CN210212576U

CN210212576U - Moving mechanism of robot

Info

Publication number: CN210212576U
Application number: CN201921108884.7U
Authority: CN
Inventors: Min Tan; 谭敏; Xiong Yang; 杨雄; Qijin Tang; 唐启金
Original assignee: Chongqing Aerospace Polytechnic College
Current assignee: Chongqing Aerospace Polytechnic College
Priority date: 2019-07-16
Filing date: 2019-07-16
Publication date: 2020-03-31
Anticipated expiration: 2029-07-16

Abstract

The utility model relates to a moving mechanism of a robot, which comprises a base station, a driving wheel set mechanism and a driven wheel set mechanism, wherein the driving wheel set mechanism is arranged at the rear part of the base station and comprises a driving wheel frame, a driving wheel seat, a driving wheel and a driving motor; the driving wheel frame and the driving motor are fixedly connected to the bottom of the base station, the driving wheel seats are arranged at two ends of the driving wheel frame, the driving wheel is arranged on the driving wheel seats, and an output shaft of the driving motor is connected with a rotating shaft of the driving wheel through a belt; the driven wheel set mechanism is arranged at the front part of the base station and comprises a turntable, a wheel seat and a driven wheel; the rotary table can be rotatably connected to the base station, the wheel seat can be rotatably arranged on the bottom surface of the rotary table, and the driven wheel is arranged on the wheel seat. The moving mechanism of the robot can be controlled to realize actions such as straight movement, turning, in-situ rotation and the like, and realize reliable landing of the driving wheel body and the driven wheel body, advancing buffering of the driving wheel and flexible winding of the driven wheel, thereby improving the advancing stability of the whole moving mechanism.

Description

Moving mechanism of robot

Technical Field

The utility model relates to a moving mechanism of robot.

Background

The moving mechanism of the robot is mainly divided into chassis forms of wheel type, crawler type, leg type, snake type, jump type, composite type and the like, wherein the chassis mechanism of the wheel type moving robot has the advantages of light dead weight, flexibility in maneuvering, simplicity in mechanism, relative convenience in driving and controlling and the like, and is widely applied to the fields of industry, agriculture, medical treatment, families, space detection and the like. The wheel type moving mechanism of the existing robot has the main structure that a driving wheel, a driven wheel and a steering mechanism are arranged below a base plate, wherein the driving mechanism and the steering gear mechanism of a front-drive chassis are both arranged on a front wheel shaft, and the front wheel is complex in structure, poor in driving force and inconvenient to maintain due to a pull type structure; the rear-drive chassis is provided with a steering mechanism at the front wheel and a driving mechanism at the rear wheel, so that although a larger driving force is obtained and the structure of the front wheel is simplified, the steering flexibility is poor and the steering angle is limited due to the separation of the steering and the driving wheel. In addition, when the two wheel-type moving mechanisms travel on a rough road surface, the whole wheels are not good in contact with the ground, and further, driving force loss, traveling resistance, bumping and other conditions affecting the traveling stability of the robot occur.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is how to overcome the above-mentioned defect of prior art, provide a moving mechanism of robot.

In order to solve the technical problem, the moving mechanism of the robot comprises a base station for placing the robot, a driving wheel set mechanism and a driven wheel set mechanism, wherein the driving wheel set mechanism and the driven wheel set mechanism are arranged on the bottom surface of the base station; the driving wheel frame and the driving motor are fixedly connected to the bottom of the base station, the driving wheel seats are installed at two ends of the driving wheel frame, the driving wheel is installed on the driving wheel seats, and an output shaft of the driving motor is connected with a rotating shaft of the driving wheel through a belt; the driven wheel set mechanism is arranged at the front part of the base station and comprises a rotary disc, a wheel seat and a driven wheel; the rotary table is rotatably connected to the base station, the wheel seat is rotatably arranged on the bottom surface of the rotary table, and the driven wheel is arranged on the wheel seat. So design, through controlling two driving motor rotational speeds of driving wheel set mechanism respectively, and then the fast of two action wheels, realize this moving mechanism's action: if the two wheels are in the same speed, the moving mechanism moves straight, if the two wheels have a speed difference, the moving mechanism turns to one side with a slow speed, and if one wheel is static and the other wheel rotates, the moving mechanism rotates in place. The rotary disc and each wheel seat of the driven wheel set mechanism are connected in a rotatable mode, so that the rotary disc and the wheel seats can rotate in two stages to realize curve circumambulation on a hollow road surface, the driven wheel can reliably land, and the traveling stability of the whole moving mechanism is kept.

As optimization, the driving wheel frame comprises a main body and spring telescopic connecting rods arranged at two ends of the main body, the main body is arched, the top end of the main body is welded on the bottom surface of the base platform, and two ends of each spring telescopic connecting rod are respectively fixed on the upper edge of the end part of the main body and the bottom surface of the base platform. By the design, the two wheel carriers obtain the buffer effect from the extension rod and the limitation of the moving range from the main body, so that the driving wheel presses the ground in the moving process on different or hollow pavements, the vibration is buffered, and the moving stability of the whole moving mechanism is further improved.

