CN210757696U - Wheel body lifting mechanism of multi-foot wheeled robot - Google Patents
Wheel body lifting mechanism of multi-foot wheeled robot Download PDFInfo
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- CN210757696U CN210757696U CN201921302868.1U CN201921302868U CN210757696U CN 210757696 U CN210757696 U CN 210757696U CN 201921302868 U CN201921302868 U CN 201921302868U CN 210757696 U CN210757696 U CN 210757696U
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Abstract
The utility model relates to a robot, concretely relates to wheel body elevating system of polypody wheeled robot. It has solved the poor scheduling problem of polypod formula robot wheel body lift stability. The robot body is fixedly connected with the robot body or can be rotatably connected with the robot body, and the lifting rods can be driven to synchronously rotate when the driving transmission device rotates relative to the robot body. Has the advantages that: the lifting rod has good stability in the lifting process, realizes that the walking wheel body adapts to various complex road sections, and simultaneously, the lifting rod can be obliquely arranged relative to the robot body, so that the stability of the walking wheel body during walking can be improved.
Description
Technical Field
The utility model relates to a robot, concretely relates to wheel body elevating system of polypody wheeled robot.
Background
The wheel-type foot is a common component in the field of robots, has high moving speed and simple control, but has poor obstacle crossing capability. In order to improve the obstacle crossing capability, a wheel type foot with a function of lifting a wheel body needs to be designed. The wheel type foot in the prior art is not reasonable enough in design, and the driving device is usually arranged separately from the transmission mechanism, so that the working noise is high, and the transmission efficiency is lower. On the other hand, the wheel-type foot of the prior art generally has poor lifting capability, and even if lifting is performed, only vertical lifting can be generally realized, but the wheel-type foot cannot be inclined, so that the operation stability of the robot is difficult to be improved when the wheel-type foot is applied to the robot.
Disclosure of Invention
The utility model aims at the above-mentioned problem, a wheel body elevating system of sufficient wheeled robot of reasonable in design, stability is good is provided.
In order to achieve the above purpose, the utility model adopts the following technical proposal: the wheel body lifting mechanism of the multi-foot wheel type robot is arranged between a robot body and a walking wheel body, and is characterized by comprising an integrally arranged driving transmission device, wherein the driving transmission device is connected with a lifting rod and can drive the lifting rod to axially move, the lower end of the lifting rod is connected with the walking wheel body, and the driving transmission device is fixedly connected with the robot body or can be rotatably connected with the robot body and can drive the lifting rod to synchronously rotate when the driving transmission device rotates relative to the robot body. Through the fixed or rotation of drive transmission for the robot fuselage and lifter self circumference does not rotate, thereby realize the lift of walking wheel body through lifter axial displacement, make like this that lifter lift in-process stability is good, realize walking wheel body adaptation multiple complicated highway section.
In the wheel body lifting mechanism of the multi-foot wheel type robot, the driving transmission device comprises a driver and a transmission structure, the transmission structure is connected with the lifting rod, and the transmission structure can convert the power of the driver into the power for driving the lifting rod to move axially.
In the wheel body lifting mechanism of the multi-foot wheel type robot, the transmission structure comprises a threaded sleeve and external threads arranged on the outer side of the circumferential direction of the lifting rod, the lifting rod penetrates through the threaded sleeve and is connected with the threaded sleeve through the external threads, and a limiting disc is arranged at the upper end of the lifting rod. The lifting rod is driven to axially lift through the circumferential rotation of the threaded sleeve to realize the lifting of the walking wheel body.
In the wheel body lifting mechanism of the multi-foot wheel type robot, the thread insert is circumferentially rotatably arranged in the installation cylinder, the lifting rod penetrates through the installation cylinder, and the lifting driver is fixedly arranged on one side of the installation cylinder and is connected with the thread insert through the speed reducing structure.
In the wheel body lifting mechanism of the multi-foot wheel type robot, the installation barrel body is connected with the robot body through the rotating connecting structure, the rotating connecting structure comprises an articulated shaft arranged on the installation barrel body and an articulated hole arranged on the robot body, and the articulated shaft is articulated and arranged in the articulated hole. When the installation cylinder body is rotationally connected with the robot body, the lifting rod can incline relative to the robot body, the articulated shaft can be connected with a rotation driver capable of driving the articulated shaft to rotate in the circumferential direction, so that the stability of the lifting rod during the inclining process is improved, and the inclination angle of the lifting rod relative to the robot body can be adjusted.
In the wheel body lifting mechanism of the multi-foot wheel type robot, the robot body is provided with a strip-shaped hole for the lifting rod to pass through.
