CN205415603U - Robot walking mechanism - Google Patents
Robot walking mechanism Download PDFInfo
- Publication number
- CN205415603U CN205415603U CN201620247015.2U CN201620247015U CN205415603U CN 205415603 U CN205415603 U CN 205415603U CN 201620247015 U CN201620247015 U CN 201620247015U CN 205415603 U CN205415603 U CN 205415603U
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- China
- Prior art keywords
- running gear
- robot running
- guide pad
- carry portion
- oriented module
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- 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.)
- Withdrawn - After Issue
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Abstract
The utility model provides a robot walking mechanism, including carry portion, actuating mechanism and guiding mechanism, guiding mechanism includes preceding guide die piece and back guide die piece, preceding, back guide die block structure is the same bracing piece, guide block and direction wheelset, the guide block is rotatably installed on the bracing piece, the direction wheelset is installed respectively at the both ends of guide block, install respectively the bottom of the bracing piece of preceding, back guide die piece the both ends of carry portion, actuating mechanism can control and install with removing in the carry portion. The utility model discloses a but guiding mechanism and actuating mechanism need not to turn simple structure with the help of auxiliary device in the bend self -adaptation.
Description
Technical field
This utility model belongs to robot walking device technical field, relates to a kind of robot running gear.
Background technology
Chinese invention patent document CN201510159496.1 " a kind of cable tunnel inspection robot walking mechanism " discloses a kind of cable tunnel inspection robot walking mechanism, including guide rail and driving guiding mechanism, described guide rail has the chamber of hollow, described driving guiding mechanism includes the vehicle frame being arranged in the hollow chamber of guide rail, vehicle frame is provided with horizontally-guided wheels, horizontally-guided wheels play horizontally-guided effect in the hollow chamber of guide rail, robot is suspended on below vehicle frame, vehicle frame is provided with load-bearing wheels, Load-bearing rail it is provided with for supporting load-bearing wheels in the hollow chamber of guide rail, driving wheels it are provided with below vehicle frame, drive wheels to roll with the lower surface of guide rail in the lower section of guide rail to coordinate.Guiding mechanism upper front end is driven to have magnetic sensor, in walking process, perception is arranged on the magnet steel anchor point of rail crown, a front end directive wheel is installed in magnetic sensor bottom, magnetic sensor horizontal axis position once arranges three horizontal guide sheaves, a pair load-bearing directive wheel is respectively set under former and later two horizontal guide sheaves, two horizontal guide sheaves is installed immediately below load-bearing directive wheel and guides two horizontal guide sheaves forward and backward horizontally-guided wheels of composition above wheels by bearing and load-bearing；Master and slave driving wheel is respectively arranged in below the horizontally-guided wheels of front and back end, is robot hitch point between principal and subordinate's driving wheel, encoder be connected to a horizontal line by bearing from driving wheel.
Driving wheel relies on and rail base friction realization drives, and after the time of running is longer, coefficient of friction reduces easily skidding.This walking mechanism has load-bearing wheels, be suitable for heavier loads robot, but type leading wheel framework car heavy take turns with type leading wheel framework cannot horizontally rotate can only craspedodrome track up walk, need auxiliary device realize turn.Whole walking mechanism weight is relatively big, is not suitable for the application scenarios of small scale robot.
Summary of the invention
For solving the problem that prior art exists, this utility model provides a kind of robot running gear, guiding mechanism and the drive mechanism can self adaptation at bend, it is not necessary to turn by auxiliary device, simple in construction.
The robot running gear that this utility model provides, including carry portion, drive mechanism and guiding mechanism, described guiding mechanism includes front oriented module and rear oriented module, and described forward and backward oriented module structure is identical, including support bar, guide pad and guiding wheels；Described guide pad is rotatably installed on described support bar, and the two ends of described guide pad are separately installed with guiding wheels；The bottom of the support bar of described forward and backward oriented module is separately mounted to the two ends in described carry portion；Described drive mechanism can movably be arranged in described carry portion.
The wheels that guide of guiding mechanism are clamped on the guide pass of track, due on the rotatable installation support bar of guide pad, when Robot track advances to bend, guide pad rotates, make to guide wheels to rotate along bend, additionally, drive mechanism can move left and right, also can self adaptation and bend, it is not necessary to by auxiliary device.
Described guiding wheels include the upper directive wheel that is obliquely installed and lower directive wheel, upper directive wheel, lower directive wheel are clamped on the guide pass of track, guide pass is clipped between two directive wheels, for ease of having operation on discrepant various track, the tilt adjustable of described upper and lower directive wheel, it is achieved the distance between upper and lower directive wheel and the adjustment of directive wheel periphery.
Described guide pad is arranged on the top of described support bar by connecting bearing, it is achieved guide pad horizontal rotation when turning to.For convenience of the installation of guiding wheels, described guide pad becomes U-shaped, described guiding wheels to be arranged on the inner side of two vertical edges of U-shaped guide pad.
For realizing drive mechanism moving left and right at bend, drive mechanism described in the utility model includes driving motor, driving wheel；The upper surface in described carry portion installs translation mechanism, and described translation mechanism includes slide rail, the slide block being arranged on slide rail, bracer and extension spring, and described bracer is arranged on slide block, and the two ends of described extension spring are separately mounted to the left end of slide rail, the upper end of a bracer；Described driving motor is arranged on a bracer, and the output shaft of this driving motor is connected with described driving wheel.Driving wheel is pulled to track by extension spring all the time, it is ensured that the driving force Stabilization of driving wheel, and when entering bend, drive mechanism can slided along slide rail, to adapt to bend.
For guaranteeing stablizing of drive mechanism, described carry portion being provided with parallel two translation mechanism, described driving motor is arranged on two bracers.
For making walking mechanism compacter, beneficially miniaturization, described drive mechanism is between described forward and backward oriented module.
For convenience of drive mechanism and the installation of sensor, described carry portion is provided above middle part loading plate, and in the middle part of this, the two ends of loading plate are separately mounted on the support bar of forward and backward oriented module, and described translation mechanism is arranged on the loading plate of middle part.The edge of described middle part loading plate is provided with sensor installation position.
Coordinating with the driving of track for realizing walking mechanism, the periphery of described driving wheel is provided with driving tooth, tooth bar track being provided with driving tooth to mate.
This utility model simple in construction, magnification is big, compact, the walking of walking mechanism gripper rail, and walking process is stable, utilizes and drives tooth to realize coordinating with the driving of the tooth bar on track, and type of drive is simple and reliable, and long-time driving is error free.Two groups of symmetrical oriented modules before and after this utility model setting, the guiding wheels of each oriented module have certain oblique angle can arrange, with gripper rail, the guide pad that can horizontally rotate under directive wheel, front and back walking corner can realize stable guiding.Stretching spring is used to realize driving wheel and interorbital effective laminating and turn to adaptation, it is achieved bend is walked freely.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that this utility model is arranged on guide rail；
Fig. 2 this utility model front view；
Fig. 3 is guide rail lower end sectional view；
Fig. 4 is this utility model rearview.
In figure: oriented module after 101-；Upper directive wheel after 110-；Lower directive wheel after 111-；112-set screw；113-guide pad；114-connects bearing；115-support bar；116-upper left guide pass；117-lower-left guide pass；118-upper right guide pass；119-bottom right guide pass；102-drive mechanism；104-sensor installation position；Carry portion of 106-robot；120-driving wheel；121-driving wheel set screw；122-extension spring mount point；123-slide block；124-slide rail；125-winding displacement；126-drives motor；127-driving wheel props up bracer；Loading plate in the middle part of 128-；Oriented module before 103-；129-tooth bar；105-guide rail.
Detailed description of the invention
This utility model is elaborated below in conjunction with Fig. 1-3.
As shown in Figure 2,4, the robot running gear that this utility model provides includes front oriented module 103, rear oriented module 101, carry portion of robot 106 and drive mechanism 102.Forward and backward oriented module is separately positioned on the front and back ends in carry portion of robot 106, each oriented module can gripper rail, during turning, it can turn an angle to adapt to turn to regulation in the horizontal plane；Drive mechanism is arranged on the middle part in carry portion of robot, and it coordinates with track provides power for forward-reverse, and drive mechanism can move left and right certain amplitude to adapt to the adjustment needs turned.
As shown in Figure 2, forward and backward oriented module structure is identical, oriented module includes support bar, guide pad, set screw, 4 directive wheels, before and after forward and backward oriented module symmetrical, illustrate as a example by oriented module 101: support bar 115 is arranged on the end in carry portion of robot later, guide pad 113 is arranged on the top of support bar 115 by connecting bearing 114, and then when making to turn to, guide pad 113 can horizontally rotate；The adjustable one group of directive wheel of each side installation site at guide pad 113, often group directive wheel is coordinated by upper and lower two directive wheels (rear upper directive wheel 110, rear lower directive wheel 111), directive wheel can adjust angle of inclination up and down to adapt to the upper left of guide rail as shown in Figure 3, lower-left, upper right, four, bottom right orbital plane (116～119), and set screw 112 is in order to finally to fix 4 directive wheels.
As shown in Figure 4, drive mechanism includes driving wheel 120, driving wheel set screw 121, drives motor 126, winding displacement 125.Translation mechanism includes that slide block 123, slide rail 124, driving wheel prop up bracer 127 and extension spring (not shown).Middle part loading plate 128 is parallel to carry portion of robot 106 by back and front supporting bar 115 and installs, four sensor installation positions 104 of its Corner Strapped；Left and right slide rail 124 is installed on the middle part loading plate 128 between forward and backward oriented module abreast, left and right slide rail 124 arranges slide block 123, two slide blocks 123 are installed two driving wheels the most abreast and props up bracer 127, install at left and right driving wheel bracer 127 top and drive motor 126, motor output shaft is driven to be connected with driving wheel 120, driving motor to drive the positive and negative rotation of driving wheel, the periphery of driving wheel 120 is provided with driving tooth；Two extension spring mount points 122 are arranged on the left end of left and right slide rail 124, prop up at extension spring mount point and driving wheel and arrange extension spring between bracer.Drive mechanism, translation mechanism can also be directly installed in carry portion of robot.
