CN205438533U - Traffic control robot running gear - Google Patents

Abstract

The utility model discloses a traffic control robot running gear, including lower chassis, go up chassis, riser and two sets of running gear, be equipped with two risers that are parallel to each other under between chassis and the last chassis, be equipped with race down under on the chassis, be equipped with the race on last chassis, running gear includes servo motor, shaft coupling, pivot and walking wheel, and two servo motor are together fixed, and servo motor contacts with chassis and last chassis down, and servo motor's output shaft passes the riser, is connected with the shaft coupling on servo motor's output shaft, is connected with the pivot on the shaft coupling, installing the walking wheel in the pivot, is fixed with the bearing frame in upper both sides of taking turns in the walking in chassis down, is equipped with the bearing in the bearing frame, and the bearing is passed in the pivot, the race stretches out under the lower part warp of walking wheel, and stretch out through last race on the upper portion of walking wheel. The utility model provides high running gear's stability.

Description

A kind of traffic control robot walking mechanism

Technical field

This utility model relates to traffic control robot.

Background technology

At present, the point duty in major part place is all to be realized by traffic police, and in some crossroads, in order to preferably carry out point duty, traffic police is standing in the middle of four crossway, and due to the traveling of vehicle, the danger to traffic police is the biggest.

Therefore, the robot using machine to replace people commander is the most also occurred in that.But the stability of current traffic control robot is bad, the intensity of supporting is not good enough, and the motility of commander is bad, robot underaction in the process of walking.

Summary of the invention

In order to improve the stability of walking mechanism, this utility model provides a kind of traffic control robot walking mechanism.

For reaching above-mentioned purpose, a kind of traffic control robot walking mechanism, including low bottom-disc, top bottom-disc, riser and two groups of running gears, is provided with two risers being parallel to each other between low bottom-disc and top bottom-disc, between low bottom-disc and top bottom-disc, it is formed with cavity, between two risers, is formed with containing cavity；Low bottom-disc is provided with lower race, top bottom-disc is provided with race；Described running gear includes servomotor, shaft coupling, rotating shaft and road wheel, two servomotors in two groups of running gears are arranged in containing cavity, two servomotors are fixed together, servomotor all contacts with low bottom-disc and top bottom-disc, the output shaft of servomotor passes riser, the output shaft of servomotor connects and has shaft coupling, shaft coupling connects and has rotating shaft, rotating shaft is provided with road wheel, the both sides being positioned at road wheel on low bottom-disc are fixed with bearing block, being provided with bearing in bearing block, rotating shaft passes bearing；The bottom of road wheel is stretched out through lower race, and the top of road wheel is stretched out through upper race.

Owing to defining cavity between low bottom-disc and top bottom-disc, servomotor is fixed in the containing cavity that two risers are formed, therefore, servomotor, road wheel are installed the most relatively downward so that the decentralization of walking mechanism, therefore, walking mechanism is the most stable, it is not easy to the phenomenon of rollover occur.In this utility model, riser has the effect of location to servomotor.Owing to servomotor all contacts with upper low bottom-disc, therefore, top bottom-disc is supported by available servomotor, more preferable to the supporting stabilizer of top bottom-disc.Stretched out time race and upper race respectively due to road wheel, therefore, even if the road wheel rotating shaft or the rotating shaft fracture that depart from or rotating shaft separates with shaft coupling, road wheel, also without departing from base, improves security performance.Owing to being provided with the running gear of two groups of independences, therefore, the rotating speed of two road wheels can be made different by the speed controlling servomotor, can more preferably realize turning to.

Further, described walking mechanism also includes universal wheel, is separately installed with universal wheel, is provided with breach on low bottom-disc before and after top bottom-disc on bottom surface, and universal wheel extends downwardly from through breach.Described breach is used for dodging universal wheel, by arranging universal wheel, traffic control robot can be allowed to walk in all directions.

Accompanying drawing explanation

Fig. 1 is traffic control robot schematic diagram.

Fig. 2 is traffic control robot exploded view.