In the wheel body lifting mechanism of the multi-foot wheel type robot, the mounting cylinder body is fixedly connected with the robot body, and the lifting rod vertically penetrates through the mounting cylinder body.
In the wheel body lifting mechanism of the multi-foot wheel type robot, the transmission structure comprises a rack axially arranged on one side of the lifting rod, and the driver is connected with a driving gear meshed with the rack. Preferably, a rack structure is formed on one side of the lifting rod, the lifting rod is arranged in a fixed seat fixedly arranged on the robot body in a penetrating mode, and the driver is arranged on the fixed seat and connected with the lifting rod through a driving gear.
Compared with the prior art, the utility model has the advantages of: the driving transmission device is fixed or rotates for the robot body and the lifting rod does not rotate in the circumferential direction, so that the lifting rod moves axially to realize the lifting of the walking wheel body, the stability of the lifting rod in the lifting process is good, the walking wheel body is adaptive to various complex road sections, and meanwhile, the lifting rod can be obliquely arranged for the robot body, so that the stability of the walking wheel body during walking can be improved.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of another view angle according to the first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a third embodiment of the present invention;
in the figure, a robot body 1, a traveling wheel body 2, a driving transmission device 3, a driver 31, a threaded sleeve 32, an external thread 33, a limiting disc 34, an installation cylinder 35, a hinge shaft 36, a hinge hole 37, a strip hole 38, a rack 39, a driving gear 391 and a lifting rod 4.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
As shown in fig. 1-2, the wheel lifting mechanism of the multi-legged wheeled robot is arranged between a robot body 1 and a walking wheel body 2, and includes an integrally arranged driving transmission device 3, the driving transmission device 3 is connected with a lifting rod 4 and can drive the lifting rod 4 to move axially, the lower end of the lifting rod 4 is connected with the walking wheel body 2, the driving transmission device 3 is fixedly connected with the robot body 1 or can be rotatably connected with the robot body 1, and when the driving transmission device 3 rotates relative to the robot body 1, the lifting rod 4 can be driven to rotate synchronously. Through drive transmission 3 for robot body 1 rotates and lifter 4 self circumference does not rotate, thereby realize walking wheel body 2's lift through 4 axial displacement of lifter, make lifter 4 lift in-process stability good like this, realize walking wheel body adaptation multiple complicated highway section.
Specifically, the drive transmission device 3 includes a driver 31 and a transmission structure connected to the lift rod 4 and capable of converting the power of the driver 31 into the power for driving the lift rod 4 to move axially. The transmission structure comprises a threaded sleeve 32 and an external thread 33 arranged on the circumferential outer side of the lifting rod 4, the lifting rod 4 penetrates through the threaded sleeve 32 and is in threaded connection with the threaded sleeve 32 through the external thread 33, and a limiting disc 34 is arranged at the upper end of the lifting rod 4. The stopper plate 34 prevents the lifting rod 4 from being separated from the threaded sleeve 32.
Preferably, the threaded sleeve 32 of the block is circumferentially and rotatably arranged in the installation cylinder 35, the lifting rod 4 is inserted into the installation cylinder 35, the lifting driver 31 is fixedly arranged on one side of the installation cylinder 35, and the lifting driver 31 is connected with the threaded sleeve 32 through a speed reducing structure.
Wherein, the installation cylinder 35 is connected with the robot body 1 through a rotary connecting structure, the rotary connecting structure comprises a hinge shaft 36 arranged on the installation cylinder 35 and a hinge hole 37 arranged on the robot body 1, and the hinge shaft 36 is hinged in the hinge hole 37. When the installation cylinder 35 is rotatably connected with the robot body 1, the lifting rod 4 can be inclined relative to the robot body 1, the hinge shaft 36 can be further connected with a rotation driver capable of driving the hinge shaft 36 to rotate circumferentially, so that the stability of the lifting rod 4 during inclination is improved, the inclination angle of the lifting rod relative to the robot body can also be adjusted, and an electric joint can be arranged between the lower end of the lifting rod 4 and the walking wheel body 2, so that the inclination angle of the lifting rod 4 can be adjusted.
Preferably, a strip-shaped hole 38 through which the lifting rod 4 passes is formed in the robot body 1, the lifting rod 4 passes through the strip-shaped hole 38, the upper end of the lifting rod 4 is located above the robot body 1, the lower end of the lifting rod 4 is connected with the walking wheel body 2, a closing plate which is made of flexible materials and is in a corrugated shape can be arranged at the strip-shaped hole 38, and the lifting rod 4 penetrates through the closing plate, so that the internal protection effect of the robot body is achieved.