In conjunction with Fig. 1,3, the wheels that guide of walking mechanism clamp four orbital planes of guide rail 105 lower end, and in extension spring effect, driving wheel 120 fits tightly with the tooth bar 129 on guide rail, by driving wheel 120 and tooth bar coordinate realize walking mechanism before and after move.When arriving the bend position of guide rail, drive mechanism can be slided along slide rail, and guide wheels and horizontally rotate under the drive of guide pad, to adapt to bend.
Claims (10)
1. a robot running gear, including carry portion, drive mechanism and guiding mechanism, it is characterized in that: described guiding mechanism includes front oriented module and rear oriented module, and described forward and backward oriented module structure is identical, including support bar, guide pad and guiding wheels；Described guide pad is rotatably installed on described support bar, and the two ends of described guide pad are separately installed with guiding wheels；The bottom of the support bar of described forward and backward oriented module is separately mounted to the two ends in described carry portion；Described drive mechanism can movably be arranged in described carry portion.
2. robot running gear as claimed in claim 1, it is characterised in that: described guiding wheels include upper directive wheel and lower directive wheel, the tilt adjustable of described upper and lower directive wheel being obliquely installed.
3. robot running gear as claimed in claim 1, it is characterised in that: described guide pad is arranged on the top of described support bar by connecting bearing.
4. robot running gear as claimed in claim 1, it is characterised in that: described guide pad becomes U-shaped, described guiding wheels to be arranged on the inner side of two vertical edges of U-shaped guide pad.
5. the robot running gear as described in claim 1,2,3 or 4, it is characterised in that: described drive mechanism includes driving motor, driving wheel；The upper surface in described carry portion installs translation mechanism, and described translation mechanism includes slide rail, the slide block being arranged on slide rail, bracer and extension spring, and described bracer is arranged on slide block, and the two ends of described extension spring are separately mounted to the left end of slide rail, the upper end of a bracer；Described driving motor is arranged on a bracer, and the output shaft of this driving motor is connected with described driving wheel.
6. robot running gear as claimed in claim 5, it is characterised in that: being provided with parallel two translation mechanism in described carry portion, described driving motor is arranged on two bracers.
7. robot running gear as claimed in claim 5, it is characterised in that: described drive mechanism is between described forward and backward oriented module.
8. robot running gear as claimed in claim 7, it is characterized in that: described carry portion is provided above middle part loading plate, in the middle part of this, the two ends of loading plate are separately mounted on the support bar of forward and backward oriented module, and described translation mechanism is arranged on the loading plate of middle part.
9. robot running gear as claimed in claim 8, it is characterised in that: the edge of described middle part loading plate is provided with sensor installation position.
10. robot running gear as claimed in claim 5, it is characterised in that: the periphery of described driving wheel is provided with driving tooth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620247015.2U CN205415603U (en) | 2016-03-29 | 2016-03-29 | Robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620247015.2U CN205415603U (en) | 2016-03-29 | 2016-03-29 | Robot walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205415603U true CN205415603U (en) | 2016-08-03 |
Family
ID=56522512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620247015.2U Withdrawn - After Issue CN205415603U (en) | 2016-03-29 | 2016-03-29 | Robot walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205415603U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598944A (en) * | 2016-03-29 | 2016-05-25 | 亿嘉和科技股份有限公司 | Robot walking mechanism |
| CN110091305A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of robot including vertically movable portion |
| CN110666772A (en) * | 2019-09-19 | 2020-01-10 | 陕西中建建乐智能机器人有限公司 | Comprehensive pipe rack fortune inspection robot |
| CN111001106A (en) * | 2019-12-05 | 2020-04-14 | 青岛职业技术学院 | City utility tunnel intelligence fire-fighting robot |
-
2016
- 2016-03-29 CN CN201620247015.2U patent/CN205415603U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105598944A (en) * | 2016-03-29 | 2016-05-25 | 亿嘉和科技股份有限公司 | Robot walking mechanism |
| CN110091305A (en) * | 2019-04-29 | 2019-08-06 | 合肥瑞堡科技发展有限公司 | A kind of robot including vertically movable portion |
| CN110666772A (en) * | 2019-09-19 | 2020-01-10 | 陕西中建建乐智能机器人有限公司 | Comprehensive pipe rack fortune inspection robot |
| CN111001106A (en) * | 2019-12-05 | 2020-04-14 | 青岛职业技术学院 | City utility tunnel intelligence fire-fighting robot |
| CN111001106B (en) * | 2019-12-05 | 2024-03-12 | 青岛职业技术学院 | Urban comprehensive pipe rack intelligent fire-fighting robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160803 Effective date of abandoning: 20161228 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |