CN207631372U - A kind of walking mechanism of wheeled robot - Google Patents
A kind of walking mechanism of wheeled robot Download PDFInfo
- Publication number
- CN207631372U CN207631372U CN201721832654.6U CN201721832654U CN207631372U CN 207631372 U CN207631372 U CN 207631372U CN 201721832654 U CN201721832654 U CN 201721832654U CN 207631372 U CN207631372 U CN 207631372U
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- bearing
- mechanical arm
- arm
- servo motor
- walking mechanism
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Abstract
The utility model discloses a kind of walking mechanisms of wheeled robot, including right mechanical arm and third servo motor, first bearing is installed on the inside of the right mechanical arm, and the inner end of first bearing is connected with armed lever, it is fixed with gear set on the inside of the armed lever, and the inner end of gear set is equipped with the first servomotor, the lower left of first servomotor is provided with left mechanical arm, and the right end of left mechanical arm is connected with the second servo motor, second servo motor inner end is equipped with connecting traction wheel, and mechanical chain is mounted on the outside of connecting traction wheel, the outer end of the mechanical chain is provided with interior wears groove, and the lower end of mechanical chain is fixed with drive link, the lower end of the left mechanical arm is mounted with second bearing.The walking mechanism of the wheeled robot is provided with connecting traction wheel, by the work of the second servo motor, connecting traction wheel is driven to be rotated, drives mechanical chain to be rotated later, then drive drive link to be rotated again, to provide kinetic energy for the rotary folding of engaging arm.
Description
Technical field
The utility model is related to robot device's technical field, specially a kind of walking mechanism of wheeled robot.
Background technology
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work, the walking manners of some robots often select it is wheeled,
It is simple in structure, stablize and safe.
The walking mechanism of robot in the market is when in use since robot is sometimes needed by complicated road surface, such as
Some hollows, the road surface for having barrier, robot can not usually pass through over, and general walking mechanism has steering not enough
Flexible problem, for this purpose, it is proposed that a kind of walking mechanism for the wheeled robot for flexibly turning to, various landform being passed through.
Utility model content
The purpose of this utility model is to provide a kind of walking mechanisms of wheeled robot, to solve in above-mentioned background technology
The walking mechanism of the robot of proposition when in use since robot is sometimes needed through complicated road surface, as some hollows,
There are the road surface of barrier, robot that can not usually pass through over, and general walking mechanism has asking for steering underaction
Topic.
To achieve the above object, the utility model provides the following technical solutions：A kind of walking mechanism of wheeled robot, packet
Right mechanical arm and third servo motor are included, first bearing is installed, and the inner end of first bearing connects on the inside of the right mechanical arm
It is connected to armed lever, is fixed with gear set on the inside of the armed lever, and the inner end of gear set is equipped with the first servomotor, described
The lower left of one servomotor is provided with left mechanical arm, and the right end of left mechanical arm is connected with the second servo motor, and described
Two servo motor inner ends are equipped with connecting traction wheel, and mechanical chain is mounted on the outside of connecting traction wheel, and the outer end of the mechanical chain is set
It is equipped with interior wears groove, and the lower end of mechanical chain is fixed with drive link, the lower end of the left mechanical arm is mounted with second bearing, and
The lower end of two bearings is connected with engaging arm, and the inner end of the third servo motor is equipped with the first angular wheel group, and third is watched
The outer end that motor is located at engaging arm is taken, the engaging arm lower end is fixedly arranged in the middle of fixed column, and is equipped on the outside of engaging arm
The positioned beneath of 3rd bearing, the 3rd bearing has kinetic energy pedestal, and the inside of kinetic energy pedestal is equipped with the second angular wheel
The lower end of group, the second angular wheel group is provided with linkage gear group, and idler wheel is equipped on the inside of the linkage gear group, and
The upper right side of linkage gear group is equipped with motor.
Preferably, the right mechanical arm is identical with the shape and structure of left mechanical arm, and left mechanical arm passes through armed lever and gear
Group is constituted and is fixedly connected, and left mechanical arm constitutes rotational structure by first bearing.
Preferably, the horizontal median axis of the connecting traction wheel and the horizontal median axis of drive link coincide, and the two is and machine
Tool chain composition is fixedly connected, and the bore of mechanical chain is less than the bore of interior wears groove.
Preferably, the engaging arm is made up of second bearing and left mechanical arm folds solution structure, and the two it is vertical in
Axis overlaps.