Example two
As shown in fig. 3, the structure, principle, and steps of the embodiment of the present invention are similar to those of the embodiment, except that in the present embodiment, the installation cylinder 35 may also be fixedly connected to the robot body 1, and the lifting rod 4 vertically penetrates through the installation cylinder 35, that is, the lifting rod 4 vertically penetrates through the robot body 1.
EXAMPLE III
As shown in fig. 4, the structure, principle and steps of the embodiment are similar to the embodiment except that the driving transmission device 3 in the embodiment is fixedly connected to the robot body 1, the transmission structure includes a rack 39 axially disposed on one side of the lifting rod 4, and the driver 31 is connected to a driving gear 391 engaged with the rack 39, preferably, the rack structure is formed on one side of the lifting rod 4, the lifting rod 4 is inserted into a fixed seat fixedly disposed on the robot body 1, and the driver 31 is disposed on the fixed seat and connected to the lifting rod 4 through the driving gear.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Although the terms of the robot body 1, the traveling wheel body 2, the driving transmission device 3, the driver 31, the threaded sleeve 32, the external thread 33, the limiting disc 34, the mounting cylinder 35, the hinge shaft 36, the hinge hole 37, the strip hole 38, the rack 39, the driving gear 391, the lifting rod 4, etc. are used more frequently, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed in a manner that is inconsistent with the spirit of the invention.
Claims (8)
1. The utility model provides a wheel body elevating system of wheeled robot of polypody sets up between robot fuselage (1) and walking wheel body (2), its characterized in that, including integrated drive transmission (3) that sets up, drive transmission (3) link to each other and can drive lifter (4) axial displacement with lifter (4), the lower extreme of lifter (4) link to each other with walking wheel body (2), drive transmission (3) and robot fuselage (1) fixed link to each other or can rotate and link to each other and can drive lifter (4) synchronous rotation when drive transmission (3) rotate for robot fuselage (1).
2. The multi-legged wheeled robot wheel body lifting mechanism according to claim 1, wherein the driving transmission device (3) comprises a driver (31) and a transmission structure, the transmission structure is connected with the lifting rod (4) and can convert the power of the driver (31) into the power for driving the lifting rod (4) to move axially.
3. The wheel body lifting mechanism of the multi-legged wheeled robot according to claim 2, wherein the transmission structure comprises a threaded sleeve (32) and an external thread (33) arranged on the circumferential outer side of the lifting rod (4), the lifting rod (4) is arranged in the threaded sleeve (32) in a penetrating manner and is in threaded connection with the threaded sleeve (32) through the external thread (33), and a limiting disc (34) is arranged at the upper end of the lifting rod (4).
4. The wheel body lifting mechanism of the multi-legged wheeled robot according to claim 3, wherein the threaded sleeve (32) is circumferentially and rotatably disposed in the mounting cylinder (35), the lifting rod (4) is inserted into the mounting cylinder (35), the lifting driver (31) is fixedly disposed on one side of the mounting cylinder (35), and the lifting driver (31) is connected with the threaded sleeve (32) through a speed reducing structure.
5. The wheel lifting mechanism of the multi-legged wheeled robot according to claim 4, wherein the mounting cylinder (35) is connected to the robot body (1) through a rotary connecting structure, the rotary connecting structure comprises a hinge shaft (36) arranged on the mounting cylinder (35) and a hinge hole (37) arranged on the robot body (1), and the hinge shaft (36) is hinged in the hinge hole (37).
6. The wheel body lifting mechanism of the multi-legged wheeled robot according to claim 4, wherein the robot body (1) is provided with a strip-shaped hole (38) for the lifting rod (4) to pass through.
7. The wheel body lifting mechanism of the multi-legged wheeled robot according to claim 5, wherein the mounting cylinder (35) is fixedly connected with the robot body (1), and the lifting rod (4) vertically penetrates through the mounting cylinder (35).
8. The multi-legged wheeled robot wheel lifting mechanism according to claim 2, wherein the transmission structure includes a rack (39) axially disposed on one side of the lifting rod (4), and the driving gear (391) engaged with the rack (39) is connected to the driving member (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921302868.1U CN210757696U (en) | 2019-08-12 | 2019-08-12 | Wheel body lifting mechanism of multi-foot wheeled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921302868.1U CN210757696U (en) | 2019-08-12 | 2019-08-12 | Wheel body lifting mechanism of multi-foot wheeled robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210757696U true CN210757696U (en) | 2020-06-16 |
Family
ID=71037846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921302868.1U Active CN210757696U (en) | 2019-08-12 | 2019-08-12 | Wheel body lifting mechanism of multi-foot wheeled robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210757696U (en) |
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2019
- 2019-08-12 CN CN201921302868.1U patent/CN210757696U/en active Active
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