CN207274292U - A kind of walking axle of robot - Google Patents
A kind of walking axle of robot Download PDFInfo
- Publication number
- CN207274292U CN207274292U CN201721299656.3U CN201721299656U CN207274292U CN 207274292 U CN207274292 U CN 207274292U CN 201721299656 U CN201721299656 U CN 201721299656U CN 207274292 U CN207274292 U CN 207274292U
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- wheel
- base
- track
- robot
- wheel hub
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Abstract
The utility model discloses a kind of walking axle of robot,Including track and base,Base is located at directly over track,Track front-end and back-end are mounted on block,Track end face is in " mountain " font,Side is respectively connected with buffer stopper before and after base,Base top is equidistant to be provided with several mechanical bodies,Chassis left side and right side are provided with front-wheel by wheel shaft,Chassis interior is equipped with mounting layer,Driving device is installed in mounting layer,Driving device includes two servomotors,There is installation motor shaft in servomotor one end,Motor shaft is connected with gear reducer by shaft coupling,Gear reducer is connected with wheel hub by output shaft,Rubber tyre is installed on the outside of wheel hub,Front-wheel and wheel hub are respectively positioned in track,It is simple in structure,Cost is low,Track and robot ambulation foot wheel abrasion are smaller,Noise is small,The robot speed of travel in orbit is fast and turns light,Robotic conveyance work speed is fast,Multiple robots share a walking mechanism,Processing cost is saved.
Description
Technical field
Robotic technology field is the utility model is related to, is specially a kind of walking axle of robot.
Background technology
With the progress of science and technology and the social demand of the mankind, ground mobile robot is widely used to life not
Same domain such as military surveillance, safety are explosive etc..Robot is the installations of automated execution work.It can both receive the mankind and refer to
Wave, and the program of advance layout can be run, can also be according to the principle guiding principle action formulated with artificial intelligence technology.It appoints
Business is assistance or the work for substituting the mankind, such as production industry, construction industry, or dangerous work.
The walking axle of robot refers to the dress for making robot ambulation of the compositions such as robot ambulation track, travel driving unit
Put, the quality of the walking axle performance of robot affects the speed of travel of robot, also contributes to machine task efficiency.
Existing robot ambulation axis has the following disadvantages and problem：
（1）The walking rail of robot and the driving device structure of robot are all more complicated, and inner body is more, of high cost,
And maintenance is difficult, when knocking block after robot brake, robot or block are easily broken.
（2）The transmission that most of robots rely on wheel and rack when walking is walked, and so walking is because of machine
When device people's traction, robot ambulation wheel is big to rail pressure, and the wear intensity of robot ambulation wheel and track all compares
Greatly, and noise is also big, and robot ambulation is slower, and travelling speed is slow, has dragged slowly the process velocity of production line.
（3）When robot ambulation, because the reason for track, cornering difficulties, turning needs to expend long time, no
Processed beneficial to the multistation of workpiece, and each robot is required for a running gear, of high cost, invisible add is processed into
This.
The content of the invention
In order to overcome the shortcomings of prior art, the utility model provides a kind of walking axle of robot, simple in structure,
Cost is low, and track and robot ambulation foot wheel abrasion are smaller, and noise is small, and the robot speed of travel in orbit is fast and turns easily,
Robotic conveyance work speed is fast, and multiple robots share a walking mechanism, have saved processing cost, can effectively solve the problem that the back of the body
The problem of scape technology proposes.
Technical solution is used by the utility model solves its technical problem：A kind of walking axle of robot, including rail
Road and base, the base are located at directly over track, and the track front-end and back-end are mounted on block, and the track end face is in
" mountain " font；
Side is respectively connected with buffer stopper before and after the base, and the base top is equidistant to be provided with several mechanical bodies, institute
State chassis left side and right side and front-wheel is provided with by wheel shaft, the chassis interior is equipped with mounting layer, is installed in the mounting layer
There is driving device；
The driving device includes two servomotors, and there are installation motor shaft, the motor shaft in described servomotor one end
Gear reducer is connected by shaft coupling, the gear reducer is connected with wheel hub by output shaft, rubber wheel is provided with the outside of the wheel hub
Tire, the front-wheel and wheel hub are respectively positioned in track.
As a kind of preferable technical solution of the utility model, several machineries are organized in a row on base.
As a kind of preferable technical solution of the utility model, rubber pad is enclosed with the outside of the front-wheel.
As a kind of preferable technical solution of the utility model, the output shaft runs through base left and right sides, described in two
Wheel hub is located at chassis left side and right side respectively.
As a kind of preferable technical solution of the utility model, the front-wheel described in two is symmetrical on base center of gravity, described
Front-wheel is symmetrical on the center of gravity of base with wheel hub, and the wheel hub described in two is symmetrical on base center of gravity.
As a kind of preferable technical solution of the utility model, the axis of the wheel shaft and the axis of output shaft are same flat
In face, the apical side height of the rubber pad is identical with rubber tyre apical side height.
Compared with prior art, the beneficial effects of the utility model are：
（1）The utility model track and driving device structure are all fairly simple, and cost is low, are easy to inspection and maintenance, and bottom
The buffer stopper that side is installed before and after seat makes robot be buffered when deceleration is stopped, and protects robot ambulation axis.
（2）Rubber tyre is installed on the outside of the wheel hub of the utility model, to walking when both having substantially reduced robot ambulation
The friction of wheel and track, noise is small, robot is walked faster, high in machining efficiency.
（3）The utility model drives two trailing wheels of base by two servomotors respectively, controls two servomotors
Speed, make the rotating speed difference of two wheel hubs just base can be controlled to turn so that robot can easily walk in bending track, section
The time of transmitting workpiece has been saved, and several mechanical bodies are mounted with base, has been equivalent to public one of several robots
Hoofing part mechanism, saves cost, and production cost is lower.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the track and base schematic side view of the utility model.
In figure：1- tracks；2- bases；3- wheel shafts；4- front-wheels；5- mounting layers；6- driving devices；7- servomotors；8- electricity
Arbor；9- shaft couplings；10- gear reducers；11- rubber pads；12- output shafts；13- wheel hubs；14- rubber tyres；15- blocks；16- delays
Rush block；17- machinery bodies.
Embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained, shall fall within the protection scope of the present invention.
The explanation of following embodiment is refer to the attached drawing, can be to the particular implementation implemented to example the utility model
Example.The direction and position term that the utility model is previously mentioned, for example, " on ", " in ", " under ", "front", "rear", "front", "rear", "
It is interior ", " outer ", " side " etc., be only the direction and position with reference to annexed drawings.Therefore, the direction and position term used is to use
To illustrate and understand the utility model, and it is not used to limitation the utility model.
Embodiment：
As depicted in figs. 1 and 2, the utility model provides a kind of walking axle of robot, including track 1 and base 2, institute
State base 2 to be located at directly over track 1,1 front-end and back-end of track are mounted on block 15, and 1 end face of track is in " mountain "
Font, the track 1 of " mountain " font have two different point of rail roads, and two front-wheels, 4, two rubber tyres 14 are located at two respectively
In different point of rail roads, three vertical plates of track 1 have limit function, robot is made car without departing from supply line, track 1
Wheel will not misplace, and make robot ambulation track more accurate.4 side of front-wheel and 14 end face of tire and 1 inner distance of track are 5mm-
10mm, both ensure that four wheels will not derail, and wheel is had certain displacement space in track 1, facilitates wheel to exist
Turning in bending track.
As shown in Fig. 2, side is respectively connected with buffer stopper 16 before and after the base 2, robot is in walking of slowing down until stopping
During, i.e., in braking procedure, buffer stopper 16 hits the block 15 on track 1, robot is stopped, reduces to robot
Impact damage, protect robot ambulation axis.The top of base 2 is equidistant to be provided with several mechanical bodies 17, mechanical body 17
Quantity is 3-6, depending on the endurance of front-wheel 4 and rubber tyre 14.Mechanical body 17 includes the waist of robot, manipulator etc.
It can complete the robot position of the actions such as crawl to workpiece, traction.
Several mechanical bodies 17 are organized in a row on base 2, and such base 2 is taking gravity of mechanical body 17 and its traction
When, stress evenly, will not make some wheel stress excessive and excessive wear, the gravity of robot is divided equally to four cars
Wheel, wheel life are longer.The public base 2 of body part of multiple robots, can draw more weights at the same time, save
The production cost of workpiece, improves the production efficiency of workpiece.
As shown in Figure 1, side is provided with front-wheel 4 by wheel shaft 3 before and after the base 2, the base 2 is internally provided with installation
Layer 5, driving device 6 is provided with the mounting layer 5, and the driving device 6 includes two servomotors 7, the energy ratio of servomotor 7
The speed of travel of robot is accurately controlled, therefore robot is completed the fixed range transport to workpiece, and accuracy
It is high.When 8 rotating speed of motor shaft of two servomotors 7 is different, two 13 rotating speeds of wheel hub are also different, at this moment can make robot curved
Turn round on rail, and turn speed is fast, saves process time.
As shown in Figure 1, there is installation motor shaft 8 in described 7 one end of servomotor, the motor shaft 8 is subtracted by the connection of shaft coupling 9
Fast machine 10, the motor shaft 8 and the input shaft of gear reducer 10 connected by shaft coupling 9, reduces a pair of of gear drive, reduces
The friction of gear, makes the transmission efficiency higher of servomotor 7.The gear reducer 10 is connected with wheel hub 13 by output shaft 12,
The rotating speed that gear reducer 10 exports servomotor 7 is slowed down, and robot speed is unlikely to too fast, robotic conveyance workpiece mistake
Cheng Zhonggeng is steady, here in order to save installation space, the input shaft gear reducer 10 vertical with output shaft 12 can be used to be filled as slowing down
Put.
As shown in Fig. 2, the outside of wheel hub 13 is provided with rubber tyre 14, rubber tyre 14 and the frictional force of track 1 are big,
Grasp is strong, so speed can quickly, robotic conveyance workpiece average speed is fast, and can very stably transmitting workpiece, rubber
Tire 14 is to 1 wear damage of track, so advantage is larger.The front-wheel 4 and wheel hub 13 are respectively positioned in track, the output shaft 12
Through base left and right sides, the wheel hub 13 described in two is formed positioned at the left side of base 2 and right side, wheel hub 13 and rubber tyre 14 respectively
The trailing wheel of robot, trailing wheel are identical with the stress of front-wheel.
As shown in Fig. 2, the front-wheel 4 described in two is symmetrical on 2 center of gravity of base, the front-wheel 4 is with wheel hub 13 on base 2
Center of gravity it is symmetrical, the wheel hub 13 described in two is symmetrical on 2 center of gravity of base, makes the gravity of base 2 and mechanical body 17 by four cars
Mean allocation is taken turns, robot ambulation is more stable, will not jolt or inclined situation.The axis and output shaft of the wheel shaft 3
In the same plane, the apical side height of the rubber pad 11 is identical with 14 apical side height of rubber tyre, makes robot for 12 axis
Smooth running, it is more stable when traction is walked, it ensure that the efficiency of robotic conveyance workpiece.
As shown in Fig. 2, the outside of the front-wheel 4 is enclosed with rubber pad 11, front-wheel 4 take the gravity walking on base 2 when
Wait, the rubber pad 11 in the outside of front-wheel 4 both increased the frictional force between front-wheel 4 and track 1, and grasp is big, and robot is not easy to send out
Raw " overturning " accident, and the buffering with rubber pad 11, track 1 and front-wheel 4 make the robot ambulation axis service life almost without abrasion
Lengthen significantly.
It need to remark additionally, the utility model can also add some groups of wheels between front-wheel 4 and wheel hub 13, so that
The endurance bigger of base 2, makes to install more mechanical body on base 2, can draw more, heavier workpiece, processing effect at the same time
Rate is faster.
In conclusion the utility model is mainly characterized by：
（1）Track and driving device structure are all fairly simple, and cost is low, are easy to inspection and maintenance.
（2）During stopping of slowing down, buffer stopper hits block for robot, and robot protects almost without abrasion
Robot.
（3）Parcel rubber pad on the outside of front-wheel, wheel hub outside are provided with rubber tyre, the friction of rubber tyre and track interior walls
It can make robot ambulation faster, transmitting workpiece speed is fast, high in machining efficiency, and wheel is small to track friction, and noise is small, robot row
Walk axis long lifespan.
（4）Two servomotors drive two trailing wheels of base respectively, control the speed of two servomotors, make two wheels
The rotating speed difference of hub just can control base to turn, so that robot can easily walk in bending track, save transmitting workpiece
Time, and servomotor positional precision is very high, can control the speed of travel of robot exactly, be more suitable for the fixation of workpiece away from
From transport.
（5）And several mechanical bodies are mounted with base, it is equivalent to the public hoofing part of several robots
Mechanism, has saved the cost of assembly line.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of the spirit or essential attributes without departing substantially from the utility model, it can realize that this practicality is new in other specific forms
Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this practicality is new
The scope of type is indicated by the appended claims rather than the foregoing description, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are embraced therein.Any reference numeral in claim should not be considered as limitation
Involved claim.
Claims (6)
- A kind of 1. walking axle of robot, it is characterised in that：Including track（1）And base（2）, the base（2）Positioned at track （1）Surface, the track（1）Front-end and back-end are mounted on block（15）, the track（1）End face is in " mountain " font；The base（2）Front and rear side is respectively connected with buffer stopper（16）, the base（2）Top is equidistant to be provided with several machineries Body（17）, the base（2）Left side and right side pass through wheel shaft（3）Front-wheel is installed（4）, the base（2）It is internally provided with peace Fill layer（5）, the mounting layer（5）Driving device is inside installed（6）；The driving device（6）Including two servomotors（7）, the servomotor（7）There is installation motor shaft in one end（8）, institute State motor shaft（8）Pass through shaft coupling（9）It is connected with gear reducer（10）, the gear reducer（10）Pass through output shaft（12）It is connected with wheel Hub（13）, the wheel hub（13）Outside is provided with rubber tyre（14）, the front-wheel（4）And wheel hub（13）It is respectively positioned in track.
- A kind of 2. walking axle of robot according to claim 1, it is characterised in that：Several mechanical bodies（17）In base （2）Upper group in a row.
- A kind of 3. walking axle of robot according to claim 1, it is characterised in that：The front-wheel（4）Outside is enclosed with Rubber pad（11）.
- A kind of 4. walking axle of robot according to claim 1, it is characterised in that：The output shaft（12）Through base （2）Left and right sides, the wheel hub described in two（13）It is located at base respectively（2）Left side and right side.
- A kind of 5. walking axle of robot according to claim 1, it is characterised in that：Front-wheel described in two（4）On Base（2）Center of gravity is symmetrical, the front-wheel（4）With wheel hub（13）On base（2）Center of gravity it is symmetrical, the wheel hub described in two（13） On base（2）Center of gravity is symmetrical.
- A kind of 6. walking axle of robot according to claim 1, it is characterised in that：The wheel shaft（3）Axis with it is defeated Shaft（12）Axis in the same plane, the rubber pad（11）Apical side height and rubber tyre（14）Apical side height phase Together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721299656.3U CN207274292U (en) | 2017-10-10 | 2017-10-10 | A kind of walking axle of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721299656.3U CN207274292U (en) | 2017-10-10 | 2017-10-10 | A kind of walking axle of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207274292U true CN207274292U (en) | 2018-04-27 |
Family
ID=61987802
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721299656.3U Active CN207274292U (en) | 2017-10-10 | 2017-10-10 | A kind of walking axle of robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN207274292U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110346545A (en) * | 2019-06-05 | 2019-10-18 | 大连沃隆峰英鸿纳米科技有限公司 | A kind of detection robot walking device for nanofiber production |
-
2017
- 2017-10-10 CN CN201721299656.3U patent/CN207274292U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110346545A (en) * | 2019-06-05 | 2019-10-18 | 大连沃隆峰英鸿纳米科技有限公司 | A kind of detection robot walking device for nanofiber production |
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