CN201176189Y - Independent walking mechanism for robot platform - Google Patents
Independent walking mechanism for robot platform Download PDFInfo
- Publication number
- CN201176189Y CN201176189Y CNU200720187302XU CN200720187302U CN201176189Y CN 201176189 Y CN201176189 Y CN 201176189Y CN U200720187302X U CNU200720187302X U CN U200720187302XU CN 200720187302 U CN200720187302 U CN 200720187302U CN 201176189 Y CN201176189 Y CN 201176189Y
- Authority
- CN
- China
- Prior art keywords
- wheel
- motor
- running mechanism
- independent running
- interior plate
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to an independent running mechanism, in particular to an independent running mechanism which is used on a robot platform, and belongs to the technical field of robot engineering. The independent running mechanism is an independent running mould, which is particularly suitable for a modular design of a robot. The independent running mechanism mainly comprises a motor, a motor speed reducer group, a motor driver, a drive wheel, a driven wheel and the like, wherein the motor and the motor speed reducer group are an integral body, the casing of the integral body is an output shaft of the speed reducer, the drive wheel is fixedly connected on the casing of the integral body, and the operation of the casing of the integral body drives a motor wheel to rotate. The independent running mechanism can guarantee a platform to smoothly run in complex ground environment. The design which is applied on a robot enables each wheel of the robot to independently run, once one wheel is damaged, the work of other wheels can not be influenced, and the independent running mechanism can also be independent to be a small robot.
Description
Technical field
The utility model relates to a kind of independent running mechanism, and especially a kind of independent running mechanism that is used for robot platform belongs to the robot engineering technical field.
Background technology
Various in the world at present vehicles and flat-bed traveling gear are of a great variety, have wheel type traveling mechanism, crawler type walking mechanism, wheel to carry out the convolution traveling gear even also have the wheel leg type traveling gear of bionic type.What wherein wheel type traveling mechanism and crawler type walking mechanism were used is comparatively extensive.But seldom there is the mechanism with independent ambulation function in these mechanisms, and both their great majority were a simple transmission device, and power pack section must be by means of platform.The wheel leg type traveling gear of bionic type has the ability of independent walking, but this mechanism structure relative complex, and the manufacturability of mechanism is had relatively high expectations, and commonality is relatively poor.
Summary of the invention
The utility model provides a kind of independently traveling gear for motor platform, particularly a kind of independent running mechanism that is used for robot platform, this mechanism is an independently walking module, be particularly suitable for applying to the modular design of robot, this mechanism can guarantee that platform can travel smoothly in the ground environment of complexity.
The purpose of this utility model is achieved through the following technical solutions:
The utility model mainly comprises motor reducer group, crawler belt, driving wheel, flower wheel, motor driver, tension wheel, interior plate, outer panel, support wheel and annex thereof.The retarder shell of motor reducer group is the output shaft of motor reducer group, and the motor reducer group is embedded in the inside of driving wheel, and driving wheel is connected by screw retention on the shell of motor reducer group, and driving wheel turns round with the shell of motor reducer group.Driving wheel and flower wheel are all gone up design the crawler belt groove, can block crawler belt, increases the friction coefficient between driving wheel and flower wheel and the crawler belt.Driving wheel is connected by cterpillar drive with flower wheel, and deep groove ball bearing is housed on the follower shaft, and flower wheel is enclosed within on the deep groove ball bearing, and follower shaft is fixed in the middle of interior plate and the outer panel.Support wheel is a tight fit in the bearing groove on interior plate and the outer panel by being contained in deep groove ball bearing above it, and support wheel has five, plays a part to support crawler belt, and crawler belt can not be stuck when platform was walked on ups and downs road surface.Tension wheel has one, and tension wheel is a tight fit in the bearing groove of interior plate and outer panel bottom by the bearing that is contained in above the tension wheel shaft, plays a part to regulate the crawler belt degree of tightness, and crawler belt is difficult for dropping out when making the platform walking.Motor driver combines as a whole with independent running mechanism, motor driver is screwed on interior plate, the rotation of control dc brushless motor.This design makes independent running mechanism have driving and traveling gear.All be screwed the crawler belt back-up ring on two end faces of driving wheel and flower wheel, can have prevented effectively that crawler belt from departing from driving wheel and flower wheel in operational process.Interior plate is connected by four screw retention with outer panel, perhaps is connected with platform.
The motor reducer group comprises dc brushless motor, miniature gears, gear, big gear wheel, bearing and an output shaft.Dc brushless motor by screw retention on interior plate, be fixed with miniature gears on the output shaft of dc brushless motor, miniature gears and gear mesh, gear meshes with big gear wheel again, on the inside face of retarder shell internal tooth is arranged, big gear wheel can with the internal gearing on the inside face of retarder shell, finally slowing down by tertiary gear drives the retarder shell and rotates.On the shell of dc brushless motor, also be with bearing, the outer back-up ring of bearing and retarder housing contacts, and play the role of positioning, beat does not take place when rotating to guarantee the retarder shell.The shell of motor reducer group can be rotated around dc brushless motor.When dc brushless motor is worked, make the retarder shell running of motor reducer group, the retarder shell drives flower wheel by crawler belt and rotates, thereby realizes the purpose that independent running mechanism advances.
The beneficial effects of the utility model: the utility model is an independently walking module, is particularly suitable for applying to the modular design of robot, and this mechanism can guarantee that platform can travel smoothly in the ground environment of complexity.Be applied to the design of robot, make robot each take turns can independent operating, in case a wheel damages, can not influence the work of other wheel, this mechanism can also be independent becomes a little robot.
Description of drawings
Fig. 1 is the application scheme drawing of the utility model on platform;
Fig. 2 is a structural representation of the present utility model;
Fig. 3 is the scheme drawing that the utility model removes crawler belt;
Fig. 4 is the scheme drawing that the utility model is removed outer panel;
Fig. 5 is the motor reducer group structural representation in the utility model;
In the accompanying drawing: a-is the motor reducer group structure front schematic view in the utility model, and b-is the motor reducer group structural profile scheme drawing in the utility model; 1-independent running mechanism, 2-platform, 3-motor reducer group, 4-crawler belt, 5-driving wheel, 6-flower wheel, 7-actuator, 8-support wheel, 9-interior plate, 10-outer panel, 11-crawler belt back-up ring, 12-tension wheel, 13-bearing, 14-follower shaft, 15-screw, 16-tension wheel shaft, 17-screw, 18-bearing, 19-screw, 20-retarder shell, 21-dc brushless motor, 22-miniature gears, 23-gear, 24-big gear wheel, 25-bearing, 26-output shaft.
The specific embodiment
The utility model is described in further detail below in conjunction with drawings and Examples.
Embodiment
As shown in Figure 1, independent running mechanism 1 of the present utility model is installed in the both sides of robot platform 2, is used with platform 2, and each is separate between taking turns to make flat-bed, can independent supporting platform walking, have convertibility and modularization.
