CN210680275U - Obstacle crossing wheel system for robot - Google Patents
Obstacle crossing wheel system for robot Download PDFInfo
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- CN210680275U CN210680275U CN201920960529.6U CN201920960529U CN210680275U CN 210680275 U CN210680275 U CN 210680275U CN 201920960529 U CN201920960529 U CN 201920960529U CN 210680275 U CN210680275 U CN 210680275U
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Abstract
The utility model discloses a robot is with wheel system that hinders more, it is provided with vice walking wheel respectively at the both ends of vice walking wheel support including vice walking wheel and vice walking wheel support, vice walking wheel support transmission connects in the tip of transmission dabber by the drive spindle drive motion, vice walking wheel distributes in the front and back of main walking wheel, the transmission spindle still is provided with first transmission gear, the rotatable cover of main walking wheel establish at the transmission spindle, main walking take turns to be provided with and be used for driving its driven second drive gear, first, second drive gear are driven by synchronous gearbox respectively, power is carried to the power supply for synchronous gearbox. The utility model discloses can improve the obstacle crossing ability of robot greatly, can protect main travelling wheel simultaneously, reduce the friction of main travelling wheel with the ground coplanar, improve main travelling wheel life-span, main, vice walking wheel can change in a flexible way.
Description
Technical Field
The utility model relates to a robot, especially a robot are with wheel system that hinders more.
Background
In recent years, with the development of automation and intellectualization, ground inspection robots are more and more widely applied, and the robots are required to have excellent power performance under normal road conditions and also to have requirements on power performance under severe road conditions, and particularly have higher requirements on obstacle crossing adaptability. The development trend of the robot is mainly towards miniaturization, the wheel size of the robot is controlled under the condition that the overall height of the robot is required, the obstacle crossing height of the general robot cannot exceed the radius of the wheel, and the requirement of increasing the obstacle crossing height under the condition of the same-size wheel arises.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's weak point, and provide a robot is with wheel system that hinders more that can increase the height of hindering more under the wheel condition of equal wheel footpath.
The utility model provides a robot is with wheel system that hinders more, includes power supply, main walking wheel, transmission dabber, and its structural feature lies in, still including vice walking wheel and vice walking wheel support, is provided with vice walking wheel respectively at the both ends of vice walking wheel support, and vice walking wheel support transmission is connected in the tip of transmission dabber and is driven the motion by the transmission dabber, and vice walking wheel distributes in the front and back of main walking wheel, still is provided with first transmission gear on the transmission dabber, the rotatable cover of main walking wheel establish at the transmission dabber, main walking wheel on be provided with and be used for driving its driven second drive gear, first, second drive gear are driven by synchronous speed changer respectively, power supply transport power gives synchronous speed changer.
The utility model discloses a robot is with wheel system that hinders more, utilize synchronous gearbox to drive main walking wheel and vice walking wheel motion respectively, when needs hinder more, synchronous gearbox stops to main walking wheel conveying power, main walking wheel stall, synchronous gearbox control vice walking wheel support rotates, thereby drive vice walking wheel motion, when main walking wheel reaches barrier department, because the vice walking wheel that lies in main walking wheel the place ahead has striden on the barrier, when vice walking wheel support rotates, the vice walking wheel that lies in main walking wheel the place ahead will be in the barrier contact, vice walking wheel in main walking wheel the place ahead is very big with the coefficient of friction on ground, along with the rotation of vice walking wheel support, lift the anterior whole of robot, finally can guarantee that whole robot crosses the barrier.
The auxiliary walking wheel support is provided with a roller, a circular groove is formed in one side surface, facing the auxiliary walking wheel support, of the main walking wheel, and the roller on the auxiliary walking wheel support moves in the circular groove on the main walking wheel.
The auxiliary traveling wheels are provided with the rollers, the main traveling wheels are provided with the annular grooves, and the rollers move in the annular grooves, so that the auxiliary traveling wheels can be accurately positioned to move, and meanwhile, the auxiliary traveling straight support can be supported.
The rollers are arranged on two sides of a connection point of the auxiliary walking wheel bracket and the transmission mandrel in a front-back paired mode.
The rollers are arranged in pairs, so that the auxiliary road wheel bracket can be balanced.
And a positioning sensor for detecting the included angle between the auxiliary walking wheel support and the horizontal plane is arranged on the auxiliary walking wheel support, and the auxiliary walking wheel support is controlled to keep a corresponding angle with the horizontal plane when in a non-rotating state through the positioning sensor.
The front end of the auxiliary walking wheel can cross the obstacle, and the rear end of the auxiliary walking wheel can not contact with the ground.
The synchronous transmission is an inertia type synchronous transmission controlled by an electric push rod, power provided by a power source is respectively and independently transmitted to the main travelling wheel and the auxiliary travelling wheel, different transmission ratios are provided, and the high-rotating-speed low-torque main travelling wheel and the low-rotating-speed high-torque auxiliary travelling wheel are ensured.
The second transmission gear driving the main travelling wheel to move is a pinion.
The second transmission gear is a pinion gear, so that the main travelling wheel can rotate at a high speed, and the torque is relatively small.
The first transmission gear driving the auxiliary traveling wheels to move is a bull gear.
The first transmission gear is a large gear, so that the auxiliary traveling wheel is slow in rotating speed and relatively large in torque.
The main travelling wheel comprises a hub and a rubber wheel sleeved on the hub, and an annular groove in the main travelling wheel is formed in the hub.
The auxiliary traveling wheels are rubber wheels.
The transmission mandrel is arranged in the shaft hole of the main travelling wheel through a rolling bearing,
the main travelling wheel is arranged on the bearing seat through a rolling bearing.
The bearing seat, the power source and the synchronous transmission are all arranged on the frame.
The main traveling wheel comprises a wheel hub and a tubular supporting part, the tubular supporting part and the wheel hub are of an integrated structure, the outer diameter of the tubular supporting part is smaller than that of the wheel hub, the second transmission gear is arranged on the tubular supporting part, and the bearing seat is supported outside the tubular supporting part.
To sum up, the utility model discloses compare prior art following advantage:
the utility model discloses a robot is with wheel system that hinders more, main walking wheel main function is for going, and vice walking wheel's main function is for hindering more. The main and auxiliary traveling wheels realize independent operation and output power through an inertial type synchronizer speed change mechanism controlled by an electric push rod. The inertia type synchronizer speed change mechanism controlled by the electric push rod can ensure that the main travelling wheel has high rotating speed and relatively small torque, and the auxiliary travelling wheel has low rotating speed and relatively large torque. The system can ensure that obstacles exceeding the height of the radius of the wheel are crossed. The utility model discloses can improve the obstacle crossing ability of robot greatly, can protect main travelling wheel simultaneously, reduce the friction of main travelling wheel with the ground coplanar, improve main travelling wheel life-span, main, vice walking wheel can change in a flexible way.
Drawings
Fig. 1 is a schematic view of the main running wheels of the present invention approaching an obstacle.
Fig. 2 is a schematic view of the front-end secondary road wheel of the present invention contacting an obstacle.
Fig. 3 is a schematic view of the main traveling wheel of the present invention off the ground.
Fig. 4 is a schematic view of the main traveling wheel of the present invention moving upward and continuously away from the ground.
Fig. 5 is a schematic view of the main traveling wheel of the present invention positioned directly above the sub-traveling wheel at the front end.
Fig. 6 is a schematic view of the main running wheels of the present invention contacting an obstacle.
Fig. 7 is an internal schematic view of the obstacle detouring wheel system of the present invention.
Fig. 8 is a schematic structural diagram of the obstacle crossing wheel system of the present invention.
Detailed Description
The present invention will be described in more detail with reference to the following examples.
Example 1
The utility model provides a robot is with wheel system that hinders more, includes power supply, main walking wheel, transmission dabber, and its structural feature lies in, still including vice walking wheel and vice walking wheel support, is provided with vice walking wheel respectively at the both ends of vice walking wheel support, and vice walking wheel support transmission is connected in the tip of transmission dabber and is driven the motion by the transmission dabber, and vice walking wheel distributes in the front and back of main walking wheel, still is provided with first transmission gear on the transmission dabber, the rotatable cover of main walking wheel establish at the transmission dabber, main walking wheel on be provided with and be used for driving its driven second drive gear, first, second drive gear are driven by synchronous speed changer respectively, power supply transport power gives synchronous speed changer. The auxiliary walking wheel support is provided with a roller, a circular groove is formed in one side surface, facing the auxiliary walking wheel support, of the main walking wheel, and the roller on the auxiliary walking wheel support moves in the circular groove on the main walking wheel. And a positioning sensor for detecting the included angle between the auxiliary walking wheel support and the horizontal plane is arranged on the auxiliary walking wheel support, and the auxiliary walking wheel support is controlled to keep a corresponding angle with the horizontal plane when in a non-rotating state through the positioning sensor. The synchronous speed changer is an inertia type synchronous speed changer controlled by an electric push rod. The main traveling wheel comprises a wheel hub and a tubular supporting part, the tubular supporting part and the wheel hub are of an integrated structure, the outer diameter of the tubular supporting part is smaller than that of the wheel hub, the second transmission gear is arranged on the tubular supporting part, and the bearing seat is supported outside the tubular supporting part
As shown in fig. 1, the auxiliary traveling wheels 3 are added, the included angle between the auxiliary traveling wheels and the ground is about 30 degrees at ordinary times, the positioning position of the auxiliary traveling wheels is controlled by the positioning sensor 20, the rear ends of the auxiliary traveling wheels are guaranteed not to be in contact with the ground 4 when the auxiliary traveling wheels travel, and the front ends of the auxiliary traveling wheels can cross the obstacle 1 and cannot bump into the obstacle;
as shown in fig. 2 to 6, in order to achieve the process that the obstacle-surmounting wheels cross the obstacle through the auxiliary traveling wheels, the main traveling wheels travel to the front and back of the obstacle, the inertial type synchronizer speed change mechanism controlled by the electric push rod 18 controls the braking force to stop transmitting to the main traveling wheels 2, the main traveling wheels stop rotating, and then the power is controlled to transmit to the auxiliary traveling wheels, at this time, the front sections of the auxiliary traveling wheels completely cross the obstacle, the auxiliary traveling wheels start rotating, the front ends of the auxiliary traveling wheels contact the obstacle, the friction coefficients of the front and back ends of the auxiliary traveling wheels and the ground are very large, the front sections of the robot are lifted up along with the rotation of the auxiliary traveling wheels, and finally;
as shown in fig. 7, the auxiliary traveling wheel is connected with a transmission mandrel 11 and is mounted to a main traveling wheel through a front second deep groove ball bearing 15 and a rear second deep groove ball bearing 15, the middle of the two bearings is propped by a second shaft sleeve 13, finally, the shaft is clamped by an elastic retainer ring 16, the main traveling wheel is mounted to a bearing seat 5 through a front first deep groove ball bearing 14 and a rear first deep groove ball bearing 14, the middle of the two bearings is propped by a first shaft sleeve 12, then, a first key 7 is mounted, a pinion 6 is sleeved, finally, a first locking nut 8 is adopted for locking, then, a second key 17 is mounted on the transmission mandrel, a bull gear 9 is sleeved, finally, a second locking nut 10 is adopted for locking, and the main traveling;
the main walking wheel hub 2.2 and the main walking wheel rubber wheel 2.1 are installed to form a main walking wheel, the auxiliary walking wheel support 3.2 is connected with the auxiliary walking wheel rubber wheel 3.1 and the auxiliary walking wheel roller 3.3 to form an auxiliary walking wheel walking device, and the main walking wheel hub is provided with a sliding groove which is matched with the auxiliary walking wheel roller to ensure the rotation precision and load of the auxiliary walking wheel.
After the main and auxiliary traveling wheels are partially assembled, the main and auxiliary traveling wheels are connected with a frame 21 through a bearing seat 5, an inertial synchronizer speed change mechanism controlled by an electric push rod 18 is installed on the frame, a power source 19 and a positioning sensor 20 are installed on the frame, wherein the inertial synchronizer speed change mechanism controlled by the electric push rod realizes power switching, power provided by the power source can be respectively and independently transmitted to the main traveling wheels and the auxiliary traveling wheels, different transmission ratios are provided, high rotating speed and low torque of the main traveling wheels are ensured, low rotating speed and high torque of the auxiliary traveling wheels are ensured, the positioning sensor is mainly used for positioning the auxiliary traveling wheels, and the auxiliary traveling wheels are always in an included angle of about 30 degrees with the ground as shown in figure 1 when the auxiliary traveling.
When the robot runs to an obstacle, because the auxiliary traveling wheel is in a non-working state, the positioning sensor always ensures that the auxiliary traveling wheel bracket forms an included angle of 30 degrees with the ground, so that an auxiliary traveling wheel rubber wheel of the auxiliary traveling wheel can smoothly cross the obstacle, then the inertial type synchronizer speed change mechanism controlled by the electric push rod controls the cut-off of the power source to transmit the power to the main traveling wheel, meanwhile, the power is transmitted to the auxiliary traveling wheel, the auxiliary traveling wheel starts to rotate to complete obstacle crossing, then the auxiliary traveling wheel returns to a fixed position forming an included angle of 30 degrees with the ground under the control of the positioning sensor, and the whole obstacle crossing process is completed.
