CN206926735U - Suitable for the robot running gear of full landform - Google Patents
Suitable for the robot running gear of full landform Download PDFInfo
- Publication number
- CN206926735U CN206926735U CN201720895923.7U CN201720895923U CN206926735U CN 206926735 U CN206926735 U CN 206926735U CN 201720895923 U CN201720895923 U CN 201720895923U CN 206926735 U CN206926735 U CN 206926735U
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- CN
- China
- Prior art keywords
- running gear
- installation panel
- swing arm
- ratcheting mechanism
- drive device
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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.)
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Abstract
The utility model discloses a kind of robot running gear suitable for full landform, including the pedrail mechanism as rear driving, also include the ratcheting mechanism of driving and the oscillating arm mechanisms for controlling ratcheting mechanism to be deformed as before, oscillating arm mechanisms include installation panel, swing arm drive device, U-bracket and Z-shaped support, installation panel is packed on pedrail mechanism, swing arm drive device is arranged in installation panel by fixed mount, U-bracket hinge is in the swing arm drive device, and one end of the Z-shaped support is connected with U-shaped support, its other end is connected with ratcheting mechanism.The utility model is to be driven after using pedrail mechanism, driven using ratcheting mechanism before, and provided with one for controlling the oscillating arm mechanisms that ratcheting mechanism is deformed.The utility model overcomes the shortcomings that existing when simple wheeled or crawler type walking mechanism uses, and has the characteristics of maneuverability, walking speed are fast, obstacle climbing ability is strong, stable performance, can be travelled in level land and various complicated landforms.
Description
Technical field
It the utility model is related to a kind of robot parts, and in particular to a kind of robot ambulation machine suitable for full landform
Structure, belong to robot building industry technical field.
Background technology
With the development of science and technology, robot is gradually used in every field.Such as Engineering Robot is applied in disaster
Search and rescue, patrol scouting, anti-terrorism stability maintenance, rescue of battlefield and logistics support etc. in work, huge effect can be played.And weigh
The good and bad performance of one robot device is usually to perform machine as the central controller of robot brain and as robot
The walking mechanism of structure.Therefore, the flexibility of robot running gear, mobility and whether adapt to complicated landform etc. all can shadow
Ring the overall performance of robot.
In the market, the walking mechanism of Engineering Robot uses wheeled or crawler type more.Wheel type traveling mechanism has matter
Amount is light, speed is fast, maneuverability, efficiency high and the characteristics of be hardly damaged road surface, but in face of step, stair, gully and abrupt slope etc.
During complicated landform, its obstacle performance is poor, stability is poor；Another crawler type walking mechanism, its be generally divided into inverted trapezoidal structure and
Prolate shape structure.Compared with wheel type traveling mechanism：Crawler type walking mechanism obstacle climbing ability is strong, but crawler type walking mechanism body
The defects of type is heavy, walking speed is slow, be not easy to turn, mobility difference.In order to allow robot walking mechanism be provided simultaneously with it is wheeled
And the advantages of crawler type walking mechanism, the scope of application of robot running gear is improved, is occurred in the prior art various new
The robot running gear of structure.
Such as the applying date is on 06 13rd, 2010, Authorization Notice No. is that CN101890986B Chinese invention patent discloses
A kind of robot running gear of deformable all-terrain adaptable, including framework, ratcheting mechanism and upset arm mechanism.Ratcheting mechanism
For a four wheel mechanism, using active wheel drive, driven pulley is driven using timing belt, and the ratcheting mechanism of left and right side uses respectively
One motor driving, the timing belt for connecting driving wheel and driven pulley are encapsulated within robot cavity.The walking mechanism mainly according to
By four wheel mechanism, upset arm mechanism plays synkinesia and makes deformation, the modal changeability of mechanism with
The forms such as four-wheel, class crawler belt, the wheel of extension six, have the wheeled light weight having with crawler type walking mechanism concurrently, move flexible, speed
It hurry up, full terrain adaptability advantage, but the walking mechanism is complex, and production cost is big, is unfavorable for promoting on a large scale.
Utility model content
For above-mentioned deficiency, technical problem to be solved in the utility model is to provide a kind of simple in construction, motor-driven spirit
Live, walking speed is fast, obstacle climbing ability is strong and is applicable the robot running gear of various landform.
To achieve the above object, the utility model is achieved through the following technical solutions：
Suitable for the robot running gear of full landform, including the pedrail mechanism as rear driving, the pedrail mechanism bag
The crawler belt of two parallel settings is included, has been respectively coated by an Athey wheel at the both ends of each crawler belt, is turned on the Athey wheel
Axle is connected with motor by connecting bearing, in addition to as the preceding ratcheting mechanism driven and for controlling ratcheting mechanism to carry out
The oscillating arm mechanisms of deformation, the ratcheting mechanism are arranged on the front end of pedrail mechanism by oscillating arm mechanisms, and the oscillating arm mechanisms include
Installation panel, swing arm drive device, U-bracket and Z-shaped support, the installation panel are packed on pedrail mechanism, the swing arm
Drive device is arranged in installation panel by fixed mount, and the U-bracket hinge is in swing arm drive device, the Z-shaped branch
One end of frame is connected with U-shaped support, its other end is connected with ratcheting mechanism.
In such scheme, the swing arm drive device can be steering wheel, and the output arm on the steering wheel is connected by steering wheel
It is hinged after device with U-bracket.
In such scheme, a motor fixing frame is installed, the motor fixing frame is with being fixed on peace on the motor
V-shaped rest on dress panel is connected.
In such scheme, the ratcheting mechanism can specifically include a pair of rubber wheels, and each rubber wheel is respectively connected with always
Reducing motor is flowed, rotating shaft of the output shaft in the DC speed-reducing by connecting bearing and rubber wheel connects.
Beneficial aspects of the present utility model are：
1st, robot walking mechanism is driven after and then driven using ratcheting mechanism before using pedrail mechanism, and
One is set to be used to control the oscillating arm mechanisms that ratcheting mechanism is deformed, set robot running gear on pedrail mechanism
The shortcomings that existing when simple wheeled or crawler type walking mechanism uses is overcome, has that maneuverability, walking speed be fast, obstacle detouring
The characteristics of ability is strong, stable performance, it can be travelled in the full landform such as level land, sandstone, meadow, ladder, plateau.
2nd, the oscillating arm mechanisms for adopting design eliminate the parts of many complexity, and simple in construction, equipment cost is low.
Brief description of the drawings
Fig. 1 is that a kind of structure of this robot running gear for being applied to full landform disassembles schematic diagram.
Fig. 2 is the structural representation that this is applied to after the robot running gear assembling of full landform.
In figure marked as：1st, installation panel；2nd, V-shaped rest；3rd, motor fixing frame；4th, motor；5th, bearing is connected；6、
Athey wheel；7th, crawler belt；8th, fixed mount；9th, steering wheel；10th, steering wheel connector, 11, U-bracket；12nd, Z-shaped support；13rd, rubber wheel；
14th, DC speed-reducing.
Embodiment
As shown in Figure 1 and Figure 2, suitable for the robot running gear of full landform, including the pedrail mechanism as rear driving,
Also include the ratcheting mechanism of driving and the oscillating arm mechanisms for controlling ratcheting mechanism to be deformed as before.
The pedrail mechanism includes the crawler belt 7 of two parallel settings, and one has been respectively coated by the both ends of each crawler belt 7
Athey wheel 6, the rotating shaft on the Athey wheel 6 are connected with motor 4 by connecting bearing 5.Utilize volume big to reduce or
Baroque parts, a motor fixing frame 3 is installed on the motor 4, pass through the motor fixing frame 3 with it is fixed
V-shaped rest 2 in installation panel 1 is connected.In the present embodiment, the motor 4 is specially DC speed-reducing.
The ratcheting mechanism is arranged on the front end of pedrail mechanism by oscillating arm mechanisms, and specifically, the ratcheting mechanism includes
A pair of rubber wheels 13, each rubber wheel 13 are respectively connected with a DC speed-reducing 14, the output in the DC speed-reducing 14
Axle is connected by connecting bearing 5 with the rotating shaft of rubber wheel 13.
The oscillating arm mechanisms include installation panel 1, swing arm drive device, U-bracket 11 and Z-shaped support 12, the installation
Panel 1 is packed on pedrail mechanism, particular by be fixed on the V-shaped rest 2 at 1 four angles of installation panel with motor 4
Motor fixing frame 3 be attached.It is so designed that the manufacturing cost for the equipment that can simplify the internal structure of an organization, save.The swing arm driving dress
Put and be arranged on by fixed mount 8 in installation panel 1.The swing arm drive device is specially the steering wheel 9 of existing structure, and it can be controlled
Twisting of the U-bracket 11 and Z supports 12 processed on upper and lower, left and right directions or skew in an inclined direction, so as to by entirely
Ratcheting mechanism is lifted, lands, offset so that the robot running gear of this structure can be applied to level land, sandstone, meadow,
The landform such as ladder, plateau.Output arm on the steering wheel 9 after steering wheel connector 10 with U-bracket 11 by being hinged.The U
The hinge of shape support 11 is in the swing arm drive device, and one end of the Z-shaped support 12 is connected with U-shaped support 11, its other end is with taking turns
Formula mechanism connects.
The concrete structure of Z-shaped support 12 can be：It is described including motion bar, connecting rod and the fix bar being sequentially connected
In the DC speed-reducing 14 that one end of motion bar is fixed on ratcheting mechanism, its other end and connecting rod be hinged, the fixation
One end of bar is fixed on U-bracket 11, its other end and connecting rod are fixedly connected by screw.
The utility model is when in use：
1) it is logical to the DC speed-reducing 14 on the motor 4 and ratcheting mechanism on pedrail mechanism in level walking
Electricity, drive Athey wheel 6 and the wheel of rubber 13 to rotate, by controlling the rotating of DC speed-reducing, make full landform robot ambulation
Mechanism can realize the action that moves forward and backward, by controlling swing arm drive device Z-shaped support 12 moved with turning to the left, to the right
Make；
2) when by complicated landforms such as sandstone, meadow, ladder, plateau, when traveling is obstructed or needs climbing, swing arm is controlled
Drive device, so that U-shaped support 11 and Z-type support 12 deform the overall up lifting of ratcheting mechanism, realization, so as to realize
Continue current and climb plateau.
Explanation embodiment of the present utility model is these are only, the utility model is not limited to, for this area
It is all within the spirit and principles of the utility model for technical staff, any modification, equivalent substitution and improvements made etc.,
It should be included within the scope of protection of the utility model.
Claims (4)
1. include suitable for the robot running gear of full landform, including the pedrail mechanism as rear driving, the pedrail mechanism
The crawler belt (7) of two parallel settings, an Athey wheel (6), the Athey wheel are respectively coated by the both ends of each crawler belt (7)
(6) rotating shaft on is connected with motor (4) by connecting bearing (5), it is characterised in that：Also include as the wheeled of preceding driving
Mechanism and the oscillating arm mechanisms for controlling ratcheting mechanism to be deformed, the ratcheting mechanism are arranged on tracked machine by oscillating arm mechanisms
The front end of structure, the oscillating arm mechanisms include installation panel (1), swing arm drive device, U-bracket (11) and Z-shaped support (12), institute
State installation panel (1) to be packed on pedrail mechanism, the swing arm drive device is arranged on installation panel (1) by fixed mount (8)
On, in swing arm drive device, one end and the U-shaped support (11) of the Z-shaped support (12) connect U-bracket (11) hinge
Connect, its other end is connected with ratcheting mechanism.
2. the robot running gear according to claim 1 suitable for full landform, it is characterised in that：The swing arm driving
Device is steering wheel (9), and the output arm on the steering wheel (9) is hinged with U-bracket (11) afterwards by steering wheel connector (10).
3. the robot running gear according to claim 1 or 2 suitable for full landform, it is characterised in that：In driving electricity
One motor fixing frame (3), the motor fixing frame (3) and the V-shaped rest being fixed in installation panel (1) are installed on machine (4)
(2) it is connected.
4. the robot running gear according to claim 3 suitable for full landform, it is characterised in that：The ratcheting mechanism
Including a pair of rubber wheels (13), each rubber wheel (13) is respectively connected with a DC speed-reducing (14), the DC speed-reducing
(14) output shaft on is connected by connecting bearing (5) with the rotating shaft of rubber wheel (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720895923.7U CN206926735U (en) | 2017-07-21 | 2017-07-21 | Suitable for the robot running gear of full landform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720895923.7U CN206926735U (en) | 2017-07-21 | 2017-07-21 | Suitable for the robot running gear of full landform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206926735U true CN206926735U (en) | 2018-01-26 |
Family
ID=61355774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720895923.7U Expired - Fee Related CN206926735U (en) | 2017-07-21 | 2017-07-21 | Suitable for the robot running gear of full landform |
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| Country | Link |
|---|---|
| CN (1) | CN206926735U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107399376A (en) * | 2017-07-21 | 2017-11-28 | 钦州学院 | Suitable for the robot running gear of full landform |
-
2017
- 2017-07-21 CN CN201720895923.7U patent/CN206926735U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107399376A (en) * | 2017-07-21 | 2017-11-28 | 钦州学院 | Suitable for the robot running gear of full landform |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180126 Termination date: 20210721 |
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| CF01 | Termination of patent right due to non-payment of annual fee |