CN205394559U - Robot of miniature steering wheel robot operation actuating system and this actuating system of adoption - Google Patents
Robot of miniature steering wheel robot operation actuating system and this actuating system of adoption Download PDFInfo
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- CN205394559U CN205394559U CN201620120578.5U CN201620120578U CN205394559U CN 205394559 U CN205394559 U CN 205394559U CN 201620120578 U CN201620120578 U CN 201620120578U CN 205394559 U CN205394559 U CN 205394559U
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Abstract
The utility model relates to a robot of miniature steering wheel robot operation actuating system and this actuating system of adoption, actuating system include steering wheel, steering wheel and metal axle, the steering wheel is connected with the steering wheel, the metal axle is located between steering wheel and the robot structure spare, robot structure spare rotates along with the metal axle, the metal axle is inlayed on the metal bearing, metal bearing position is between metal axle and robot structure spare. The utility model discloses a safety and the stability of robot operation can be guaranteed to the actuating system, rotation time and direction that can accurate control robot wheel to realize that the robot can all -round a plurality of dimensions turn to and go forward, each module of robot is independently changed, and the assembly only needs be connected the module or break off through intrinsic mode with the dismantlement, realizes simply installing and removing self -definedization.
Description
Technical field
This utility model belongs to Industrial Robot Technology field, is specifically related to a kind of miniature steering wheel robot and runs drive system and adopt the robot of this drive system.
Background technology
Traditional miniature steering wheel robot uses full servo driving joint of robot, and the motor system including the lower part of the body is all the humanoid joint foot that steering wheel forms；Such design has following problem:
1, steering wheel exposes direct geared link movement parts: causing multi-faceted stress, the steering wheel proportion of goods damageds are high, move not smooth；
2, the humanoid leg of machinery of servo driving is used: cause that lower part of the body bradykinesia is stiff and easily falls down；
3, the robot lower part of the body structure of common two-wheel is used: cause single dimension of moving；
4, each joint motions of common steering wheel robot drive certain chain belt relation: cause a certain joint damage, it is necessary to change multiple parts.
Summary of the invention
The purpose of this utility model is in that to overcome the deficiencies in the prior art, it is provided that a kind of new miniature steering wheel robot runs drive system and adopts the robot of this drive system, and this utility model solves the technical scheme of its technical problem employing and is:
A kind of miniature steering wheel robot runs drive system, including steering wheel, steering wheel and metal shaft, described steering wheel is connected with steering wheel, described metal shaft is located between steering wheel and robot architecture's part, described robot architecture's part rotates with metal shaft, described metal shaft is embedded on metal bearing, and described metal bearing is between metal shaft and robot architecture's part.
The further technical scheme of this utility model also includes:
Described steering wheel is provided with and exposes axle, described in expose the axle center of axle, the stress point of the metal shaft cylinder center of circle and robot architecture's part is on the same line.
A kind of robot, including head, chest, waist, shoulder, hand and chassis, described robot adopts miniature steering wheel robot as claimed in claim 1 or 2 to run drive system, and described miniature steering wheel robot runs drive system and is arranged between the mobilizable joint of robot the first half.
Described mobilizable joint includes the joint between robot chest and shoulder, the joint between chest and waist, the joint between shoulder and hand.
Described chassis is wheel chassis, and described wheel chassis is made up of 4 omni-directional wheels and the metallic framework that is applied between omni-directional wheel, and described 4 omni-directional wheels are cross.
The fixture of described waist is circular groove, and the fixture of described chest is one and the concentrically ringed dome of groove, and the turned position of described chest is fixed in groove.
Described robot built-in has PLC, and each ingredient of described robot is independent, and described robot also includes the knapsack being arranged on back.
Compared with prior art, Advantageous Effects of the present utility model is: 1, drive system of the present utility model can make multidirectional power overwhelming majority be subject to by metal bearing, thus allowing steering wheel gear and steering wheel itself be only limited by the power of rotation direction, it is ensured that the safety of robot operation and stability；2, can accurately controlling rotation time and the direction of wheels of robot, comprehensive multiple dimensions can turn to and advance thus realizing robot；3, each module independent of robot, Assembly And Disassembly only need to be connected module or disconnection by native mode, it is achieved simple and easy mounting or dismounting self-definedization.
Accompanying drawing explanation
Fig. 1 is the cross-sectional view that the miniature steering wheel robot of this utility model runs drive system；
Fig. 2 is the structural representation of this utility model robot；
Fig. 3 is the structural representation on the chassis of this utility model robot；
Fig. 4 is the effect contrast figure of this utility model robot and the miniature steering wheel robot of tradition.
Wherein, 1-head；2-knapsack；3-chest；4-waist；5-chassis；6-shoulder；7-hand；8-steering wheel；9-metal shaft；10-metal bearing；11-robot architecture's part 1；12-robot architecture's part 2；13-metallic framework；14-omni-directional wheel；15-exposes axle.
Detailed description of the invention
Below in conjunction with accompanying drawing, further describe detailed description of the invention of the present utility model.
