight-wheel drive, under the prerequisite of guaranteeing the traveling system advantage of robot, can greatly reduced robot traveling system's cost.
Example 6
Referring to fig. 30 to 36, in order to reduce the number of the wheel driving devices 13, on the basis of embodiments 1 to 4, a clutch device may be connected to the wheel 2, the clutch device is a disc limiting clutch device 9, the disc limiting clutch device 9 includes a first bevel gear 81, a second bevel gear 82, a first clutch 83, a second clutch 84 and a clutch transmission shaft 85, the wheel 2 is connected to a wheel transmission shaft 132, the wheel transmission shaft 132 is sleeved with the first bevel gear 81, an end of the wheel transmission shaft 132 is connected to the first clutch 83, the first clutch 83 is connected to the wheel driving motor 131, the first bevel gear 81 is engaged to the second bevel gear 82, the clutch transmission shaft 85 is sleeved inside the second bevel gear 82, an upper portion of the clutch transmission shaft 85 is connected to the second clutch 84, an outer portion of the second clutch 84 is connected to the steering bracket 12, and an upper portion of the second clutch 84 is connected to the driven shaft 71. The steering support 12 is connected with a disc limiting component 11, the disc limiting component 11 comprises a disc limiting piece 111, a disc controller 112 and a disc clamping groove 113, the disc controller 112 is installed on the vehicle body chassis 1, the disc controller 112 is provided with the disc clamping groove 113, the steering support 12 is provided with the disc limiting piece 111, and the disc limiting piece 111 is matched with the disc clamping groove 113. The first clutch 83 and the second clutch 84 are the existing automobile electromagnetic clutch or automobile magnetic powder clutch, wherein the automobile electromagnetic clutch controls the connection and the separation of the clutches by the power-on and the power-off of a coil, the automobile magnetic powder clutch places the magnetic powder between a driving part and a driven part, the magnetic powder is in a loose state when the driving part and the driven part are not electrified, the magnetic powder is combined when the driving part and the driven part rotate simultaneously when the driving part and the driven part are electrified.
Specifically, in the present embodiment, a wheel driving motor 131 is horizontally mounted on the inner side surface of the second connecting plate 122 of the steering bracket 12, and the wheel driving motor 131 is connected to the wheel 2 through a wheel transmission shaft 132 and the first clutch 83. The wheel transmission shaft 132 is provided with a bevel gear transmission mechanism consisting of a first bevel gear 81 and a second bevel gear 82, wherein the first bevel gear 81 is arranged on the wheel transmission shaft 132, the first bevel gear 81 is engaged with the second bevel gear 82, and the second bevel gear 82 is connected with the vehicle body chassis 1 through a clutch transmission shaft 85 and a second clutch 84.
When the wheeled robot normally walks, the main control system 14 controls the first clutch 83 to be engaged, the second clutch 84 is disengaged, the wheel driving motor 131 drives the wheels 2 at the moment, and the wheeled robot normally moves forwards or backwards;
when the wheeled robot needs to turn, the main control system 14 controls the first clutch 83 to be disengaged, the second clutch 84 to be engaged, and the wheel driving motor 131 drives the first bevel gear 81 to rotate around the second bevel gear 82 to drive the steering support 12 to rotate. The main control system 14 controls the disc clamping groove 113 of the disc controller 112 to insert and clamp the electromagnetic limiting sheet 101, and limits the rotation of the electromagnetic limiting sheet 101 and the steering bracket 12, so as to lock the steering angle, and finally drive the wheel 2 to rotate to realize in-situ rotation or steering.
By providing the clutch device described above, the steering motor 41 for steering and the wheel drive motor 131 for driving can be combined into one unit to form a travel/steering multi-motor unit. Therefore, the walking and steering multi-purpose motor unit can integrate the steering motor 41 and the wheel driving motor 131 into one.
On the basis of embodiment 1 and embodiment 3, only need 2 sets of drivers and motors just can realize the effect of original four-wheel eight-drive, under the prerequisite of guaranteeing the running gear advantage of robot, can greatly reduced robot running gear's cost.
On the basis of embodiment 2 and embodiment 4, only need 4 sets of drivers and motors can realize the effect of original four-wheel eight-wheel drive, under the prerequisite of guaranteeing the traveling system advantage of robot, can greatly reduced robot traveling system's cost.
The technical solutions of the above-mentioned embodiment 5 and embodiment 6 are that, on the basis of embodiment 1, embodiment 2, embodiment 3 or embodiment 4, the steering motor 41 and the wheel driving motor 131 are combined into one composite motor, and the composite motor is mounted on the wheel 2 bracket or the vehicle body chassis 1, and can be mounted in a matching manner according to the actual requirements.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered in the protection scope of the present invention.

Claims (9)

1. Wheeled robot of gear linkage transmission system with annular supports, be in including automobile body chassis and setting four wheels on the automobile body chassis, four the wheel equipartition is the rectangle and sets up on automobile body chassis, its characterized in that: the four wheels are connected with a gear linkage transmission system, and the gear linkage transmission system is used for controlling the simultaneous steering or in-situ rotation of the four wheels;
the gear linkage transmission system comprises a gear linkage driving piece, a driving gear, an annular supporting frame, a central linkage gear and a driven wheel device, wherein the output end of the gear linkage driving piece is connected with the driving gear, the driving gear is in meshing connection with the central linkage gear, and the annular supporting frame is fixedly connected to the central linkage gear;
the driven wheel device comprises a first driven wheel device, a second driven wheel device, a third driven wheel device and a fourth driven wheel device, wherein the first driven wheel device and the fourth driven wheel device are arranged at opposite angles of a chassis of the vehicle body, and the second driven wheel device and the third driven wheel device are arranged at opposite angles of the chassis of the vehicle body;
the first driven wheel device and the fourth driven wheel device are meshed with the central linkage gear, and the second driven wheel device and the third driven wheel device are meshed with the annular supporting frame;
tooth spare and connection in annular support frame includes annular support piece, the outside annular at middle part the connecting rod of tooth spare in annular support piece and the annular, annular support piece fixed mounting in the central linkage gear, annular support piece towards annular support piece's radial outside is connected with many the connecting rod, the other end of connecting rod is connected tooth spare in the annular, the connecting rod be circumference array equipartition set up in between tooth spare in annular support piece and the annular, the internal tooth of tooth spare in the annular with the second meshes from the external tooth of driving gear of driving wheel device and third driven wheel device mutually.
2. A wheeled robot having an annularly supported geared drive train as claimed in claim 1, wherein: first follow driving wheel device, second from driving wheel device, third follow driving wheel device and fourth from the same structure of driving wheel device, follow driving wheel device includes driven shaft, driven gear and driven transmission seat, the upper portion cover of driven shaft is equipped with driven gear, driven gear with ring support's internal tooth meshes mutually, or driven gear with central linkage gear's external tooth meshes mutually, the sub-unit connection driven transmission seat of driven shaft, driven transmission seat is connected with and turns to the support, it has the wheel to turn to the leg joint.
3. A wheeled robot with an endless supported geared drive train according to claim 1 or 2, characterised in that: and the outer teeth of the central linkage gear are meshed with the outer teeth of the driven gears of the first driven wheel device and the fourth driven wheel device.
4. A wheeled robot having an annularly supported geared drive train according to claim 3, wherein: and a central linkage rotating shaft is arranged at the bottom of the central linkage gear.
5. A wheeled robot having a ring supported geared drive train as claimed in claim 1, wherein: the middle part of the central linkage gear is hollowed to form a linkage gear inner circular ring, an inner circular ring mounting surface is arranged on the linkage gear inner circular ring, and a plurality of central linkage supporting guide wheels are connected to the inner circular ring mounting surface.
6. A wheeled robot having an annularly supported geared drive train according to claim 5, wherein: and an outer ring mounting surface is arranged on the outer circumference of the annular inner tooth part, and a plurality of external linkage supporting guide wheels are connected to the outer ring mounting surface.
7. A wheeled robot with an endless supported geared drive train according to claim 1 or 2, characterised in that: the wheel is connected with a clutch device, the clutch device comprises a first bevel gear, a second bevel gear, a first clutch, a second clutch and a clutch transmission shaft, the wheel is connected with a wheel transmission shaft, the first bevel gear is sleeved on the wheel transmission shaft, the end part of the wheel transmission shaft is connected with the first clutch, the first clutch is connected with a wheel driving motor, the first bevel gear is meshed with the second bevel gear, the clutch transmission shaft is sleeved in the second bevel gear, the upper part of the clutch transmission shaft is connected with the second clutch, the outer part of the second clutch is connected with a steering support, and the upper part of the second clutch is connected with a driven wheel device.
8. The wheeled robot having an annularly supported geared drive train of claim 7, wherein: the steering support is connected with an electromagnetic limiting assembly, the electromagnetic limiting assembly comprises an electromagnetic limiting piece, an electromagnetic controller and an electromagnetic bolt, the electromagnetic controller is installed on the vehicle body chassis, the electromagnetic controller is provided with the electromagnetic bolt, the steering support is provided with the electromagnetic limiting piece, the electromagnetic limiting piece is provided with a plurality of electromagnetic limiting grooves, and the electromagnetic limiting grooves are matched with the electromagnetic bolt.
9. The wheeled robot having an annularly supported geared drive train of claim 7, wherein: the steering support is connected with a disc limiting assembly, the disc limiting assembly comprises a disc limiting piece, a disc controller and a disc clamping groove, the disc controller is installed on the vehicle body chassis, the disc controller is provided with the disc clamping groove, the steering support is provided with the disc limiting piece, and the disc limiting piece is matched with the disc clamping groove.
CN202211356936.9A 2022-11-01 2022-11-01 Wheeled robot with annularly supported gear linkage transmission system Active CN115402444B (en)

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JPS6078831A (en) * 1983-10-05 1985-05-04 Toshiba Corp Wheel equipment of transportation vehicle
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