Detailed description of the invention

With detailed description of the invention, this utility model is further elaborated below in conjunction with the accompanying drawings.

As depicted in figs. 1 and 2, traffic control robot includes walking mechanism 2, bearing support 14, columns assemblies 3, commander's hands 4 and CCD camera assembly 5.

Traffic control robot walking mechanism includes low bottom-disc 11, top bottom-disc 12,13, two groups of running gears of riser and universal wheel 21.Low bottom-disc 11 is provided with breach 111.Between low bottom-disc 11 and top bottom-disc 12, it is provided with two risers 13 being parallel to each other, between low bottom-disc 11 and top bottom-disc 12, is formed with cavity 100, between two risers 13, be formed with containing cavity；Low bottom-disc 11 is provided with lower race 112, top bottom-disc 12 is provided with race 121；Bearing support 14 is fixed on top bottom-disc 12.

Described running gear includes servomotor 22, shaft coupling 23, rotating shaft 24 and road wheel 25, two servomotors 22 in two groups of running gears are arranged in containing cavity, two servomotors 22 are fixed together, servomotor 22 all contacts with low bottom-disc 11 and top bottom-disc 12, the output shaft of servomotor 22 passes riser 13, the output shaft of servomotor 22 connects and has shaft coupling 23, shaft coupling 23 connects and has rotating shaft 24, rotating shaft 24 is provided with road wheel 25, the both sides being positioned at road wheel 25 on low bottom-disc 11 are fixed with bearing block, bearing it is provided with in bearing block, rotating shaft 24 is through bearing；The bottom of road wheel 25 is stretched out through lower race 112, and the top of road wheel 25 is stretched out through upper race 121.

Owing to defining cavity 100 between low bottom-disc 11 and top bottom-disc 12, servomotor 22 is fixed in the containing cavity that two risers 13 are formed, therefore, servomotor 22, road wheel 25 are installed the most relatively downward, make the decentralization of walking mechanism 2, therefore, traffic control robot of the present utility model is the most stable, it is not easy to the phenomenon of rollover occur.In this utility model, riser 13 has the effect of location to servomotor 22.Owing to servomotor 22 all contacts with upper low bottom-disc 11, therefore, top bottom-disc 12 is supported by available servomotor 22, more preferable to the supporting stabilizer of top bottom-disc 12.Owing to road wheel 25 has stretched out time race 112 and upper race 121 respectively, therefore, even if the rotating shaft 24 that departs from of road wheel 25 or rotating shaft 24 is ruptured or rotating shaft 24 separates with shaft coupling 23, road wheel 25 also without departing from base 1, improves security performance.Owing to being provided with the running gear of two groups of independences, therefore, the rotating speed of two road wheels 25 can be made different by the speed controlling servomotor 22, can more preferably realize turning to.

Being separately installed with universal wheel 21 before and after top bottom-disc 12 on bottom surface, universal wheel 21 extends downwardly from through breach 111.Described breach 111 is used for dodging universal wheel 21, by arranging universal wheel 21, traffic control robot can be allowed to walk in all directions.

Described bearing support 14 is fixed on top bottom-disc.The both sides being positioned at bearing support 14 on top bottom-disc 12 are provided with battery space 201, are provided with battery 200 in battery space 201.Being respectively provided with battery 200 in the both sides of bearing support 14, the stress of top bottom-disc 12 can be allowed more to balance, traffic control robot is the most steady.It addition, the weight of battery 200 itself is heavier, battery 200 is installed in this position, can allow the decentralization of whole traffic control robot, further increase stability.

Described columns assemblies 3 includes supporting disk 31, base plate 32, column 33 and connects post 34, bearing support 14 is fixed with pillar, supporting disk 31 is fixed on pillar, supporting disk 31 is provided with cavity 311, base plate 32 is located in cavity 311, the lower end of column 33 is fixed on base plate 32, and the lower end connecting post 34 is connected to the upper end of column 33.The cross section of column 33 is circular, and the cross section connecting post 34 is square.Base plate 32 is located in supporting disk 31, can carry out spacing to base plate 32 by cavity 311, and the connection of base plate 32 is also reliable, it addition, conveniently mount and separate base plate 32, allows base plate 32, column 33 and connection post 34 entirety separate with supporting disk 31.Using cross section is square connection post 34, convenient fixing commander's hands 4.