Preferably, the fixed column passes through welding and kinetic energy pedestal being integrally formed structure, and itself and the first angular wheel
Group is by being formed by welding integral structure, and the one third that the area of fixed column bottom end is 3rd bearing area.
Preferably, the kinetic energy pedestal includes the second angular wheel group, linkage gear group, idler wheel and motor, and electronic
Machine constitutes drive mechanism by the second angular wheel group and linkage gear group with idler wheel, and the width of pedestal is more than the width of idler wheel
Degree.
Compared with prior art, the utility model has the beneficial effects that：The walking mechanism of the wheeled robot is provided with the right side
Mechanical arm and left mechanical arm are rotated by the work of the first servomotor by gear set drive armed lever, then pass through
One bearing makes right mechanical arm and left mechanical arm rotate, to facilitate robot to be carried out by right mechanical arm and left mechanical arm
Movement, and it is provided with connecting traction wheel, by the work of the second servo motor, connecting traction wheel is driven to be rotated, drives machinery later
Chain is rotated, and then drives drive link to be rotated again, and to provide kinetic energy for the rotary folding of engaging arm, and it is arranged
There is engaging arm, by second bearing so that engaging arm carries out rotary folding, so that robot is to left mechanical arm or right machine
Tool arm is combined with engaging arm, using bionic principle, and then robot is allowed to walk, and various complicated roads are passed through convenient for robot
Section, and it is provided with fixed column, by the work of third servo motor, drives fixed column to be turned by the first angular wheel group
It is dynamic, then to rotate between kinetic energy pedestal and engaging arm by 3rd bearing, to facilitate robot to pass through kinetic energy pedestal
It is flexibly moved, and it is provided with kinetic energy pedestal, by the work of motor, drives and link by the second angular wheel group
Gear set is rotated, and to drive idler wheel to be rotated, provides kinetic energy for the movement of robot, robot is facilitated to be transported
It is dynamic.
Description of the drawings
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model connecting traction wheel and mechanical chain attachment structure schematic diagram；
Fig. 3 is enlarged structure schematic diagram at B in the utility model Fig. 1；
Fig. 4 is enlarged structure schematic diagram at A in the utility model Fig. 1.
In figure：1, right mechanical arm, 2, first bearing, 3, armed lever, 4, gear set, the 5, first servomotor, 6, left machinery
Arm, the 7, second servo motor, 8, connecting traction wheel, 9, mechanical chain, 10, interior wears groove, 11, drive link, 12, second bearing, 13, linking
Arm, 14, third servo motor, the 15, first angular wheel group, 16, fixed column, 17,3rd bearing, 18, kinetic energy pedestal, 19,
Two taper gear sets, 20, linkage gear group, 21, idler wheel, 22, motor.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
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 embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
- 4 are please referred to Fig.1, the utility model provides a kind of technical solution：A kind of walking mechanism of wheeled robot, including
Mechanical arm 1, armed lever 3, gear set 4, the first servomotor 5, left mechanical arm 6, the second servo motor 7, interlocks first bearing 2
Wheel 8, mechanical chain 9, interior wears groove 10, drive link 11, second bearing 12, engaging arm 13, third servo motor 14, the first conical tooth
Wheel group 15, fixed column 16,3rd bearing 17, kinetic energy pedestal 18, the second angular wheel group 19, linkage gear group 20,21 and of idler wheel
The inside of motor 22, right mechanical arm 1 is equipped with first bearing 2, and the inner end of first bearing 2 is connected with armed lever 3, right mechanical arm
1 is identical with the shape and structure of left mechanical arm 6, and left mechanical arm 6 is fixedly connected by armed lever 3 with the composition of gear set 4, and left machine
Tool arm 6 constitutes rotational structure by first bearing 2, by the work of the first servomotor 5, by gear set 4 with semaphore 3
It is rotated, then by first bearing 2 so that right mechanical arm 1 and left mechanical arm 6 rotate, to facilitate robot to pass through the right side
Mechanical arm 1 and left mechanical arm 6 are moved, and the inside of armed lever 3 is fixed with gear set 4, and the inner end of gear set 4 is equipped with first
The lower left of servomotor 5, the first servomotor 5 is provided with left mechanical arm 6, and the right end of left mechanical arm 6 is connected with