As optimization, the number of the wheel seats is three, and the three wheel seats are uniformly distributed at three vertex positions of an equilateral triangle on the periphery of the turntable. By the design, the three wheel seats form three vertexes of an equilateral triangle on the turntable and are distributed, so that not only can the base station above be stably supported, but also three points can be reliably contacted with the ground on uneven ground.

Preferably, the turntable is provided with a bearing and a rotating shaft, and the turntable is connected with the base station through the bearing and the rotating shaft. By the design, the structure is simple, the upper surface of the base platform is flat, and the whole robot is convenient to install.

Preferably, the turntable is in an I shape and comprises an upper plate, a lower plate and a connecting column, the base platform is provided with a through hole, the lower surface of the upper plate and the upper surface of the base platform, the upper surface of the lower plate and the lower surface of the base platform are provided with corresponding bead running grooves, and beads are arranged in the bead running grooves. So design, the hanging wall is located the base station top, the lower wall is located the base station below, the spliced pole has rotated the base station through-hole, and the hanging wall can be used for placing the surveillance camera head, and this camera can follow in real time when turning to and turn to the visual angle, walks the setting of pearl through walking the cooperation of pearl groove, the frictional resistance between carousel and the base station when reduction that can furthest turns to.

The utility model relates to a moving mechanism of robot realizes actions such as craspedodrome, turn, original place rotation through the control wheel speed through drive wheelset mechanism, utilizes the elastic stretching of drive wheel carrier and the two-stage rotation of spacing, the driven wheel carrier of bow member simultaneously, realizes reliable landing of the main driven wheel body, the buffering of marcing of action wheel, the nimble of following the driving wheel to the stability of marcing of whole moving mechanism has been promoted.

Drawings

The moving mechanism of the robot of the present invention will be further described with reference to the accompanying drawings:

fig. 1 is a schematic perspective view of a movement mechanism of the robot according to embodiment 1;

fig. 2 is a front plan view schematically showing the structure of embodiment 1 of the moving mechanism of the robot;

fig. 3 is a schematic rear plan view of embodiment 1 of the moving mechanism of the present robot;

fig. 4 is a schematic right-side plan view of embodiment 1 of the moving mechanism of the robot;

fig. 5 is an exploded structure diagram of embodiment 1 of the moving mechanism of the present robot;

fig. 6 is a schematic perspective view of embodiment 2 of the moving mechanism of the robot;

FIG. 7 is a partial enlarged view of portion A of FIG. 6;

fig. 8 is a schematic right-view configuration diagram of embodiment 2 of the movement mechanism of the robot.

In the figure:

1-a base station, 2-a driving wheel set mechanism and 3-a driven wheel set mechanism;

21-driving wheel carrier, 22-driving wheel seat, 23-driving wheel, 24-driving motor, 31-rotating disc, 32-wheel seat and 33-driven wheel;

211-main body, 212-spring telescopic connecting rod, 311-bearing, 312-rotating shaft, 313-upper disc, 314-lower disc, 315-connecting column, 103-ball-moving groove and 301-ball-moving groove.

Detailed Description

Embodiment 1: as shown in fig. 1 to 5, the moving mechanism of the robot includes a base station 1 for placing the robot, a driving wheel set mechanism 2 and a driven wheel set mechanism 3 disposed on the bottom surface of the base station 1, wherein the driving wheel set mechanism 2 is disposed at the rear of the base station 1, and the driving wheel set mechanism 2 includes a driving wheel frame 21, a pair of driving wheel seats 22, a pair of driving wheels 23 and two driving motors 24; the driving wheel frame 21 and the driving motor 24 are fixedly connected to the bottom of the base station 1, the driving wheel seats 22 are installed at two ends of the driving wheel frame 21, the driving wheel 23 is installed on the driving wheel seats 22, and an output shaft of the driving motor 24 is connected with a rotating shaft of the driving wheel 23 through a belt; the driven wheel set mechanism 3 is arranged at the front part of the base station 1, and the driven wheel set mechanism 3 comprises a rotary disc 31, a wheel seat 32 and a driven wheel 33; the turntable 31 is rotatably connected to the base 1, the wheel seat 32 is rotatably arranged on the bottom surface of the turntable 31, and the driven wheel 33 is mounted on the wheel seat 32. Through controlling two driving motor rotational speeds of driving wheel group mechanism respectively, and then the wheel speed of two action wheels, realize this moving mechanism's action: if the two wheels are in the same speed, the moving mechanism moves straight, if the two wheels have a speed difference, the moving mechanism turns to one side with a slow speed, and if one wheel is static and the other wheel rotates, the moving mechanism rotates in place. The rotary disc and each wheel seat of the driven wheel set mechanism are connected in a rotatable mode, so that the rotary disc and the wheel seats can rotate in two stages to realize curve circumambulation on a hollow road surface, the driven wheel can reliably land, and the traveling stability of the whole moving mechanism is kept.

