CN208344367U - A kind of robot hoofing part mechanism - Google Patents
A kind of robot hoofing part mechanism Download PDFInfo
- Publication number
- CN208344367U CN208344367U CN201820999669.XU CN201820999669U CN208344367U CN 208344367 U CN208344367 U CN 208344367U CN 201820999669 U CN201820999669 U CN 201820999669U CN 208344367 U CN208344367 U CN 208344367U
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- driving
- chassis
- wheel
- telescopic rod
- fixed
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Abstract
The utility model discloses a kind of robot hoofing part mechanisms, including driving chassis, driving crawler belt is respectively set under at left and right sides of the driving chassis, it is interior at left and right sides of driving chassis that driving lifting cylinder is respectively set, L-type is set on the driving lifting cylinder and reinforces piston rod, reinforce that triangle reinforcing rib is arranged on the inside of piston rod in L-type, reinforce piston-rod end in L-type and telescopic rod is set, the telescopic rod is fixed under driving chassis, fixed conveyor bar is set outside the telescopic rod other side, the fixed conveyor bar setting is in driving wheel side, in the driving wheel other side, transmission shaft is reinforced in setting transition, reinforce the transmission shaft other end in transition and is fixedly connected with driven wheel, the driven wheel is connect by belt with driving wheel, driving wheel is fixedly connected with the first driving spindle, first driving spindle is arranged on the first driving motor, this reality With new structure is simple, strong applicability, the setting of telescopic rod is cooperated to reach the height of fast lifting driving wheel by driving lifting cylinder.
Description
Technical field
The utility model relates to robot technical fields, and in particular to a kind of robot hoofing part mechanism.
Background technique
Walking mechanism is the important execution unit of running type machine people, it is examined by travel driving unit, transmission mechanism, position
Survey the composition such as element, sensor, cable and pipeline.Fuselage, arm and the hand of walking mechanism one side supporting machine people, thus
Must have enough rigidity and stability；On the other hand, the requirement according to job task is also needed, realizes robot broader
Space in movement.
Walking mechanism by its motion profile can be divided into fixation locus formula and without two class of fixation locus formula.The walking of fixation locus formula
Mechanism is mainly used for industrial robot, such as cross beam type robot.No fixation locus formula walking mechanism is divided into according to its design feature
Wheel type traveling mechanism, crawler type walking mechanism and articulated type walking mechanism etc..In the process of walking, first two walking mechanism and ground
Face continuously contacts with, and form is operation vehicle type, and application is more, is generally used for field, relatively large different areas of activity, also comparative maturity.
Existing robot hoofing part mechanism is complex, maintenance difficulty is larger, higher cost, for complicated landform
Need dedicated wheel or crawler belt cooperate could hoofing part, it is poor for applicability, mobility is poor.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, and provide a kind of simple structure, strong applicability,
The high robot hoofing part mechanism of mobility, including chassis is driven, driving is respectively set under the driving chassis left and right sides
Crawler belt, interior at left and right sides of driving chassis that driving lifting cylinder is respectively set, setting L-type is reinforced living on the driving lifting cylinder
Stopper rod reinforces that triangle reinforcing rib is arranged on the inside of piston rod in L-type, reinforces piston-rod end in L-type and telescopic rod is arranged, described flexible
Bar is fixed under driving chassis, fixed conveyor bar is arranged outside the telescopic rod other side, the fixed conveyor bar setting is in driving vehicle
Side is taken turns, transmission shaft is reinforced in setting transition in the driving wheel other side, is fixedly connected in the transition reinforcement transmission shaft other end driven
Wheel, the driven wheel are connect by belt with driving wheel, and driving wheel is fixedly connected with the first driving spindle, first driving spindle
It is arranged on the first driving motor, the first driving motor is set on motor fixing frame, and the motor fixing frame is fixed on driving
Outside center chassis bottom, the second driving motor is set under the driving chassis, the second driving master is set on the second driving motor
Axis, second driving spindle are fixedly connected with main driving gear, and main driving gear is engaged with transition transmission gear, the transition
Transmission gear is engaged with driven gear, and driven gear, which is fixed at, to be reinforced on transmission shaft, the reinforcement transmission shaft two sides difference
It is fixedly connected with crawler driving whell, protective shell is set outside main driving gear, transition transmission gear and the second driving spindle, it is described
It drives and water tank is set at the top of chassis, water tank is connect by water supplying pipe with water pump input terminal, and the water pump output end passes through defeated
Water pipe is connect with main efferent duct, and spray head is uniformly and equidistantly arranged under main efferent duct.
Preferably, the telescopic rod is made of fixed link and motion bar, motion bar is arranged outside fixed link, the fixation
Bar is fixedly installed under driving chassis, and motion bar is reinforced piston rod with L-type and is fixedly connected.
Preferably, first driving motor and the second driving motor are decelerating motor, and outside be provided with it is anti-
Water conservation shell.
Preferably, being provided with control valve on the water supplying pipe and water-supply-pipe, the spray head is uniformly and equidistantly arranged
It and is at most 10 for several.