Two servo motors 7,7 inner end of the second servo motor is equipped with connecting traction wheel 8, and the outside of connecting traction wheel 8 is mounted with mechanical chain 9, even
The horizontal median axis of driving wheel 8 and the horizontal median axis of drive link 11 coincide, and the two constitutes fixed connect with mechanical chain 9
It connects, and the bore of mechanical chain 9 is less than the bore of interior wears groove 10, by the work of the second servo motor 7, drives connecting traction wheel 8
It is rotated, drives mechanical chain 9 to be rotated later, then drive link 11 is driven to be rotated again, to be engaging arm 13
Rotary folding provide kinetic energy, the outer end of mechanical chain 9 is provided with interior wears groove 10, and the lower end of mechanical chain 9 is fixed with transmission
The lower end of bar 11, left mechanical arm 6 is mounted with second bearing 12, and the lower end of second bearing 12 is connected with engaging arm 13, engaging arm
13 constitute folding solution structure by second bearing 12 and left mechanical arm 6, and the vertical central axes of the two overlap, and pass through second bearing
12 so that engaging arm 13 carries out rotary folding, so that robot is to left mechanical arm 6 or right mechanical arm 1 and 13 phase of engaging arm
In conjunction with, using bionic principle, and then robot is allowed to walk, various complicated highway sections are passed through convenient for robot, third servo electricity
The inner end of machine 14 is equipped with the first angular wheel group 15, and third servo motor 14 is located at the outer end of engaging arm 13, engaging arm 13
Lower end is fixedly arranged in the middle of fixed column 16, and the outside of engaging arm 13 is equipped with 3rd bearing 17, fixed column 16 by welding with
18 being integrally formed structure of kinetic energy pedestal, and its with the first angular wheel group 15 by being formed by welding integral structure, Er Qiegu
The area of 16 bottom end of fixed column is the one third of 17 area of 3rd bearing, by the work of third servo motor 14, by first
Angular wheel group 15 drives fixed column 16 to be rotated, then by 3rd bearing 17 so that between kinetic energy pedestal 18 and engaging arm 13
It rotates, to facilitate robot flexibly to be moved by kinetic energy pedestal 18, the positioned beneath of 3rd bearing 17 has
Can pedestal 18, and the inside of kinetic energy pedestal 18 is equipped with the second angular wheel group 19, and kinetic energy pedestal 18 includes, the second angular wheel
Group 19, linkage gear group 20, idler wheel 21 and motor 22, and motor 22 passes through the second angular wheel group 19 and linkage gear group
20 constitute drive mechanism with idler wheel 21, and the width of pedestal 18 is more than the width of idler wheel 21, pass through the work of motor 22, warp
Crossing the second angular wheel group 19 drives linkage gear group 20 to be rotated, and is robot to drive idler wheel 21 to be rotated
Movement provides kinetic energy, and robot is facilitated to be moved, and the lower end of the second angular wheel group 19 is provided with linkage gear group 20, linkage
The inside of gear set 20 is equipped with idler wheel 21, and the upper right side of linkage gear group 20 is equipped with motor 22.
Operation principle：For the walking mechanism of this kind of wheeled robot, first by the work of motor 22, by
Two taper gear sets 19 drive linkage gear group 20 to be rotated, and are the movement of robot to drive idler wheel 21 to be rotated
Kinetic energy is provided, so that robot is able to be moved, and can be by the work of third servo motor 14, by the first taper
Gear set 15 drives fixed column 16 to be rotated, then by 3rd bearing 17 so that occurring between kinetic energy pedestal 18 and engaging arm 13
Rotation, to facilitate robot flexibly to be moved by kinetic energy pedestal 18, and when robot encounters complicated highway section, can lead to
The work for crossing the first servomotor 5 is rotated by gear set 4 with semaphore 3, then by first bearing 2 so that right machine
Tool arm 1 and left mechanical arm 6 alternately rotate, and by the work of the second servo motor 7, connecting traction wheel 8 are driven to be rotated,
It drives mechanical chain 9 to be rotated later, then drive link 11 is driven to be rotated again, so that engaging arm 13 passes through second
Bearing 12 carries out rotary folding so that robot is combined left mechanical arm 6, right mechanical arm 1 with engaging arm 13, utilizes bionical original
Reason, allows left mechanical arm 6, right mechanical arm 1 alternately to operate, and then robot is allowed to walk, is passed through convenient for robot various
