CN205916225U - Sufficient robot of wheel - Google Patents
Sufficient robot of wheel Download PDFInfo
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- CN205916225U CN205916225U CN201620669063.0U CN201620669063U CN205916225U CN 205916225 U CN205916225 U CN 205916225U CN 201620669063 U CN201620669063 U CN 201620669063U CN 205916225 U CN205916225 U CN 205916225U
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- lower limb
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- riser
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Abstract
The utility model belongs to the technical field of automatic control technology and specifically relates to a sufficient robot of wheel, its characterized in that: establish the fixing device in the wheel, fixing device perpendicularly upwards be equipped with the slide opening, be equipped with the wheel transmission of driven belt gear, sufficient drive arrangement, sufficient drive arrangement on still be equipped with position sensor, be equipped with wireless signal receiving and sending module's controller, a battery. Fixing device establish in the wheel, and fixing device is swivelling joint along the inner wall of wheel, wheel transmission, sufficient drive arrangement, controller, battery establish the different positions at fixing device respectively, wheel transmission's the tooth mesh of driven belt gear and wheel, top and the slide opening sliding connection of leg, the middle part and the sufficient drive arrangement coupling of leg. Compared with the prior art, the utility model, combine wheeled and sufficient formula ingeniously, adapted to most of road environment, and the wheel has reduced the possibility of turning on one's side with sufficient combination, and has accelerated the speed of marcing.
Description
Technical field
This utility model is related to technical field of automatic control, specifically a kind of wheel biped robot.
Background technology
Existing sufficient class or running on wheels mechanism, have its limitation.
Wheeled robot is more suitable for flat road surface, particularly road, and energy high-speed mobile, but easy skidding, it is unstable,
And it is helpless to complicated landform.Double legged mobile robots are almost adapted to various complexity landform, can leaping over obstacles, shortcoming is
Gait of march is relatively low, and because center of gravity reason is easily turned on one's side, unstable.
Utility model content
The purpose of this utility model is to overcome prior art not enough, a kind of device taken turns and can move completely simultaneously of design, makes
Its adaptability is wider, and speed is faster.
For achieving the above object, design a kind of wheel biped robot it is characterised in that:
Including circular wheel；The uniform gear teeth on the medial wall of described wheel or on inwall；
The lower limb of two bottom axle pin palms；
It is located at the fixing device in wheel；Described fixing device is provided with slide opening vertically upward；
It is provided with the wheel drive unit of follower belt gear；
Sufficient driving means；It is additionally provided with position sensor in described sufficient driving means；
It is provided with the controller of wireless signal transceiver module；
Battery；
Described fixing device is located in wheel, and fixing device is rotatably connected along the inwall taken turns；
Described wheel drive unit, sufficient driving means, controller, battery are respectively provided at the different parts of fixing device；
The follower belt gear of described wheel drive unit and the gear teeth meshing taken turns；
The top of described lower limb and slide opening are slidably connected, and midleg is connect with sufficient driving unit shaft；
The power interface of described controller is connected with battery path, and the first via signal end of controller connects wheel drive dress
The signal end put, the second road signal end of controller connects the signal input part of sufficient driving means, the signal input part of controller
The signal output part of link position sensor；The signal input part of the signal output part link position sensor of sufficient driving means；
The wireless signal transceiver module of controller is used for and remote control wireless telecommunications；
When being run using wheel, controller controls the lower limb rotation of sufficient driving means, moves upwards along slide opening simultaneously, then controls
Ratch driving means carry out driving wheel rotation；
When being moved using foot, controller controls sufficient driving means driving leg rotation, drives foot same rotate
When also move up and down in the linear position up and down that slide opening limits, when foot is lifted away from ground, then wheel lands, until foot is again
Ground, the advance of biped is realized in circulation successively.
Described wheel is provided with left and right two, is driven by a wheel drive unit respectively；Described lower limb is provided with left and right two,
Driven by sufficient driving means respectively.