Preferably, reinforcing sleeve is arranged outside the reinforcement transmission shaft, the driving wheel is equipped with hand-operated brake.
The beneficial effects of the utility model are: structure is simple, strong applicability, mobility are high, by driving lifting cylinder to match
The setting for closing telescopic rod reaches fast lifting and drives the height of wheel can be according to different terrain tune to cooperate crawler belt to be moved
The setting of whole different height, water pump cooperation spray head is up to the effect cleaned automatically, protects hoofing part mechanism not by sludge
It is damaged Deng accumulation, increases the service life of hoofing part mechanism.
Detailed description of the invention
The utility model will illustrate by example and with reference to the appended drawing, in which:
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the structural schematic diagram of the second driving motor and crawler driving whell in the utility model；
Fig. 3 is the structural schematic diagram of water pump and driving chassis in the utility model.
In figure: 1, driving chassis；2, crawler belt is driven；3, lifting cylinder is driven；4, L-type reinforces piston rod；5, telescopic rod；6,
Triangle reinforcing rib；7, fixed conveyor bar；8, wheel is driven；9, transmission shaft is reinforced in transition；10, driven wheel；11, driving wheel；12,
One driving spindle；13, the first driving motor；14, motor fixing frame；15, the second driving motor；16, the second driving spindle；17,
Main driving gear；18, transition transmission gear；19, driven gear；20, reinforce transmission shaft；21, crawler driving whell；22, protective shell；
23, water tank；24, water supplying pipe；25, water pump；26, water-supply-pipe；27, main efferent duct；28, spray head；29, belt.
Specific embodiment
Any feature disclosed in this specification unless specifically stated can be equivalent or with similar purpose by other
Alternative features are replaced.That is, unless specifically stated, each feature is an example in a series of equivalent or similar characteristics
?.
A kind of robot hoofing part mechanism as shown in Figs. 1-3, including driving chassis 1, the driving chassis 1 or so two
Driving crawler belt 2 is respectively set under side, driving lifting cylinder 3, the driving lifting are respectively set in 1 left and right sides of driving chassis
L-type is set on cylinder 3 and reinforces piston rod 4, reinforces that triangle reinforcing rib 6 is arranged on the inside of piston rod 4 in L-type, reinforces piston rod in L-type
Telescopic rod 5 is arranged in 4 ends, and the telescopic rod 5 is fixed under driving chassis 1, and fixed conveyor bar is arranged outside 5 other side of telescopic rod
7, the setting of fixed conveyor bar 7 is in driving 8 side of wheel, and in driving 8 other side of wheel, transmission shaft 9 is reinforced in setting transition,
Transition reinforces 9 other end of transmission shaft and is fixedly connected with driven wheel 10, and the driven wheel 10 is connect by belt 29 with driving wheel 11, main
Driving wheel 11 is fixedly connected with the first driving spindle 12, and first driving spindle 12 is arranged on the first driving motor 13, and first drives
Dynamic motor 13 is set on motor fixing frame 14, and the motor fixing frame 14 is fixed on outside driving 1 centre bottom of chassis, the drive
Dynamic chassis 1 is lower to be arranged the second driving motor 15, and the second driving spindle 16, second driving are arranged on the second driving motor 15
Main shaft 16 is fixedly connected with main driving gear 17, and main driving gear 17 is engaged with transition transmission gear 18, the transition driving cog
Wheel 18 is engaged with driven gear 19, and driven gear 19, which is fixed at, to be reinforced on transmission shaft 20,20 two sides of reinforcement transmission shaft
It is fixedly connected respectively with crawler driving whell 21, in main driving gear 17,16 peripheral hardware of transition transmission gear 18 and the second driving spindle
Protective shell 22 is set, water tank 23 is set at the top of the driving chassis 1, water tank 23 is connected by water supplying pipe 24 and 25 input terminal of water pump
It connects, 25 output end of water pump is connect by water-supply-pipe 26 with main efferent duct 27, uniformly and equidistantly setting spray under main efferent duct 27
Drench head 28.The telescopic rod 5 is made of fixed link and motion bar, and motion bar is arranged outside fixed link, and the fixed link fixation is set
It is placed under driving chassis 1, motion bar is reinforced piston rod 4 with L-type and is fixedly connected.First driving motor 13 and the second driving electricity
Machine 15 is decelerating motor, and outside is provided with waterproof protective case.Control is provided on the water supplying pipe 24 and water-supply-pipe 26
Valve processed, the spray head 28 are uniformly and equidistantly set as several, and are at most 10.Setting adds outside the reinforcement transmission shaft 20
Strong casing, the driving wheel 8 are equipped with hand-operated brake.
The working principle of the present embodiment is as follows: being distinguished first by the first driving motor 13 and the second driving motor 15
Control driving wheel 8 and the movement work for driving crawler belt 2 are driven by control according to demand to achieve the effect that hoofing part
Dynamic lifting cylinder 3 makes that wheel 8 is driven to adjust to desired height, while replacing belt 29 or adjusting the tightness of belt 29, then
Cooperation driving crawler belt 2, thus to be suitable for the driving of different terrain, when needing to clean driving wheel 8 and driving crawler belt 2, only
Spray head 28 need to be cooperated to work by water pump 25, reach cleaning.
The utility model is not limited to specific embodiment above-mentioned.The utility model expands to any in this specification
The new feature of middle disclosure or any new combination, and disclose any new method or process the step of or any new group
It closes.
Claims (5)
1. a kind of robot hoofing part mechanism, including driving chassis (1), it is characterised in that: driving chassis (1) left and right two
Driving crawler belt (2) is respectively set under side, driving lifting cylinder (3), the drive is respectively set in driving chassis (1) left and right sides
Setting L-type reinforces piston rod (4) on dynamic lifting cylinder (3), reinforces that triangle reinforcing rib (6) are arranged on the inside of piston rod (4) in L-type,
Reinforce piston rod (4) end setting telescopic rod (5) in L-type, the telescopic rod (5) is fixed under driving chassis (1), in telescopic rod
(5) fixed conveyor bar (7) are set outside the other side, fixed conveyor bar (7) setting is in driving wheel (8) side, in driving vehicle
It takes turns the setting transition of (8) other side and reinforces transmission shaft (9), reinforce transmission shaft (9) other end in transition and be fixedly connected with driven wheel (10),
The driven wheel (10) is connect by belt (29) with driving wheel (11), and driving wheel (11) is fixedly connected with the first driving spindle
(12), first driving spindle (12) is arranged on the first driving motor (13), and the first driving motor (13) is set to motor
On fixed frame (14), the motor fixing frame (14) is fixed on outside driving chassis (1) centre bottom, under the driving chassis (1)
Second driving motor (15) are set, are arranged on the second driving motor (15) the second driving spindle (16), the second driving master
Axis (16) is fixedly connected with main driving gear (17), and main driving gear (17) is engaged with transition transmission gear (18), the transition
Transmission gear (18) is engaged with driven gear (19), and driven gear (19), which is fixed at, to be reinforced on transmission shaft (20), described to add
Strong transmission shaft (20) two sides are fixedly connected with crawler driving whell (21) respectively, in main driving gear (17), transition transmission gear
(18) and protective shell (22) is arranged in the second driving spindle (16) outside, water tank (23) is arranged at the top of the driving chassis (1), water storage
Case (23) is connect by water supplying pipe (24) with water pump (25) input terminal, and water pump (25) output end passes through water-supply-pipe (26) and main
Efferent duct (27) connects, and spray head (28) are uniformly and equidistantly arranged under main efferent duct (27).
2. a kind of robot hoofing part mechanism according to claim 1, it is characterised in that: the telescopic rod (5) has solid
Fixed pole and motion bar form, and motion bar is arranged outside fixed link, and the fixed link is fixedly installed under driving chassis (1), activity
Bar is reinforced piston rod (4) with L-type and is fixedly connected.
3. a kind of robot hoofing part mechanism according to claim 1, it is characterised in that: first driving motor
It (13) is decelerating motor with the second driving motor (15), and outside is provided with waterproof protective case.
4. a kind of robot hoofing part mechanism according to claim 1, it is characterised in that: the water supplying pipe (24) with it is defeated
Control valve is provided on water pipe (26), the spray head (28) is uniformly and equidistantly set as several, and is at most 10.
5. a kind of robot hoofing part mechanism according to claim 1, it is characterised in that: the reinforcement transmission shaft (20)
Outer setting reinforcing sleeve, the driving wheel (8) are equipped with hand-operated brake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820999669.XU CN208344367U (en) | 2018-06-27 | 2018-06-27 | A kind of robot hoofing part mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820999669.XU CN208344367U (en) | 2018-06-27 | 2018-06-27 | A kind of robot hoofing part mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208344367U true CN208344367U (en) | 2019-01-08 |
Family
ID=64882111
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820999669.XU Expired - Fee Related CN208344367U (en) | 2018-06-27 | 2018-06-27 | A kind of robot hoofing part mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208344367U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110386199A (en) * | 2019-07-29 | 2019-10-29 | 三峡大学 | A kind of caterpillar drive and method with extension type and self-cleaning function |
| CN111179549A (en) * | 2020-01-13 | 2020-05-19 | 屈冲 | Old person's intelligence nurse system and device |
| CN112690703A (en) * | 2020-12-18 | 2021-04-23 | 苏州寻迹智行机器人技术有限公司 | Novel autonomous mobile robot |
-
2018
- 2018-06-27 CN CN201820999669.XU patent/CN208344367U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110386199A (en) * | 2019-07-29 | 2019-10-29 | 三峡大学 | A kind of caterpillar drive and method with extension type and self-cleaning function |
| CN110386199B (en) * | 2019-07-29 | 2021-01-08 | 三峡大学 | Crawler driving device with telescopic and self-cleaning functions and method |
| CN111179549A (en) * | 2020-01-13 | 2020-05-19 | 屈冲 | Old person's intelligence nurse system and device |
| CN112690703A (en) * | 2020-12-18 | 2021-04-23 | 苏州寻迹智行机器人技术有限公司 | Novel autonomous mobile 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 |
Granted publication date: 20190108 Termination date: 20190627 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |