CN201258034Y - Robot travel mechanism - Google Patents
Robot travel mechanism Download PDFInfo
- Publication number
- CN201258034Y CN201258034Y CNU2008200607512U CN200820060751U CN201258034Y CN 201258034 Y CN201258034 Y CN 201258034Y CN U2008200607512 U CNU2008200607512 U CN U2008200607512U CN 200820060751 U CN200820060751 U CN 200820060751U CN 201258034 Y CN201258034 Y CN 201258034Y
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- CN
- China
- Prior art keywords
- rod member
- pipe link
- sufficient
- connecting rod
- sufficient rod
- 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
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Abstract
The utility model relates to a robot walking mechanism. The utility model aims to provide a novel robot walking mechanism with ability of crossing over larger obstacles and ability of simultaneously ensuring the smooth operation of the robot walking mechanism. Therefore, the robot walking mechanism comprises a machine body and a control unit and further comprises two motors and two connecting rod mechanisms, and the rotational speed of the motors is regulated through the pulse density output by the control unit; the two connecting rod mechanisms are arranged on the two sides of the machine body, each connecting rod mechanism comprises a connecting rod I, a connecting rod II, a connecting rod III, a foot rod part I, a foot rod part II and a foot rod part III, wherein, the middle parts of the foot rod part I and the foot rod part III are connected with the machine body; output shafts of the two motors are respectively connected with a coupling arranged on one side the machine body, the coupling is connected with the connecting rod I, the connecting rod II and the connecting rod III of the corresponding connecting rod mechanism on the same side through connecting shafts; the connecting rods I, the connecting rods II and the connecting rods III are respectively connected with the foot rod parts I, the foot rod parts II and the foot rod parts III; and one end of each connecting rod II is connected with the machine body.
Description
Technical field
The utility model relates to the robot constituent elements, specially refers to a kind of robot running gear.
Background technology
Now common robot running gear mainly contains two kinds of wheeled driver train and crawler type driver trains, wheeled drive configuration is simple relatively, most widely used general, the robot running gear of this structure is the difference formation differential by the both sides front wheel rotation speed, finish turning to or regulating to finish by diff turns to, but its shortcoming is the ability of not crossing big obstacle; The function that turns to that crawler type drives is finished by differential, and the stationarity of its running is good, grade climbing performance is strong, but the impact that is subjected to during throwing over barrier is big, and the obstacle size is big to its limitation.
The utility model content
The purpose of this utility model provides a kind of brand new robot running gear, possesses the ability of crossing big obstacle, can guarantee that self operates steadily simultaneously.
The purpose of this utility model is achieved in that
A kind of robot running gear comprises body and control unit, also comprises two motors, two connecting rod mechanisms, regulates motor speed by the impulse density of control unit output; Two connecting rod mechanisms are installed in the body both sides, and each connecting rod mechanism comprises pipe link one, pipe link two, pipe link three and sufficient rod member one, sufficient rod member two, sufficient rod member three, and its mesopodium rod member one is connected with body with sufficient rod member three middle parts; The output shaft of two motors is connected with body both sides one coupler respectively, and the pipe link one of this coupler and homonymy respective link mechanism, pipe link two and pipe link three are connected by adapter shaft; Described pipe link one, pipe link two, pipe link three are connected with sufficient rod member one, sufficient rod member two, sufficient rod member three respectively; Described pipe link 21 ends are connected with body.
Wherein, above-mentioned sufficient rod member one, sufficient rod member two and sufficient rod member three are all established a sufficient lengthened plate; Foot rod member one is connected with body by axle and bearing with sufficient rod member three middle parts; Pipe link one, pipe link two, pipe link three are connected by axle and bearing with sufficient rod member one, sufficient rod member two, sufficient rod member three respectively; Pipe link 21 ends are connected by axle and bearing with body; Above-mentioned axle and bearing are provided with a sleeve outward, and this sleeve can be the copper sleeve; Body is converted into by plate, and above-mentioned motor and control unit are arranged in this body.
The utility model is owing to adopted above-mentioned technical scheme, make it compared with prior art, have following advantage and good effect: by the adjusting of two pairs of sufficient rod members two of pipe link, guaranteeing has a parapodum rod member two to contact with ground all the time, makes the running of the utility model robot running gear steadily; By the running of connecting rod mechanism, can regulate the length of sufficient rod member according to the size of obstacle voluntarily, make the utility model robot running gear can cross big obstacle smoothly.
Description of drawings
To embodiment of the present utility model and in conjunction with the description of its accompanying drawing, can further understand the purpose of this utility model, specific structural features and advantage by following.Wherein, accompanying drawing is:
Fig. 1 is the schematic perspective view of the utility model embodiment.
Fig. 2 is the utility model embodiment one side structure scheme drawing.
Among the figure: 1. body; 21. pipe link one; 22. pipe link two; 23. pipe link three; 31. sufficient rod member one; 32. sufficient rod member two; 33. sufficient rod member three; 4. sufficient lengthened plate; 5. copper sleeve; 6. coupler; The axle; 8. bearing.
The specific embodiment
The utility model robot running gear as shown in Figure 1 and Figure 2, be converted into body 1 by plate, two motors and control unit all are arranged on (not shown) in the body 1, in body 1 both sides one connecting rod mechanism is installed respectively, this connecting rod mechanism is made up of pipe link 1, pipe link 2 22, pipe link 3 23, sufficient rod member 1, sufficient rod member 2 32 and sufficient rod member 3 33, the output shaft (not shown) of two motors is connected with body 1 both sides one coupler 6 respectively, and coupler 6 and pipe link 1, pipe link 2 22, pipe link 3 23 are connected by adapter shaft.Foot rod member 1, be equipped with sufficient lengthened plate 4 on foot rod member 2 32 and the sufficient rod member 3 33, foot rod member 1 is connected with body 1 with bearing by axle at the middle part with sufficient rod member 3 33, outside axle and bearing, also be provided with copper sleeve 5, same, pipe link 1, pipe link 2 22, pipe link 3 23 respectively with sufficient rod member 1, foot rod member 2 32, foot rod member 3 33 connects by axle 7 and bearing 8, pipe link 2 22 1 ends are connected by axle and bearing with body 1, axle and bearing are equipped with copper sleeve 5 outward, copper sleeve 5 can reduce the friction between the rod member, simultaneously gap between adjustable axle and bearing.
The both sides connecting rod mechanism is respectively by different electric machine control, motor output shaft is sent to power on pipe link 1, pipe link 2 22 and the pipe link 3 23 by coupler 6, each pipe link drives sufficient rod member swing, impulse density by control unit output is regulated two motor speeds, make the utility model robot running gear realize turning to, regulating two motor positive and inverses is that robot running gear is realized advancing, " fall back " mode".When crossing different big or small obstacle, by the mutual action between a connecting rod mechanism rod member, can make the utility model robot running gear adjust the length of sufficient rod member voluntarily, reach the purpose of crossing each obstacle smoothly.
Claims (6)
1, a kind of robot running gear comprises body and control unit, it is characterized in that: also comprise two motors, two connecting rod mechanisms, regulate described motor speed by the impulse density of described control unit output; Described two connecting rod mechanisms are installed in the body both sides, and described each connecting rod mechanism comprises pipe link one, pipe link two, pipe link three and sufficient rod member one, sufficient rod member two, sufficient rod member three, and described sufficient rod member one is connected with body with sufficient rod member three middle parts; The output shaft of described two motors is connected with body both sides one coupler respectively, and the pipe link one of described coupler and homonymy respective link mechanism, pipe link two and pipe link three are connected by adapter shaft; Described pipe link one, pipe link two, pipe link three are connected with sufficient rod member one, sufficient rod member two, sufficient rod member three respectively; Described pipe link 21 ends are connected with body.
2, robot running gear as claimed in claim 1 is characterized in that: described sufficient rod member one, sufficient rod member two, sufficient rod member three are all established a sufficient lengthened plate.
3, robot running gear as claimed in claim 1 is characterized in that: described sufficient rod member one is connected with body by axle and bearing with sufficient rod member three middle parts; Described pipe link one, pipe link two, pipe link three are connected by axle and bearing with sufficient rod member one, sufficient rod member two, sufficient rod member three respectively; Described pipe link 21 ends are connected by axle and bearing with body.
4, robot running gear as claimed in claim 3 is characterized in that: described axle and bearing are provided with a sleeve outward.
5, robot running gear as claimed in claim 4 is characterized in that: described sleeve can be the copper sleeve.
6, robot running gear as claimed in claim 1 is characterized in that: described body is converted into by plate, and described motor and control unit are arranged in the described body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200607512U CN201258034Y (en) | 2008-08-27 | 2008-08-27 | Robot travel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200607512U CN201258034Y (en) | 2008-08-27 | 2008-08-27 | Robot travel mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201258034Y true CN201258034Y (en) | 2009-06-17 |
Family
ID=40772266
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200607512U Expired - Fee Related CN201258034Y (en) | 2008-08-27 | 2008-08-27 | Robot travel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201258034Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8657042B2 (en) | 2010-10-04 | 2014-02-25 | China Industries Limited | Walking machine |
| CN104608838A (en) * | 2014-12-08 | 2015-05-13 | 中国科学院合肥物质科学研究院 | Six foot wheel leg type climbing biomimetic robot |
-
2008
- 2008-08-27 CN CNU2008200607512U patent/CN201258034Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8657042B2 (en) | 2010-10-04 | 2014-02-25 | China Industries Limited | Walking machine |
| CN104608838A (en) * | 2014-12-08 | 2015-05-13 | 中国科学院合肥物质科学研究院 | Six foot wheel leg type climbing biomimetic robot |
| CN104608838B (en) * | 2014-12-08 | 2017-08-01 | 中国科学院合肥物质科学研究院 | The sufficient wheel leg type of one kind six is creeped bio-robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090617 Termination date: 20100827 |