Described wheel drive unit includes follower belt gear, motor pulley, turbin generator；Described follower belt gear
The follower belt gear teeth being uniformly distributed along the circumference are installed with using the one side in rotating disk, the annular outer wall of rotating disk are provided with and are embedded skin
With belt grooves constituted；Described motor belt wheel shaft is connected on the output shaft of turbin generator, motor pulley and driven skin
Band gear adopts belt to connect；The centerline axis parallel of the output shaft of turbin generator is in the axial direction of wheel；
When the gear teeth along the medial wall of wheel uniform when, the described gear teeth are set to cylindric, the central axis of the described gear teeth and wheel
Axially in parallel, the described gear teeth are engaged with the follower belt gear teeth of follower belt gear side；
When the gear teeth are located at the inwall of wheel, the radius of the described tooth crest of the follower belt gear teeth of follower belt gear is big
In the radius of the annular outer wall of rotating disk, the gear teeth of the inwall of wheel are engaged with the follower belt gear teeth.
Described fixing device includes base, support；It is respectively equipped with wheel bearing seat at the corner of the bottom surface of described base；
The front left side of the bottom surface of base and right lateral side are respectively equipped with perpendicular plate, and described perpendicular plate is located at former and later two of corresponding side respectively
Between wheel bearing seat, and set lower limb motor axis hole respectively on two perpendicular plates, in the middle of base, be additionally provided with battery case；Described support bag
Include centre and be provided with the base plate of battery hole, the left and right sides of base plate is respectively perpendicular arrangement riser, the lateral surface of riser be respectively perpendicular to
It is provided with escape groove；The top of riser is provided with wheel bearing axis hole；The lateral surface of riser is sticked outside riser, and described slide opening is located at outer
On the riser of side and corresponding by groove with wall；The bottom of described support is fixed on above base, and the battery case of base and support
Battery hole corresponding；
The bottom of described battery is embedded in battery case, and the top of battery is located in two risers after passing through battery hole
Between；Described battery adopts the power interface of line connecting controller.
The inwall of described wheel is provided with inside and outside two wheel bearing grooves；
The medial surface axle on the top of described riser connects follower belt gear；The lateral surface upper shaft on the nearly top of described riser
Connect wheel bearing；It is higher than that follower belt gear meets place with the axle of riser that described upper whorl axial holds with the axle place of connecing of riser, and driven
The top surface of belt gear is higher than the top surface of riser；
The outer end of each wheel bearing seat of base is respectively adopted connecting shaft axle and connects a lower wheel bearing；
Two lower wheel bearings of corresponding side are embedded in the wheel bearing groove in the outside of wheel in corresponding side, the upper whorl axial of corresponding side
Hold the inwall realizing taking turns on fixing device edge in the wheel bearing groove of the inner side being embedded the wheel in corresponding side to be rotatably connected；
Turbin generator and controller set up separately on the base of side before and after support.
Described sufficient driving means include lower limb motor, lower limb motor gear, lower limb gear, lower limb gear arm, described lower limb gear
Side is fixed on the medial surface of one end of lower limb gear arm；The lateral surface axle of the other end of lower limb gear arm connects midleg；Lower limb motor
The medial surface of gear sets deep gouge；The output shaft of described lower limb motor passes through the lower limb motor axis hole on the perpendicular plate of base of corresponding side
Rear axle acting flange disk, the card of ring flange is embedded lower limb motor gear in the deep gouge of lower limb motor gear and fixed thereto, described
Engagement lower limb gear；
Described position sensor is fixed on the riser of outside, and the one of the cage connection sensor transverse axis of position sensor
End, the described central axis of sensor transverse axis is axially in parallel with take turns；The other end axle of sensor transverse axis connects sensor arm
One end, the other end of sensor arm sets mounting hole, and one end axle of a lower limb transverse axis connects the top inner side face of lower limb, the other end of lower limb transverse axis
Sequentially pass through mounting hole, fix a securing member after the slide opening of outside riser, securing member is embedded in the escape groove of riser.
It is provided with rear cross beam between the described trailing flank of two risers, between the leading flank of two risers, be provided with front beam,
And in the middle of front beam, it is provided with the breach passing through for belt；Corresponding position between the front beam and rear cross beam of breach both sides is respectively
It is provided with the arc notch board agreeing with follower belt gear；
The lateral surface on the top of described riser is provided with and agrees with the circular groove that upper whorl axial holds.
It is respectively equipped with louvre on base below corresponding turbin generator and below corresponding controller.
The turbin generator set casing being provided with concavity groove in the middle of one bottom surface is located at the top of two turbin generators in left and right, and will
Two turbin generator constraints are fixed between groove and base, be provided with and supply skin in the middle of the described upper inner face of turbin generator set casing
Band through avoidance hole.
The lower forks of described lower limb become former and later two branch's lower limbs, and each point of leg shaft connects a sole.
This utility model compared with the existing technology, dexterously combines wheeled and sufficient formula, has evaded their locomotory mechanisms
Deficiency, learns from other's strong points to offset one's weaknesses, and switches specific motion mode so as to locomotory mechanism has higher efficiency and passes through in specific environment
Property, adapt to most of road environments；And take turns the probability reducing rollover with sufficient combination, and accelerate the speed of traveling.
Brief description
Fig. 1 is the perspective view in this utility model embodiment.
Fig. 2 is the perspective view at another kind of visual angle in this utility model embodiment, and the not shown turbin generator of in figure is solid
Determine shell.
Fig. 3 is the exploded view at visual angle shown in Fig. 2.
Fig. 4 is the electric theory diagram in embodiment in this utility model.
Referring to Fig. 1～Fig. 3,1, sole；2nd, lower limb；2-1, lower limb transverse axis；2-2, lower limb transverse axis bearing；3rd, upper whorl axial holds；3-1, under
Wheel bearing；4th, controller；5th, sensor arm；6th, position sensor；6-1, sensor transverse axis；6-2, sensor fixation plate；7th, outer
Side riser；7-1, slide opening；8th, follower belt gear；8-1, wheel perforation；9th, take turns；10th, the gear teeth；11st, belt；12nd, battery；13rd, take turns
Motor；13-1, turbin generator set casing；13-2, avoidance hole；14th, motor pulley；15th, lower limb motor；15-1, ring flange；16th, lower limb
Motor gear；17th, lower limb gear；18th, lower limb gear arm；19th, wheel bearing groove；20th, support；20-1, escape groove；20-2, breach；20-
3rd, battery hole；20-4, base plate；20-5, wheel bearing axis hole；20-6, follower belt gear shaft holes；20-7, arc notch board；20-8、
Circular groove；21st, base；21-1, lower limb motor axis hole；21-2, wheel bearing seat；21-3, battery case；21-4, louvre.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further described, this utility model is for those skilled in the art
Still compare clearly.
Referring to Fig. 1～Fig. 4, a kind of this utility model wheel biped robot it is characterised in that: include circular wheel 9；Described
The medial wall of wheel on the uniform gear teeth 10；The lower limb 2 of two bottom axle pin palms 1；It is located at the fixing device in wheel 9；Described consolidates
Determine device and be provided with slide opening 7-1 vertically upward；It is provided with the wheel drive unit of follower belt gear 8；Sufficient driving means；Described foot
Position sensor 6 is additionally provided with driving means；It is provided with the controller of wireless signal transceiver module；Battery 12；
Described fixing device is located in wheel 9, and fixing device is rotatably connected along the inwall taking turns 9；
Described wheel drive unit, sufficient driving means, controller, battery are respectively provided at the different parts of fixing device；Institute
The follower belt gear 8 of the wheel drive unit stated is engaged with the gear teeth 10 of wheel 9；Slided even with slide opening 7-1 in the described top of lower limb 2
Connect, the middle part of lower limb 2 is connect with sufficient driving unit shaft；
The power interface of described controller is connected with battery 12 path, and the first via signal end of controller 4 connects wheel driving
The signal end of dynamic device, the second road signal end of controller 4 connects the signal input part of sufficient driving means, the signal of controller 4
The signal output part of input link position sensor 6；The signal of the signal output part link position sensor 6 of sufficient driving means
Input, the wireless signal transceiver module of controller is used for and remote control wireless telecommunications；
When being run using wheel 9, controller controls the lower limb rotation of sufficient driving means, moves upwards along slide opening 7-1, so simultaneously
Control wheel drive unit to carry out driving wheel 9 afterwards to rotate.
Further, described fixing device includes base 21, support 20；The corner punishment of the described bottom surface of base 21
It is not provided with wheel bearing seat 21-2；The front left side of the bottom surface of base 21 and right lateral side are respectively equipped with perpendicular plate, and described perpendicular plate divides
Between former and later two wheel bearing seats 21-2 of corresponding side, and lower limb motor axis hole 21-1, bottom Wei Yu not set on two perpendicular plates respectively
It is additionally provided with battery case 21-3 in the middle of seat 21；Described support 20 includes the base plate 20-4, base plate 20- that centre is provided with battery hole 20-3
4 left and right sides is respectively perpendicular arrangement riser, and the lateral surface of riser is respectively perpendicular to being provided with escape groove 20-1；The top of riser sets
There is wheel bearing axis hole 20-5；The lateral surface of riser be sticked outside riser 7, described slide opening 7-1 be located at outside riser 7 on and and wall
Make groove 20-1 corresponding；The bottom of described support 20 is fixed on above base 21, and the battery case 21-3 of base and support 20
Battery hole 20-3 corresponding；The bottom of described battery 12 is embedded in battery case 21-3, and the top of battery 12 passes through battery
It is located in the middle of two risers after the 20-3 of hole；Described battery adopts the power interface of line connecting controller.
The inwall of described wheel 9 is provided with inside and outside two wheel bearing grooves 19；The medial surface axle on the top of described riser connect from
Dynamic belt gear 8；The lateral surface upper shaft on the nearly top of described riser connects wheel bearing 3；Described upper whorl axial holds the axle of 3 and riser
The place of connecing is higher than that follower belt gear 8 meets place with the axle of riser, and the top surface of follower belt gear 8 is higher than the top surface of riser；Base
The outer end of 21 each wheel bearing seat 21-2 is respectively adopted connecting shaft axle and meets a lower wheel bearing 3-1；Two lower whorls of corresponding side
Bearing 3-1 is embedded in the wheel bearing groove 19 in the outside of the wheel 9 of corresponding side, and the upper whorl axial of corresponding side holds 3 and is embedded in corresponding side
The inwall realizing fixing device in the wheel bearing groove 19 of inner side of wheel 9 along wheel 9 is rotatably connected；Turbin generator 13 and 4 points of controller
It is located on the base 21 of side in front and back of support 20.
Further, described sufficient driving means include lower limb motor 15, lower limb motor gear 16, lower limb gear 17, lower limb gear arm
18, the side of described lower limb gear 17 is fixed on the medial surface of one end of lower limb gear arm 18；Outside the other end of lower limb gear arm 18
Side axle connects the middle part of lower limb 2；The medial surface of lower limb motor gear 16 sets deep gouge；The output shaft of described lower limb motor 15 passes through corresponding side
The perpendicular plate of base 21 on lower limb motor axis hole 21-1 rear axle acting flange disk 15-1, the card of ring flange 15-1 is embedded in lower limb electricity
Lower limb motor gear 16 engagement lower limb gear 17 in the deep gouge of machine gear 16 and fixed thereto, described；
Described position sensor 6 is fixed on the riser 7 of outside, and the cage connection sensor transverse axis of position sensor 6
One end of 6-1, the described central axis of sensor transverse axis 6-1 is axially in parallel with take turns；The other end axle of sensor transverse axis 6-1
Connect one end of sensor arm 5, the other end of sensor arm 5 sets mounting hole, and one end axle of a lower limb transverse axis 2-1 connects in the top of lower limb 2
Side, the other end of lower limb transverse axis 2-1 fixes a securing member, securing member after sequentially passing through the slide opening 7-1 of mounting hole, outside riser 7
It is embedded in escape groove 20-1 of riser.
Further, described wheel drive unit includes follower belt gear 8, motor pulley 14, turbin generator 13；Described
Follower belt gear 8 the follower belt gear teeth being uniformly distributed along the circumference are installed with using the one side in rotating disk, in the annular of rotating disk
Outer wall is provided with and is embedded the belt grooves of belt 11 and is constituted, and this example turntable is integrally formed with the follower belt gear teeth；Described
Motor pulley 14 axle is connected on the output shaft of turbin generator 13, and motor pulley 14 and follower belt gear 8 adopt belt 11 even
Connect；The centerline axis parallel of the output shaft of turbin generator 13 is in the axial direction of wheel 9；
When in this example, the gear teeth 10 are located at the inwall of wheel, the gear teeth avoid two wheel bearing grooves 19, described follower belt gear 8
The tooth crest of the follower belt gear teeth radius be more than rotating disk annular outer wall radius, the gear teeth 10 of the inwall of wheel and driven skin
Pulley teeth engages；This structure is relatively suitable for being provided with the situation of a wheel 9.
In this example adopt one wheel 9, wheel face set wider with keeps balance, then take turns 9 be respectively provided on two sides with one
Lower limb 2, when being walked using wheel drive, lower limb lifts to top, and its wheel drive unit passing through in fixing device drives driven skin
Band gear 8 rotates, then drives the gear teeth 10 being engaged with to rotate, because fixing device is along the interior wall energy rotation of wheel 9, by adjustment
The mode of centre-of gravity shift makes wheel 9 produce motion, realizes advance or the setback of wheel 9.
When being moved using foot, controller controls sufficient driving means driving leg rotation, drives foot same rotate
When also slide opening 7-1 limit linear position up and down in move up and down, when foot is lifted away from ground, then wheel land, until foot again
Secondary land, the advance of both legs is realized in circulation successively.
When using foot as motion, both legs are equidirectional, synchronized move as advancing or retreating, both legs one positive
Opposite direction is moved at the same speed as rotation, and the synchronized motion for ensureing both legs is to catch both legs by the position sensor on each foot
Altitude information, then control the direction of rotation of lower limb motor 15 by altitude information and size realize synchronous.When both legs motion
When liftoff, landed by wheel 9, to realize landing again of both legs, the advance of both legs is realized in circulation successively.
Embodiment 2
Referring to Fig. 1～4, this example is the improvement further on the basis of embodiment 1, and described wheel is provided with left and right two, respectively
Driven by a wheel drive unit；Described lower limb is provided with left and right two, is driven by sufficient driving means respectively, and two legs are respectively
It is located at the outside of corresponding wheel.
In this example, the gear teeth 10 are uniform along the medial wall of wheel, and the described gear teeth 10 are set to cylindric, the center of the described gear teeth 10
Axis is axially in parallel with wheel, and the described gear teeth 10 are engaged with the follower belt gear teeth of follower belt gear 8 side；This structure
Relatively it is suitable for being provided with the design of two-wheeled.