Refer to Fig. 1, a kind of miniature steering wheel robot of this utility model runs drive system, including steering wheel, steering wheel and metal shaft, described steering wheel is connected with steering wheel, described metal shaft is located between steering wheel and robot architecture's part, described robot architecture's part rotates with metal shaft, and described metal shaft is embedded on metal bearing, and described metal bearing is between metal shaft and robot architecture's part.
Metal bearing support metal shaft, makes steering wheel expose the axle center of axle, and the metal shaft cylinder center of circle, the stress point of robot architecture's part is on the same line.Multidirectional power overwhelming majority is allowed to be subject to by metal bearing, thus allowing steering wheel expose axle and steering wheel itself is only limited by the power of rotation direction, thus ensure that robot safety in running and stability.
Referring to Fig. 2, Fig. 3, Fig. 1 is the enlarged diagram of part A in Fig. 2, and Fig. 3 is the enlarged diagram of part B in Fig. 2.This utility model one robot, including head, chest, waist, shoulder, hand and chassis, wherein robot adopts above-mentioned miniature steering wheel robot to run drive system, and miniature steering wheel robot runs drive system and is arranged between the mobilizable joint of robot the first half.In this utility model, the mobilizable joint of robot the first half includes the joint between robot chest and shoulder, the joint between chest and waist, the joint between shoulder and hand.
As preferably, chassis is wheel chassis, and wheel chassis is made up of 4 omni-directional wheels and the metallic framework that is applied between omni-directional wheel, and 4 omni-directional wheels are cross；This utility model robot also includes built-in PLC, the change to overall dolly Impact direction of each wheel turns can be calculated by algorithm, by the rotation time of each wheel of programme-control and direction, comprehensive multiple dimensions can turn to and advance thus realizing robot.
Robot waist is connected with body part, the fixture of waist is circular groove, the fixture of chest is one and the concentrically ringed dome of groove, the turned position of chest is fixed in groove, reduce rocking beyond upper half rotation direction in motor process as far as possible, allow waist steering wheel expose axle and reduce the external force in other nonrotational directions as far as possible.
Robot includes head, body, waist, chassis, shoulder, arm, elbow, hands, battery, also includes knapsack, weapon, the simple several module of outward appearance suspension member.Wherein knapsack is arranged on the back of robot, and each ingredient of robot is independent, each module independent, and Assembly And Disassembly only need to be connected module or disconnection by native mode, it is achieved simple and easy mounting or dismounting self-definedization.
These are only preferred embodiment of the present utility model; not in order to limit this utility model; protection domain of the present utility model is as the criterion with claims, and other its structures all and principle and this utility model are same or like, should be included within protection domain of the present utility model.
Claims (7)
1. a miniature steering wheel robot runs drive system, including steering wheel, steering wheel and metal shaft, described steering wheel is connected with steering wheel, it is characterized in that, described metal shaft is located between steering wheel and robot architecture's part, described robot architecture's part rotates with metal shaft, and described metal shaft is embedded on metal bearing, and described metal bearing is between metal shaft and robot architecture's part.
2. miniature steering wheel robot according to claim 1 runs drive system, it is characterised in that described steering wheel is provided with and exposes axle, described in expose the axle center of axle, the stress point of the metal shaft cylinder center of circle and robot architecture's part is on the same line.
3. a robot, including head, chest, waist, shoulder, hand and chassis, it is characterized in that, described robot adopts miniature steering wheel robot as claimed in claim 1 or 2 to run drive system, and described miniature steering wheel robot runs drive system and is arranged between the mobilizable joint of robot the first half.
4. robot according to claim 3, it is characterised in that described mobilizable joint includes the joint between robot chest and shoulder, the joint between chest and waist, the joint between shoulder and hand.
5. robot according to claim 3, it is characterised in that described chassis is wheel chassis, described wheel chassis is made up of 4 omni-directional wheels and the metallic framework that is applied between omni-directional wheel, and described 4 omni-directional wheels are cross.
6. robot according to claim 3, it is characterised in that the fixture of described waist is circular groove, the fixture of described chest is one and the concentrically ringed dome of groove, and the turned position of described chest is fixed in groove.
7. the robot according to any one of claim 3-6, it is characterized in that, described robot built-in has PLC, and each ingredient of described robot is modular, independent, can realizing simple and easy mounting or dismounting self-definedization, described robot also includes the knapsack being arranged on back.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620120578.5U CN205394559U (en) | 2016-02-15 | 2016-02-15 | Robot of miniature steering wheel robot operation actuating system and this actuating system of adoption |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620120578.5U CN205394559U (en) | 2016-02-15 | 2016-02-15 | Robot of miniature steering wheel robot operation actuating system and this actuating system of adoption |
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| CN205394559U true CN205394559U (en) | 2016-07-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123348A (en) * | 2020-09-14 | 2020-12-25 | 扬州哈工科创机器人研究院有限公司 | Simulation robot control method and system |
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2016
- 2016-02-15 CN CN201620120578.5U patent/CN205394559U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123348A (en) * | 2020-09-14 | 2020-12-25 | 扬州哈工科创机器人研究院有限公司 | Simulation robot control method and system |
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