The driving wheel frame 21 comprises a main body 211 and spring telescopic connecting rods 212 arranged at two ends of the main body 211, the main body 211 is arched, the top ends of the main body 211 are welded on the bottom surface of the base platform 1, and two ends of the spring telescopic connecting rods 212 are respectively fixed on the upper edge of the end part of the main body 211 and the bottom surface of the base platform 1. The two wheel frames obtain the buffer effect from the stretching rod and the movement range limitation from the main body, so that the driving wheel presses the ground in the advancing process on different or hollow pavements, the vibration is buffered, and the advancing stability of the whole moving mechanism is further improved.

The number of the wheel seats 32 is three, and the three wheel seats 32 are uniformly arranged at three vertex positions of the periphery of the turntable 31 in an equilateral triangle. Three wheel seats form three vertexes of an equilateral triangle on the turntable, so that not only can the base station above be stably supported, but also three points can be reliably contacted with the ground on uneven ground.

The turntable 31 is provided with a bearing 311 and a rotating shaft 312, and the turntable 31 is connected with the base station 1 through the bearing 311 and the rotating shaft 312. Simple structure, the empty pure level of base station upper surface is convenient for the whole installation of robot.

Embodiment 2: as shown in fig. 6 to 8, the turntable 31 is in an "i" shape, and includes an upper disc 313, a lower disc 314, and a connection column 315, a through hole is formed on the base 1, the lower surface of the upper disc 313 and the upper surface of the base 1, the upper surface of the lower disc 314 and the lower surface of the base 1 are provided with corresponding ball grooves 103, and the ball grooves 103 are provided with balls 301. The hanging wall is located the base station top, the lower wall is located the base station below, the spliced pole rotates the base station through-hole, and the hanging wall can be used for placing surveillance camera, and this camera can follow in real time when turning to and turn to the visual angle, walks the setting of pearl through walking the cooperation of pearl groove, the frictional resistance between carousel and the base station when reduction that can furthest turns to. The remaining components and structures are as described in embodiment 1, but omitted.

The moving mechanism of the robot realizes actions such as straight movement, turning and in-situ rotation through the control wheel speed by the driving wheel set mechanism, and simultaneously realizes reliable landing of a driving wheel body and a driven wheel body, advancing buffering of a driving wheel and flexible circumambulation of the driven wheel by utilizing elastic extension and arch spacing of the driving wheel frame and two-stage rotation of the driven wheel frame, thereby improving the advancing stability of the whole moving mechanism.

The above embodiments are intended to be illustrative of the manner in which the invention may be made and used by persons skilled in the art, and modifications to the above embodiments will be apparent to those skilled in the art, and it is therefore intended that the invention, including but not limited to the above embodiments, be limited to any methods, processes and products consistent with the principles and novel and inventive features disclosed herein, and which are to be interpreted as illustrative and not in a limiting sense.

Claims

1. A moving mechanism of a robot is characterized in that: comprises a base platform (1) for placing a robot, a driving wheel set mechanism (2) and a driven wheel set mechanism (3) which are arranged on the bottom surface of the base platform (1), wherein,

the driving wheel set mechanism (2) is arranged at the rear part of the base station (1), and the driving wheel set mechanism (2) comprises a driving wheel frame (21), a pair of driving wheel seats (22), a pair of driving wheels (23) and two driving motors (24); the driving wheel frame (21) and the driving motor (24) are fixedly connected to the bottom of the base station (1), the driving wheel seats (22) are installed at two ends of the driving wheel frame (21), the driving wheel (23) is installed on the driving wheel seats (22), and an output shaft of the driving motor (24) is connected with a rotating shaft of the driving wheel (23) through a belt;

the driven wheel set mechanism (3) is arranged at the front part of the base station (1), and the driven wheel set mechanism (3) comprises a rotary disc (31), a wheel seat (32) and a driven wheel (33); the rotary table (31) is rotatably connected to the base table (1), the wheel seat (32) is rotatably arranged on the bottom surface of the rotary table (31), and the driven wheel (33) is arranged on the wheel seat (32).

2. The moving mechanism of a robot according to claim 1, wherein: the driving wheel frame (21) comprises a main body (211) and spring telescopic connecting rods (212) arranged at two ends of the main body (211), the main body (211) is arched, the top ends of the main body (211) are welded on the bottom surface of the base platform (1), and two ends of each spring telescopic connecting rod (212) are fixed to the upper edge of the end of the main body (211) and the bottom surface of the base platform (1) respectively.

3. The moving mechanism of a robot according to claim 2, wherein: the number of the wheel seats (32) is three, and the three wheel seats (32) are uniformly distributed at three vertex positions of the periphery of the turntable (31) in an equilateral triangle shape.

4. The moving mechanism of a robot according to claim 3, wherein: the turntable (31) is provided with a bearing (311) and a rotating shaft (312), and the turntable (31) is connected with the base station (1) through the bearing (311) and the rotating shaft (312).

5. The moving mechanism of a robot according to claim 3, wherein: the turntable (31) is in an I shape and comprises an upper disc (313), a lower disc (314) and a connecting column (315), a through hole is formed in the base platform (1), the lower surface of the upper disc (313) and the upper surface of the base platform (1), the upper surface of the lower disc (314) and the lower surface of the base platform (1) are provided with corresponding bead walking grooves (103), and beads (301) are arranged in the bead walking grooves (103).