Further, it is provided with rear cross beam between the described trailing flank of two risers, set between the leading flank of two risers
Have and in the middle of front beam, and front beam, be provided with the breach 20-2 passing through for belt；Front beam in breach 20-2 both sides and rear horizontal stroke
Corresponding position between beam is respectively equipped with the arc notch board 20-7 agreeing with follower belt gear 8；The outside on the top of described riser
Face is provided with agrees with the circular groove 20-8 that upper whorl axial holds 3.
Further, the base 21 below corresponding turbin generator 13 and below corresponding controller is respectively equipped with louvre
21-4.
Further, the turbin generator set casing 13-1 being provided with concavity groove in the middle of a bottom surface is located at left and right two wheel electricity
The top of machine 13, and the constraint of two turbin generators 13 is fixed between groove and base 21, described turbin generator set casing 13-1
Upper inner face in the middle of be provided with for belt 11 pass through avoidance hole 13-2.
In this example when being driven using wheel, sole 1 lifts to top, produces fortune by way of adjusting centre-of gravity shift
Move, the direction of rotation of two wheels 9 and rotary speed can be with independent controls, when two-wheeled 9 moves towards same direction, machine
Advance or retreat, when two-wheeled 9 a positive and a negative rotates, machine rotation；
When using both legs as motion, both legs equidirectional synchronized move for advance or retreat, both legs one are just
One opposite direction is moved at the same speed as rotation, and the synchronized motion for ensureing both legs is to catch the both feet palm by each position sensor 6
Altitude information, then control the direction of rotation of lower limb motor 15 by altitude information and size realize synchronous.When the both feet palm 1 fortune
When dynamic liftoff, landed by double 9 wheels, to realize landing again of both feet, the advance of both feet is realized in circulation successively.
Claims (10)
1. a kind of wheel biped robot it is characterised in that:
Including circular wheel (9)；The uniform gear teeth (10) on the medial wall of described wheel or on inwall；
The lower limb (2) of the two bottoms axle pin palm (1)；
It is located at the fixing device in wheel (9)；Described fixing device is provided with slide opening (7-1) vertically upward；
It is provided with the wheel drive unit of follower belt gear (8)；
Sufficient driving means；Position sensor (6) is additionally provided with described sufficient driving means；
It is provided with the controller of wireless signal transceiver module；
Battery (12)；
Described fixing device is located in wheel (9), and fixing device is rotatably connected along the inwall taking turns (9)；
Described wheel drive unit, sufficient driving means, controller, battery are respectively provided at the different parts of fixing device；
The follower belt gear (8) of described wheel drive unit is engaged with the gear teeth (10) of wheel (9)；
The described top of lower limb (2) and slide opening (7-1) are slidably connected, and the middle part of lower limb (2) is connect with sufficient driving unit shaft；
The power interface of described controller is connected with battery (12) path, and the first via signal end of controller (4) connects wheel driving
The signal end of dynamic device, the second road signal end of controller (4) connects the signal input part of sufficient driving means, controller (4)
The signal output part of signal input part link position sensor (6)；The signal output part link position sensor of sufficient driving means
(6) signal input part；The wireless signal transceiver module of controller is used for and remote control wireless telecommunications；
When being run using wheel (9), controller controls the lower limb rotation of sufficient driving means, moves upwards along slide opening (7-1) simultaneously,
Then wheel drive unit is controlled to carry out driving wheel (9) rotation；
When using foot motion, controller controls sufficient driving means driving leg rotation, drives foot to go back while rotating
Move up and down in the linear position up and down that slide opening (7-1) limits, when foot is lifted away from ground, then wheel lands, until foot is again
Land, the advance of biped is realized in circulation successively.