The power source can transmit power to the pinion and the gear wheel respectively through the inertia type synchronizer speed change mechanism controlled by the electric push rod, the pinion can provide high rotating speed and low torque for the main walking wheel through different reduction ratios, and the gear wheel can provide low rotating speed and high torque for the auxiliary walking wheel.
The parts not described in the present embodiment are the same as those in the prior art.
Claims (10)
1. The utility model provides a robot is with wheel system that hinders more, is including power supply, main walking wheel, transmission dabber, its characterized in that: still including vice walking wheel and vice walking wheel support, be provided with vice walking wheel respectively at the both ends of vice walking wheel support, vice walking wheel support transmission is connected in the tip of transmission dabber and is driven the motion by the transmission dabber, and vice walking wheel distributes in the front and back of main walking wheel, still is provided with first transmission gear on the transmission dabber, the rotatable cover of main walking wheel establish on the transmission dabber, main walking wheel on be provided with and be used for driving its driven second drive gear, first, second drive gear is driven by synchronous speed changer respectively, power is carried to the power supply and is given synchronous speed changer.
2. The obstacle crossing wheel system for a robot as claimed in claim 1, wherein: the auxiliary walking wheel support is provided with a roller, a circular groove is formed in one side surface, facing the auxiliary walking wheel support, of the main walking wheel, and the roller on the auxiliary walking wheel support moves in the circular groove on the main walking wheel.
3. The obstacle crossing wheel system for a robot as claimed in claim 2, wherein: the rollers are arranged on two sides of a connection point of the auxiliary walking wheel bracket and the transmission mandrel in a front-back paired mode.
4. The obstacle crossing wheel system for a robot as claimed in claim 1, wherein: and a positioning sensor for detecting the included angle between the auxiliary walking wheel support and the horizontal plane is arranged on the auxiliary walking wheel support, and the auxiliary walking wheel support is controlled to keep a corresponding angle with the horizontal plane when in a non-rotating state through the positioning sensor.
5. The obstacle crossing wheel system for a robot as claimed in claim 1, wherein: the synchronous transmission is an inertia type synchronous transmission controlled by an electric push rod, power provided by a power source is respectively and independently transmitted to the main travelling wheel and the auxiliary travelling wheel, different transmission ratios are provided, and the high-rotating-speed low-torque main travelling wheel and the low-rotating-speed high-torque auxiliary travelling wheel are ensured.
6. The obstacle crossing wheel system for a robot as claimed in claim 1, wherein: the second transmission gear driving the main travelling wheel to move is a pinion.
7. The obstacle crossing wheel system for robots of claim 6, wherein: the first transmission gear driving the auxiliary traveling wheels to move is a bull gear.
8. The obstacle crossing wheel system for a robot of claim 7, wherein: the main travelling wheel comprises a hub and a rubber wheel sleeved on the hub, and an annular groove in the main travelling wheel is formed in the hub.
9. The obstacle crossing wheel system for robots of claim 8, wherein: the transmission mandrel is arranged in a shaft hole of the main travelling wheel through a rolling bearing, and the main travelling wheel is arranged on the bearing seat through the rolling bearing.
10. The obstacle crossing wheel system for a robot of claim 9, wherein: the main traveling wheel comprises a wheel hub and a tubular supporting part, the tubular supporting part and the wheel hub are of an integrated structure, the outer diameter of the tubular supporting part is smaller than that of the wheel hub, the second transmission gear is arranged on the tubular supporting part, and the bearing seat is supported outside the tubular supporting part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920960529.6U CN210680275U (en) | 2019-06-25 | 2019-06-25 | Obstacle crossing wheel system for robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920960529.6U CN210680275U (en) | 2019-06-25 | 2019-06-25 | Obstacle crossing wheel system for robot |
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| CN210680275U true CN210680275U (en) | 2020-06-05 |
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| CN201920960529.6U Active CN210680275U (en) | 2019-06-25 | 2019-06-25 | Obstacle crossing wheel system for robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239275A (en) * | 2019-06-25 | 2019-09-17 | 国网信息通信产业集团有限公司 | A kind of robot obstacles-surmounting wheel system |
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2019
- 2019-06-25 CN CN201920960529.6U patent/CN210680275U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110239275A (en) * | 2019-06-25 | 2019-09-17 | 国网信息通信产业集团有限公司 | A kind of robot obstacles-surmounting wheel system |
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