As Fig. 2, Fig. 3, shown in Figure 4, independent running mechanism mainly comprises motor reducer group 3, crawler belt 4, driving wheel 5, flower wheel 6, motor driver 7, support wheel 8, interior plate 9, outer panel 10, tension wheel 12 and annex thereof.The retarder shell 20 of motor reducer group 3 is output shafts of motor reducer group 3, motor reducer group 3 is embedded in the inside of driving wheel 5, driving wheel 5 is fixedly connected on by screw 19 on the shell of motor reducer group 3, and driving wheel 5 turns round with the shell of motor reducer group 3.Driving wheel 5 and flower wheel 6 are all gone up design the crawler belt groove, can block crawler belt 4, increases the friction coefficient between driving wheel 5 and flower wheel 6 and the crawler belt 4.Driving wheel 5 is in transmission connection by crawler belt 4 with flower wheel 6, on the follower shaft 14 deep groove ball bearing is housed, and flower wheel 6 is enclosed within on the deep groove ball bearing, and follower shaft 14 is fixed in the middle of interior plate 9 and the outer panel 10.Support wheel 8 is a tight fit in the bearing groove on interior plate 9 and the outer panel 10 by being contained in deep groove ball bearing 13 above it, and support wheel 8 has five, plays a part to support crawler belt 4, and crawler belt 4 can not be stuck when platform was walked on ups and downs road surface.Tension wheel 12 is a tight fit in the bearing groove of interior plate 9 and outer panel 10 bottoms by the bearing 18 that is contained in above the tension wheel shaft 16, plays a part to regulate crawler belt 4 degrees of tightness, and crawler belt 4 is difficult for dropping out when making the platform walking.Motor driver 7 combines as a whole with independent running mechanism 1, motor driver 7 is screwed on interior plate 9, the rotation of control dc brushless motor 21.This design makes independent running mechanism have driving and traveling gear.All use screw 15 to be fixed with crawler belt back-up ring 12 on two end faces of driving wheel 5 and flower wheel 6, can prevent effectively that crawler belt from departing from driving wheel 5 and flower wheel 6 in operational process.Interior plate 9 is captiveed joint by four screws 17 with outer panel 10, perhaps is connected with platform 2.
Shown in accompanying drawing 5, motor reducer group 3 comprises a dc brushless motor 21, miniature gears 22, gear 23, big gear wheel 24, bearing 25 and output shaft 26.Dc brushless motor 21 by screw retention on interior plate 9, be fixed with miniature gears 22 on the output shaft 26 of dc brushless motor 21, miniature gears 22 and gear 23 engagements, gear 23 meshes with big gear wheel 24 again, on the inside face of retarder shell 20 internal tooth is arranged, big gear wheel 23 can with the tooth engagement on the inside face of retarder shell 20, finally slowing down by tertiary gear drives retarder shell 20 and rotates.Also be with bearing 25 on the shell of dc brushless motor 21, the outer back-up ring of bearing 25 contacts with retarder shell 20, and plays the role of positioning, and to guarantee retarder shell 20 beat does not take place when rotating.The shell of motor reducer group 3 can be rotated around dc brushless motor 21.When dc brushless motor 21 work, make retarder shell 20 runnings of motor reducer group 3, retarder shell 20 drives flower wheel 6 by crawler belt 4 and rotates, thereby realizes the purpose that independent running mechanism 1 advances.
Claims (7)
1. independent running mechanism that is used for robot platform, mainly comprise motor reducer group (3), crawler belt (4), driving wheel (5), flower wheel (6), motor driver (7), support wheel (8), interior plate (9), outer panel (10), tension wheel (12) and annex thereof, it is characterized in that: driving wheel (5) is captiveed joint with the retarder shell (20) of motor reducer group (3) by screw (19); Driving wheel (5) is in transmission connection by crawler belt (4) with flower wheel (6); Flower wheel (6) is fixed in the middle of interior plate (9) and the outer panel (10) by follower shaft (14); Tension wheel (12), support wheel (8) all are a tight fit in the bearing groove on interior plate (9) and the outer panel (10) by being contained in bearing above it, and motor driver (7) is screwed on interior plate (9).
2. a kind of independent running mechanism that is used for robot platform according to claim 1, it is characterized in that: the retarder shell (20) of motor reducer group (3) is the output shaft of motor reducer group (3), and motor reducer group (3) is embedded in the inside of driving wheel (5).
3. a kind of independent running mechanism that is used for robot platform according to claim 1 and 2, it is characterized in that: motor reducer group (3) is the combination of a dc brushless motor (21) and retarder group, dc brushless motor (21) by screw retention on interior plate (9), be fixed with miniature gears (22) on the output shaft (26) of dc brushless motor (21), miniature gears (22) and gear (23) engagement, gear (23) meshes with big gear wheel (24) again, on the inside face of retarder shell (20) internal tooth is arranged, big gear wheel (23) can with the tooth engagement on the inside face of retarder shell (20), finally slowing down by tertiary gear drives retarder shell (20) rotation, makes the shell of motor reducer group (3) can center on dc brushless motor (21) rotation.
4. a kind of independent running mechanism that is used for robot platform according to claim 1 is characterized in that: support wheel (8) has five, all is a tight fit in the bearing groove on interior plate (9) and the outer panel (10) by being contained in bearing (13) above it.
5. a kind of independent running mechanism that is used for robot platform according to claim 1, it is characterized in that: tension wheel (12) has one, tension wheel (12) is a tight fit in the bearing groove of interior plate (9) and outer panel (10) top and the bottom by the bearing (18) that is contained in above the tension wheel shaft (16), works to regulate crawler belt (4) degree of tightness.
6. a kind of independent running mechanism that is used for robot platform according to claim 1, it is characterized in that: motor driver (7) combines as a whole with independent running mechanism, motor driver (7) is screwed on interior plate (9), the rotation of control dc brushless motor (21).
7. a kind of independent running mechanism that is used for robot platform according to claim 1, it is characterized in that: described motor reducer group (3), on the shell of dc brushless motor (21), also be with bearing (25), the outer back-up ring of bearing (25) contacts with retarder shell (20) and plays the role of positioning, and to guarantee retarder shell (20) beat does not take place when rotating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720187302XU CN201176189Y (en) | 2007-12-20 | 2007-12-20 | Independent walking mechanism for robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200720187302XU CN201176189Y (en) | 2007-12-20 | 2007-12-20 | Independent walking mechanism for robot platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201176189Y true CN201176189Y (en) | 2009-01-07 |
Family
ID=40216203
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU200720187302XU Expired - Fee Related CN201176189Y (en) | 2007-12-20 | 2007-12-20 | Independent walking mechanism for robot platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201176189Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111348114A (en) * | 2018-12-20 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | General tracked vehicle of modularization |
-
2007
- 2007-12-20 CN CNU200720187302XU patent/CN201176189Y/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111348114A (en) * | 2018-12-20 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | General tracked vehicle of modularization |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201029840Y (en) | Barrier spanning device of the robot dust collection device | |
| CN100434331C (en) | Small-sized four-peddrail mobile robot driving device | |
| CN102060080B (en) | Driving mechanism of retarding motor | |
| CN203172353U (en) | Universal wheel device | |
| CN110919663B (en) | Indoor high-flexibility closed meal delivery robot | |
| CN102107712A (en) | Mid-driving booster bicycle | |
| WO2008138204A1 (en) | A running brake system for a loader | |
| CN103832211A (en) | Centrally-arranged motor drive axle | |
| CN101462559A (en) | Independent running mechanism for robot platform | |
| CN201176189Y (en) | Independent walking mechanism for robot platform | |
| CN201257075Y (en) | Anti-slip speed changer | |
| CN111152836A (en) | Steering driving wheel | |
| CN201961491U (en) | Drive mechanism for reduction motor | |
| CN202038426U (en) | Mid-drive power boost bicycle | |
| CN101543157B (en) | Minitype tiller gearbox | |
| CN203282967U (en) | Power-driven trundle | |
| CN203819013U (en) | Central-positioned motor drive axle | |
| CN110588766B (en) | Differential steering mechanism of automatic conveying trolley and steering control method | |
| CN103317965A (en) | Power-driven trundle | |
| CN206694508U (en) | A kind of planet wheel decelerator rear axle | |
| CN201884598U (en) | Clutch lock differential | |
| CN2923506Y (en) | Boosting device for bicycle | |
| CN202507915U (en) | Traveling driving mechanism of crawler crane | |
| CN2379344Y (en) | Mechanism for driving walking tractor | |
| CN219899267U (en) | Multi-shaft linkage synchronous wheel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090107 Termination date: 20141220 |
|
| EXPY | Termination of patent right or utility model |