2. a kind of wheel biped robot as claimed in claim 1 it is characterised in that:
Described wheel drive unit includes follower belt gear (8), motor pulley (14), turbin generator (13)；Described is driven
Belt gear (8) is installed with, using the one side in rotating disk, the follower belt gear teeth being uniformly distributed along the circumference, in the annular outer wall of rotating disk
It is provided with and be embedded the belt grooves of belt (11) and constituted；Described motor pulley (14) axle is connected on the output of turbin generator (13)
On axle, motor pulley (14) is connected using belt (11) with follower belt gear (8)；The center of the output shaft of turbin generator (13)
Diameter parallel is in the axial direction of wheel (9)；
When the medial wall of the gear teeth (10) edge wheel is uniform, the described gear teeth (10) are set to cylindric, the center of the described gear teeth (10)
Axis is axially in parallel with wheel, and the described gear teeth (10) are engaged with the follower belt gear teeth of follower belt gear (8) side；
When the gear teeth (10) are located at the inwall of wheel, the half of the described tooth crest of the follower belt gear teeth of follower belt gear (8)
Footpath is more than the radius of the annular outer wall of rotating disk, and the gear teeth (10) of the inwall of wheel are engaged with the follower belt gear teeth.
3. a kind of wheel biped robot as claimed in claim 1 it is characterised in that: described wheel is provided with left and right two, respectively by
One wheel drive unit drives；Described lower limb is provided with left and right two, is driven by sufficient driving means respectively.
4. a kind of wheel biped robot as claimed in claim 3 it is characterised in that:
Described fixing device includes base (21), support (20)；It is respectively equipped with the described corner of bottom surface of base (21)
Wheel bearing seat (21-2)；The front left side of bottom surface of base (21) and right lateral side are respectively equipped with perpendicular plate, and described perpendicular plate is respectively
Between former and later two wheel bearing seats (21-2) of corresponding side, and lower limb motor axis hole (21-1) is set on two perpendicular plates respectively,
It is additionally provided with battery case (21-3) in the middle of base (21)；Described support (20) includes the middle base plate being provided with battery hole (20-3)
(20-4), the left and right sides of base plate (20-4) is respectively perpendicular arrangement riser, and the lateral surface of riser is respectively perpendicular to being provided with escape groove
(20-1)；The top of riser is provided with wheel bearing axis hole (20-5)；The lateral surface of riser is sticked outside riser (7), described slide opening
(7-1) it is located at outside riser (7) upper and corresponding by groove (20-1) with wall；The bottom of described support (20) is fixed on base
(21) above, and the battery case (21-3) of base is corresponding with the battery hole (20-3) of support (20)；
The bottom of described battery (12) is embedded in battery case (21-3), after the top of battery (12) passes through battery hole (20-3)
In the middle of two risers；Described battery adopts the power interface of line connecting controller.
5. a kind of wheel biped robot as claimed in claim 4 it is characterised in that:
The inwall of described wheel (9) is provided with inside and outside two wheel bearing grooves (19)；
The medial surface axle on the top of described riser connects follower belt gear (8)；The lateral surface upper shaft on the nearly top of described riser
Connect wheel bearing (3)；Described upper whorl axial is held (3) and is connect with the axle of riser higher than follower belt gear (8) with the axle place of connecing of riser
Place, and the top surface of follower belt gear (8) is higher than the top surface of riser；
The outer end of each wheel bearing seat (21-2) of base (21) is respectively adopted connecting shaft axle and connects a lower wheel bearing (3-1)；
Two lower wheel bearings (3-1) of corresponding side are embedded in the wheel bearing groove (19) in the outside of the wheel (9) of corresponding side, corresponding side
Upper whorl axial hold (3) be embedded realize in the wheel bearing groove (19) of the inner side of the wheel (9) of corresponding side fixing device along wheel (9) interior
Wall is rotatably connected；
Turbin generator (13) and controller (4) set up separately on the base (21) of side before and after support (20).
6. a kind of wheel biped robot as claimed in claim 4 it is characterised in that:
Described sufficient driving means include lower limb motor (15), lower limb motor gear (16), lower limb gear (17), lower limb gear arm (18), institute
The side of the lower limb gear (17) stated is fixed on the medial surface of one end of lower limb gear arm (18)；Outside the other end of lower limb gear arm (18)
Side axle connects the middle part of lower limb (2)；The medial surface of lower limb motor gear (16) sets deep gouge；The output shaft of described lower limb motor (15) passes through
Lower limb motor axis hole (21-1) rear axle acting flange disk (15-1) on the perpendicular plate of base (21) of corresponding side, ring flange (15-1)
Card is embedded lower limb motor gear (16) engagement lower limb gear in the deep gouge of lower limb motor gear (16) and fixed thereto, described
(17)；
Described position sensor (6) is fixed on outside riser (7), and the cage connection sensor of position sensor (6) is horizontal
One end of axle (6-1), the described central axis of sensor transverse axis (6-1) is axially in parallel with take turns；Sensor transverse axis (6-1)
Other end axle connects one end of sensor arm (5), and the other end of sensor arm (5) sets mounting hole, one end axle of a lower limb transverse axis (2-1)
Connect the top inner side face of lower limb (2), the other end of lower limb transverse axis (2-1) sequentially passes through the slide opening (7-1) of mounting hole, outside riser (7)
After fix a securing member, securing member is embedded in the escape groove (20-1) of riser.
7. a kind of wheel biped robot as claimed in claim 4 it is characterised in that:
It is provided with rear cross beam between the described trailing flank of two risers, between the leading flank of two risers, be provided with front beam, and front
It is provided with the breach (20-2) passing through for belt in the middle of crossbeam；Phase between the front beam and rear cross beam of breach (20-2) both sides
The arc notch board (20-7) agreeing with follower belt gear (8) should be respectively equipped with place；
The lateral surface on the top of described riser is provided with and agrees with the circular groove (20-8) that upper whorl axial holds (3).
8. a kind of wheel biped robot as claimed in claim 5 it is characterised in that: below corresponding turbin generator (13) and corresponding control
It is respectively equipped with louvre (21-4) on base (21) below device processed.
9. a kind of wheel biped robot as claimed in claim 3 it is characterised in that: be provided with concavity groove in the middle of a bottom surface
Turbin generator set casing (13-1) is located at the top of two turbin generators (13) in left and right, and two turbin generator (13) constraints are fixed on
Between groove and base (21), it is provided with the middle of the described upper inner face of turbin generator set casing (13-1) and passes through for belt (11)
Avoidance hole (13-2).
10. a kind of wheel biped robot as claimed in claim 1 it is characterised in that: the lower forks of described lower limb become before and after two
Individual branch lower limb, each point of leg shaft connects a sole (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620669063.0U CN205916225U (en) | 2016-06-30 | 2016-06-30 | Sufficient robot of wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620669063.0U CN205916225U (en) | 2016-06-30 | 2016-06-30 | Sufficient robot of wheel |
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| Publication Number | Publication Date |
|---|---|
| CN205916225U true CN205916225U (en) | 2017-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620669063.0U Expired - Fee Related CN205916225U (en) | 2016-06-30 | 2016-06-30 | Sufficient robot of wheel |
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| CN (1) | CN205916225U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080828A (en) * | 2016-06-30 | 2016-11-09 | 上海智位机器人股份有限公司 | A kind of wheel biped robot |
| CN109878592A (en) * | 2019-04-15 | 2019-06-14 | 北京建筑大学 | A kind of compound running gear of wheel leg |
-
2016
- 2016-06-30 CN CN201620669063.0U patent/CN205916225U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080828A (en) * | 2016-06-30 | 2016-11-09 | 上海智位机器人股份有限公司 | A kind of wheel biped robot |
| CN106080828B (en) * | 2016-06-30 | 2018-01-26 | 上海智位机器人股份有限公司 | One kind wheel biped robot |
| CN109878592A (en) * | 2019-04-15 | 2019-06-14 | 北京建筑大学 | A kind of compound running gear of wheel leg |
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Granted publication date: 20170201 Termination date: 20180630 |