CN208069861U - A kind of mobile robot walking mechanism - Google Patents
A kind of mobile robot walking mechanism Download PDFInfo
- Publication number
- CN208069861U CN208069861U CN201820451262.3U CN201820451262U CN208069861U CN 208069861 U CN208069861 U CN 208069861U CN 201820451262 U CN201820451262 U CN 201820451262U CN 208069861 U CN208069861 U CN 208069861U
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- China
- Prior art keywords
- bottom plate
- mobile robot
- circular bottom
- walking mechanism
- poppet
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Abstract
The utility model provides a kind of mobile robot walking mechanism, is related to mobile robot walking mechanism technical field.The both sides that the bull wheel of active train is located at circular bottom plate are equipped in rectangular notch, and the top fulcrum of damping universal wheels and the bottom of circular bottom plate are fixed, and secondary planetary gear retarder is fixed by bearing and circular bottom plate upper surface；The output shaft of DC servo motor is connect with the input of secondary planetary gear retarder, and one end of gear shaft is equipped with gear pair, one end connection of the other end and Hooks coupling universal coupling.Middle part is fixed by bearing block and after-poppet, and the other end of Hooks coupling universal coupling and one end of connecting shaft connect, and the other end of connecting shaft is equipped with bull wheel；The upper end of dampener sleeve is hinged by the lug at the top of bolt and after-poppet, and the two-arm lower end of crotch is hinged with two lugs on the outside of the middle part of after-poppet respectively by bolt, and the two-arm upper end of crotch is hinged by the both sides at the top of bolt and fore-stock.
Description
Technical field
The utility model is related to mobile robot walking mechanism technical fields.
Background technology
Currently, the mobile robot speed of development is getting faster, walking mechanism also becomes more diverse.Mobile robot energy
It is its two major features to move and execute function in working environment, and the well-designed of walking mechanism has the mobility of robot
Vital effect, the realization of its function is directly affected.
But the walking mechanism of existing mobile robot generally uses crawler type or wheeled.Crawler-type traveling is ineffective
It lives, friction is big, noise is big, defect protrusion；Even with wheel type traveling mechanism mostly still need minor-circle turn, turn to not
Easily, mobility is not also high, is particularly unsuitable for narrow, crowded space, solve the problems, such as at present it is this, generally using using
Mecanum wheel, but it is discontinuous with ground contact points when its operation, easily cause sideslip and noise, and existing four-wheel row
It walks mechanism encountering rough road surface and be easy four-wheel and cannot land simultaneously, while generally lacking damping device, shock resistance ratio
Poor, especially poor in operating condition environment, is also easy to produce and jolts, to influence the service life of mobile robot.
In order to overcome the problems, such as the steering of existing mobile robot walking mechanism be not easy, shock resistance it is poor, the utility model carries
For a kind of follow-on walking mechanism, it can realize that original place no-radius turns to, it is empty to be suitable for a variety of work for transmission efficiency
Between, and the effective damping of energy, increase running stability.
Utility model content
The purpose of this utility model is to provide a kind of mobile robot walking mechanism, it can efficiently solve original place no-radius
The technical problem of steering and shock resistance difference.
The purpose of this utility model is achieved through the following technical solutions：A kind of mobile robot walking mechanism, packet
Mechanism body, dynamical system and damping device are included, the circular bottom plate of mechanism body and the excessively setting of center of circle cross extended line orientation
Two groups of trains, the both sides of circular bottom plate are equipped with rectangular notch, and the bull wheel of active train is located in the rectangular notch, circular bottom plate and
The edge in the axially vertical direction of active train is equipped with damping universal wheels, the top fulcrum of damping universal wheels and the bottom of circular bottom plate
Fixed, secondary planetary gear retarder is fixed by bearing and circular bottom plate upper surface；The output shaft of DC servo motor and two
The input connection of grade planetary reducer, the output shaft of secondary planetary gear retarder are equipped with and two meshed gears of gear
One, one end of gear shaft is equipped with gear two, one end connection of the other end and Hooks coupling universal coupling.Middle part passes through bearing block and after-poppet
Fixed, the other end of Hooks coupling universal coupling and one end of connecting shaft connect, and the other end of connecting shaft is equipped with bull wheel；The top of after-poppet
Outside is set there are one lug, and the upper end of dampener sleeve is hinged by bolt and the lug, and the two-arm lower end of crotch passes through bolt
Hinged with two lugs on the outside of the middle part of after-poppet respectively, the two-arm upper end of crotch passes through the both sides at the top of bolt and fore-stock
It is hinged.
The bull wheel is located in the rectangular notch of circular bottom plate both sides, left and right to split；Damping universal wheels are located under circular bottom plate
Side, it is forward and backward to split.
The DC servo motor is two groups, is connect respectively with the fixed battery pack in circular bottom plate upper surface by conducting wire.
Two groups of connectors of the secondary planetary gear retarder and DC servo motor are axially offset, and are arranged symmetrically.
The wheel hub protrusion clearance fit of the fore-stock through-hole and bull wheel.
The upper end of the dampener sleeve is hinged by bolt and the lug on after-poppet top, and the free end of piston rod is with before
The both sides of cradle top are hinged.
The mechanism body includes circular bottom plate, two damping universal wheels and bull wheel mounted on circular bottom plate bottom, and two
A damping universal wheels are front and back under circular bottom plate to be split, and this damping universal wheels can either facilitate no-radius to turn to, and energy
Enough slow down non-essential circular bottom plate fluctuation.Two bull wheels are then split in circular bottom plate or so.This intermediate two-wheel drive
The driven layout type of front and back two-wheeled, it is with the obvious advantage, it can steadily move at a high speed, mechanical structure is simple, turns to easy, controlling party
Just, it is suitble to long-time non-stop run.
The dynamical system includes battery pack, DC servo motor, secondary planetary gear retarder and its bearing, gear one
Gear pair, gear shaft, bearing block, Hooks coupling universal coupling and the connecting shaft constituted with gear two, the battery pack are located at circular bottom plate
Below, it is fixed on the upper surface of circular bottom plate by four bolts, two groups of DC servo motors are connected to by conducting wire, two
The input of the secondary planetary gear retarder described in two groups is then respectively fixedly connected in a DC servo motor by four bolts
End, secondary planetary gear retarder are fixed by bearing and circular bottom plate upper surface, due to secondary planetary gear retarder and directly
Flow servo motor combination body length is more than the radius of circular bottom plate, cannot place two groups of combinations in same axisymmetrical, therefore
By one group of gear pair, two groups of combinations is made to be staggeredly arranged.It is defeated that gear one in gear pair connects secondary planetary gear retarder
Shaft, two tooth connection wheel shaft of gear, gear shaft are connected by bearing with bearing block, and bearing block is connected in circular base with two bolts
On plate.After adding damping device, axis cannot transmit power well, to drive wheels travel, in order to change to be applicable in direction
When change, still can transmit power, gear shaft and connecting shaft and be connect respectively with the both ends of Hooks coupling universal coupling by pin, connecting shaft it is another
End is also to be connected on bull wheel by pin.Bull wheel is improved simultaneously, wheel inside is recessed inwardly, and protrusion is reserved, to install
The fore-stock of damping device.
The damping device includes fore-stock, crotch, after-poppet, damper, and the damping device splits circular bottom plate two
Side, fore-stock through-hole and bull wheel protrusion clearance fit, and fore-stock is connected by crotch with bolt with after-poppet, after-poppet
It is then fixed by bolts in circular bottom plate, damper is made of sleeve, spring, piston and cover board etc., and sleeve is connected in by bolt
After-poppet top, piston are then connected in bolt on fore-stock, and spring is connected to upper cartridge and piston, and cover board is equal by four circumference
Even distribution screw is fixed on sleeve bottom, in have a hole, pass through for piston rod, by piston mandril top pressure spring, make spring
Generate stroke.This damping device can ensure mobile robot on rough road surface when driving four-wheel simultaneously
Ground, while can effectively increase shock resistance and running stability.
The utility model is a kind of mobile robot tread systems design, and specific advantageous effect is：Make mobile robot
Can original place no-radius turn to, and can effective damping, avoid unnecessary fluctuation, increase running stability, be suitable for
Various working spaces.
Description of the drawings
Fig. 1 is the overall construction drawing of the utility model.
Fig. 2 is the damping device structure chart of the utility model.
Specific implementation mode
The utility model is described further with specific example below in conjunction with the accompanying drawings.
Fig. 1 is a kind of design drawing of mobile robot walking mechanism of the utility model, it is shown that a kind of shifting of the utility model
The overall structure of mobile robot walking mechanism, including damper 1, after-poppet 2, second planetary reducer 3, battery pack 4, crotch 5,
Bull wheel 6, DC servo motor 7, bearing 8, damping universal wheels 9, circular bottom plate 10, gear 2 11, gear shaft 12, fore-stock 13,
Connecting shaft 14, cross Hooks coupling universal coupling 15, bearing block 16 etc..
Two groups of wheels provided by the utility model tie up to circular bottom plate 10 in it is forward and backward and it is left and right split, driven wheel is with subtracting
The universal wheel 9 of device is shaken, damping universal wheels 9 are fixed on by four bolts on 10 bottom margin of circular bottom plate, front and back setting, circle
The left and right of shape bottom plate 10 is equipped with inside concane gap, has fraction raised among 6 wheel hub of bull wheel, passes through damping device and circular bottom plate
10 are connected.Two active wheel drive of this left and right sides, the driven layout type of forward and backward two-wheeled is with the obvious advantage, can at a high speed steadily
Movement, mechanical structure is simple, it is easy, easy to control to turn to, and is suitble to long-time non-stop run.Secondary planetary gear retarder 3
Output shaft be equipped with and be equipped with gear 2 11 with 2 11 meshed gears one of gear, one end of gear shaft 12, the other end with it is universal
One end of axis device 15 connects.Middle part is fixed by bearing block 16 and after-poppet 2, the other end and the connecting shaft 14 of Hooks coupling universal coupling 15
One end connection, the other end of connecting shaft 14 is equipped with bull wheel 6；The top outer of after-poppet 2 is set there are one lug, 1 set of damper
The upper end of cylinder is hinged by bolt and the lug, the two-arm lower end of crotch 5 by bolt respectively on the outside of the middle part of after-poppet 2
Two lugs are hinged, and the two-arm upper end of crotch 5 is hinged by the both sides at 13 top of bolt and fore-stock.
Entire walking mechanism is that DC servo motor 7 is powered by battery pack 4, and two level is realized by second planetary reducer 3
Slow down.Since the combination body length of second planetary reducer 3 and DC servo motor 7 is more than 10 radius of circular bottom plate, Bu Neng
Same axisymmetrical places two groups of secondary planetary gear retarders 3 and DC servo motor 7, therefore again by one group by one He of gear
2 11 meshed gears auxiliary driving of gear keeps the combination of two groups of secondary planetary gear retarders 3 and DC servo motor 7 wrong
Arrangement is opened, is fixed, is achieved the effect that compact-sized by bearing 8 and 10 upper surface of circular bottom plate.Gear pair tooth connection wheel shaft 12
One end, the middle part of gear shaft 12 fixed by bearing block 16 and after-poppet 2 and circular bottom plate 10, and the other end of gear shaft 12 passes through
Hooks coupling universal coupling 15 is connect with connecting shaft 14, and bull wheel 6 is driven to walk.
Damping device structure is as shown in Fig. 2, include fore-stock 13, crotch 5, after-poppet 2, damper 1 etc., fore-stock 13
Through-hole and the raised clearance fit of bull wheel 6, and fore-stock 13 is connected by two crotch 5 with bolt with after-poppet 2, after-poppet
2 are fixed by bolts in circular bottom plate 10, play the supporting role of damping device, and the core of damping device is damper
1, it is made of sleeve, spring, piston and cover board etc., sleeve is connected in 2 top of after-poppet by bolt, before piston is then connected in bolt
On holder 13, spring is connected to upper cartridge and piston, and cover board is distributed screw by four even circumferentials and is fixed on sleeve bottom,
In have a hole, pass through for piston rod, by piston mandril top pressure spring, so that spring is generated stroke, to keep mobile robot
Whole balance.