Described commander's hands 4 includes fixed mount the 41, first joint 42, second joint the 43, the 3rd joint the 44, the 4th joint the 45, first link the 46, second link 47 and finger 48；Fixed mount 41 is fixed in columns assemblies 3, fixing the first described joint 42 on fixed mount 41, the first steering wheel (not shown) it is fixed with in the first joint 42, the output shaft of the first steering wheel is horizontally disposed with, the output shaft of the first steering wheel stretches out the first joint 42, the output shaft of the first steering wheel is fixed with second joint 43, the second steering wheel (not shown) it is fixed with in second joint 43, the output shaft of the second steering wheel is vertically arranged, the output shaft of the second steering wheel stretches out second joint 43, is fixed with the first link 46 on the output shaft of the second steering wheel；Being provided with the 3rd steering wheel (not shown) in 3rd joint 44, the output shaft of the 3rd steering wheel is fixed on the first link 46；It is fixed with the second link 47 in the lower end in the 3rd joint 44；Being fixed with the 4th steering wheel (not shown) in the 4th joint 45, the output shaft of the 4th steering wheel is fixed on the second link 47；Described finger 48 is fixed on the lower end in the 4th joint 45.

Above-mentioned commander's hands 4, the first steering wheel work, the first steering wheel drives second joint 43 to rotate；Second steering wheel work, the second steering wheel drives the first link 46 to rotate；3rd steering wheel work, the 3rd steering wheel drives the 3rd joint 44 to rotate；4th steering wheel work, the 4th steering wheel drives the 4th joint 45 to rotate, and the 4th joint 45 drives finger 48 to move.Owing to being provided with first, second, third, fourth steering wheel, therefore, finger 48 can be allowed to move in all directions, allow commander's hands 4 command the most flexibly.Owing to being provided with first, second, third and fourth joint 45, therefore, convenient fixing first, second, third and fourth steering wheel.

As depicted in figs. 1 and 2, at the top of columns assemblies 3, CCD camera assembly 5 is installed, described CCD camera assembly 5 includes support column 51 and photographic head 52, support column 51 is in taper type, photographic head 52 is set, the situation on road surface can be monitored in real time, use the support column 51 of taper type, support column 51 is good to the bearing performance of photographic head 52, and is not easy to block the shooting sight line of photographic head.

Claims (2)

1.A kind of traffic control robot walking mechanism, it is characterized in that: include low bottom-disc, top bottom-disc, riser and two groups of running gears, between low bottom-disc and top bottom-disc, it is provided with two risers being parallel to each other, between low bottom-disc and top bottom-disc, is formed with cavity, between two risers, be formed with containing cavity；Low bottom-disc is provided with lower race, top bottom-disc is provided with race；Described running gear includes servomotor, shaft coupling, rotating shaft and road wheel, two servomotors in two groups of running gears are arranged in containing cavity, two servomotors are fixed together, servomotor all contacts with low bottom-disc and top bottom-disc, the output shaft of servomotor passes riser, the output shaft of servomotor connects and has shaft coupling, shaft coupling connects and has rotating shaft, rotating shaft is provided with road wheel, the both sides being positioned at road wheel on low bottom-disc are fixed with bearing block, being provided with bearing in bearing block, rotating shaft passes bearing；The bottom of road wheel is stretched out through lower race, and the top of road wheel is stretched out through upper race.

2.Traffic control robot walking mechanism according to claim 1, it is characterised in that: described walking mechanism also includes universal wheel, is separately installed with universal wheel, is provided with breach on low bottom-disc before and after top bottom-disc on bottom surface, and universal wheel extends downwardly from through breach.