Complicated highway section completes the use process of the walking mechanism of entire wheeled robot like this.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of walking mechanism of wheeled robot, including right mechanical arm（1）With third servo motor（14）, it is characterised in that：
The right mechanical arm（1）Inside first bearing is installed（2）, and first bearing（2）Inner end be connected with armed lever（3）, described
Armed lever（3）Inside be fixed with gear set（4）, and gear set（4）Inner end the first servomotor is installed（5）, described
One servomotor（5）Lower left be provided with left mechanical arm（6）, and left mechanical arm（6）Right end be connected with the second servo electricity
Machine（7）, second servo motor（7）Inner end is equipped with connecting traction wheel（8）, and connecting traction wheel（8）Outside be mounted with mechanical chain
（9）, the mechanical chain（9）Outer end be provided with interior wears groove（10）, and mechanical chain（9）Lower end be fixed with drive link
（11）, the left mechanical arm（6）Lower end be mounted with second bearing（12）, and second bearing（12）Lower end be connected with engaging arm
（13）, the third servo motor（14）Inner end the first angular wheel group is installed（15）, and third servo motor（14）Position
In engaging arm（13）Outer end, the engaging arm（13）Lower end is fixedly arranged in the middle of fixed column（16）, and engaging arm（13）It is outer
Side is equipped with 3rd bearing（17）, the 3rd bearing（17）Positioned beneath have kinetic energy pedestal（18）, and kinetic energy pedestal（18）
Inside the second angular wheel group is installed（19）, the second angular wheel group（19）Lower end be provided with linkage gear group
（20）, the linkage gear group（20）Inside idler wheel is installed（21）, and linkage gear group（20）Upper right side electricity is installed
Motivation（22）.
2. a kind of walking mechanism of wheeled robot according to claim 1, it is characterised in that：The right mechanical arm（1）
And left mechanical arm（6）Shape and structure it is identical, and left mechanical arm（6）Pass through armed lever（3）And gear set（4）Composition is fixedly connected,
And left mechanical arm（6）Pass through first bearing（2）Constitute rotational structure.
3. a kind of walking mechanism of wheeled robot according to claim 1, it is characterised in that：The connecting traction wheel（8）'s
Horizontal median axis and drive link（11）Horizontal median axis coincide, and the two is and mechanical chain（9）Composition is fixedly connected, and
And mechanical chain（9）Bore be less than interior wears groove（10）Bore.
4. a kind of walking mechanism of wheeled robot according to claim 1, it is characterised in that：The engaging arm（13）It is logical
Cross second bearing（12）With left mechanical arm（6）It constitutes and folds solution structure, and the vertical central axes of the two overlap.
5. a kind of walking mechanism of wheeled robot according to claim 1, it is characterised in that：The fixed column（16）It is logical
Cross welding and kinetic energy pedestal（18）Being integrally formed structure, and itself and the first angular wheel group（15）By being formed by welding integration
Structure, and fixed column（16）The area of bottom end is 3rd bearing（17）The one third of area.
6. a kind of walking mechanism of wheeled robot according to claim 1, it is characterised in that：The kinetic energy pedestal（18）
Including the second angular wheel group（19）, linkage gear group（20）, idler wheel（21）And motor（22）, and motor（22）Pass through
Two taper gear sets（19）With linkage gear group（20）With idler wheel（21）Constitute drive mechanism, and pedestal（18）Width be more than
Idler wheel（21）Width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721832654.6U CN207631372U (en) | 2017-12-25 | 2017-12-25 | A kind of walking mechanism of wheeled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721832654.6U CN207631372U (en) | 2017-12-25 | 2017-12-25 | A kind of walking mechanism of wheeled robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207631372U true CN207631372U (en) | 2018-07-20 |
Family
ID=62853976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721832654.6U Expired - Fee Related CN207631372U (en) | 2017-12-25 | 2017-12-25 | A kind of walking mechanism of wheeled robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207631372U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319012A (en) * | 2018-10-31 | 2019-02-12 | 广州供电局有限公司 | Robot |
-
2017
- 2017-12-25 CN CN201721832654.6U patent/CN207631372U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319012A (en) * | 2018-10-31 | 2019-02-12 | 广州供电局有限公司 | Robot |
| CN109319012B (en) * | 2018-10-31 | 2020-04-14 | 广州供电局有限公司 | Robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180720 Termination date: 20201225 |