Claims (6)
1. a kind of mobile robot walking mechanism, including mechanism body, dynamical system and damping device, the circular base of mechanism body
Plate (10) and two groups of trains for crossing the setting of center of circle cross extended line orientation, it is characterised in that：The both sides of circular bottom plate (10) are equipped with
The bull wheel (6) of rectangular notch, active train is located in the rectangular notch, circular bottom plate (10) and the axially vertical direction of active train
Edge be equipped with damping universal wheels (9), the top fulcrum of damping universal wheels (9) and the bottom of circular bottom plate (10) fix, two level
Planetary reducer (3) is fixed by bearing (8) and circular bottom plate (10) upper surface；The output shaft of DC servo motor (7)
It is connect with the input of secondary planetary gear retarder (3), the output shaft of secondary planetary gear retarder (3) is equipped with and gear two
(11) one end of meshed gears one, gear shaft (12) are equipped with gear two (11), one end of the other end and Hooks coupling universal coupling (15)
Connection, middle part is fixed by bearing block (16) and after-poppet (2), the other end of Hooks coupling universal coupling (15) and the one of connecting shaft (14)
The other end of end connection, connecting shaft (14) is equipped with bull wheel (6)；The top outer of after-poppet (2) is set there are one lug, damper
(1) upper end of sleeve is hinged by bolt and the lug, the two-arm lower end of crotch (5) by bolt respectively with after-poppet (2)
Two lugs on the outside of middle part are hinged, and the two-arm upper end of crotch (5) is hinged by the both sides at the top of bolt and fore-stock (13).
2. a kind of mobile robot walking mechanism according to claim 1, it is characterised in that：The bull wheel (6) is located at circle
It is left and right to split in the rectangular notch of shape bottom plate (10) both sides；Damping universal wheels (9) are located at below circular bottom plate (10), forward and backward point
It sets.
3. a kind of mobile robot walking mechanism according to claim 1, it is characterised in that：The DC servo motor
(7) it is two groups, is connect respectively with the fixed battery pack in circular bottom plate (10) upper surface (4) by conducting wire.
4. a kind of mobile robot walking mechanism according to claim 1, it is characterised in that：Two groups of secondary planetary gears subtract
The connector of fast device (3) and DC servo motor (7) is axially offset, and is arranged symmetrically.
5. a kind of mobile robot walking mechanism according to claim 1, it is characterised in that：Fore-stock (13) through-hole with it is big
Take turns the wheel hub protrusion clearance fit of (6).
6. a kind of mobile robot walking mechanism according to claim 1, it is characterised in that：Damper (1) sleeve it is upper
End is hinged by bolt and the lug on after-poppet (2) top, and the free end of piston rod and fore-stock (13) are hinged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820451262.3U CN208069861U (en) | 2018-04-02 | 2018-04-02 | A kind of mobile robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820451262.3U CN208069861U (en) | 2018-04-02 | 2018-04-02 | A kind of mobile robot walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208069861U true CN208069861U (en) | 2018-11-09 |
Family
ID=64042656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820451262.3U Expired - Fee Related CN208069861U (en) | 2018-04-02 | 2018-04-02 | A kind of mobile robot walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208069861U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454719A (en) * | 2018-04-02 | 2018-08-28 | 西南交通大学 | A kind of mobile robot walking mechanism |
-
2018
- 2018-04-02 CN CN201820451262.3U patent/CN208069861U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108454719A (en) * | 2018-04-02 | 2018-08-28 | 西南交通大学 | A kind of mobile robot walking mechanism |
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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 |
Granted publication date: 20181109 Termination date: 20210402 |
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| CF01 | Termination of patent right due to non-payment of annual fee |