CN212099127U - Running gear of explosion-proof robot - Google Patents
Running gear of explosion-proof robot Download PDFInfo
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- CN212099127U CN212099127U CN202020076534.3U CN202020076534U CN212099127U CN 212099127 U CN212099127 U CN 212099127U CN 202020076534 U CN202020076534 U CN 202020076534U CN 212099127 U CN212099127 U CN 212099127U
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Abstract
The utility model relates to a running gear of an explosion-proof robot, which comprises a base and a wheel leg structure, wherein the base is fixedly connected with the wheel leg structure through a damping device, a control module and a power module are arranged in the base, the control module is in communication connection with the wheel leg structure, and the power module is respectively electrically connected with the control module and the wheel leg structure; the wheel leg structure comprises a first connecting rod, a second connecting rod, a third connecting rod and a wheel assembly, wherein the connecting rods are hinged through rotating joints, the third connecting rod is hinged with the wheel assembly through rotating joints, a joint steering engine is arranged inside each rotating joint, a servo motor is fixedly arranged on the wheel assembly, and each joint connection part and the wheel assembly are provided with an angle sensor. The walking mechanism can realize wheeled motion or legged motion of the robot and is suitable for inspection tasks of complex terrains.
Description
Technical Field
The utility model relates to an industrial robot field especially relates to an explosion-proof robot's running gear.
Background
The appearance of the mobile robot solves the difficult problem of routing inspection in special occasions such as electric power, outdoors and the like, and can replace routing inspection personnel to work in complex and dangerous environments.
The walking mechanism is the main structure that inspection robot removed, and the walking mechanism of common mobile robot mainly has wheeled and leg type two kinds, and wherein, wheeled is fit for removing on flat ground, and the speed is controllable moreover, and leg type is fit for removing on the complicated topography that needs cross the obstacle, but its moving speed is slow, and it is less to patrol and examine efficiency ratio. The existing flat ground in the place of patrolling and examining in reality also can have the topography that needs more complicated of obstacle surmounting, and in order to improve and patrol and examine efficiency, need design a running gear who has both wheeled moving means and legged moving means.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a remedy prior art not enough, provide an explosion-proof robot's running gear.
In order to solve the technical problems, the following technical scheme is adopted:
a walking mechanism of an explosion-proof robot comprises a base and a wheel leg structure, wherein the base is fixedly connected with the wheel leg structure through a damping device; the wheel leg structure comprises a first connecting rod, a second connecting rod, a third connecting rod and a wheel assembly, wherein the connecting rods are hinged through rotating joints, the third connecting rod is hinged with the wheel assembly through rotating joints, a joint steering engine is arranged in each rotating joint, and a servo motor is fixedly arranged on each wheel assembly.
Furthermore, a rotating shaft of the rotating joint is movably connected with a motor shaft of the joint steering engine.
Furthermore, damping device includes horizontal pole, shock washer and spring, and the horizontal pole passes through control motor with the head rod and is connected formation kinematic pair, spring one end and horizontal pole fixed connection, the spring other end and base fixed connection, and wherein the spring all is equipped with shock washer with the junction of horizontal pole or base.
Furthermore, the control motor is a rotating motor, and a motor shaft of the control motor is movably connected with a rotating shaft of the first connecting rod.
Furthermore, the joints of the rotating joints, the wheel assemblies and the cross rods with the first connecting rod are all provided with angle sensors.
Furthermore, the wheel leg structure includes four groups, sets up respectively in the periphery of base bottom.
Further, damping device includes two sets ofly, and the wheel leg structure on both sides about each group damping device connects respectively.
Further, the wheel assembly comprises a wheel carrier and wheels of the wheels, the servo motor and the angle sensor are fixedly arranged on two sides of the wheel carrier, a waterproof insulating motor box is arranged on the outer sides of the servo motor and the angle sensor, a motor shaft of the servo motor is movably connected with the wheels, the servo motor is in communication connection with the control module through a servo motor controller, and the angle sensor is in communication connection with the control module.
Further, the center of the bottom of the base is provided with a horizontal sensor, and the horizontal sensor is in communication connection with the control module.
By adopting the technical scheme, the method has the following beneficial effects:
the utility model relates to a running gear of an explosion-proof robot, wheels can move on a flat road surface, the speed of the wheels is controlled by a servo motor, and the movement rotating direction of the wheels can be controlled by matching with an angle sensor; when the obstacle crossing is needed, the servo motor controls the wheels to stop rotating, each joint steering engine drives each rotating joint to enable the connecting rod to move forwards, backwards, leftwards and rightwards or upwards and downwards, the obstacle crossing function is achieved, and meanwhile the horizontal sensor can enable the whole mechanism to keep the base to be stable horizontally in the moving process.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is also obvious for a person skilled in the art to obtain other drawings based on these drawings.
Fig. 1 is a front view of a traveling mechanism of an explosion-proof robot in the present invention;
FIG. 2 is a schematic side view of the middle wheel leg structure of the present invention;
fig. 3 is a schematic view of a partial enlarged structure at a in fig. 1 according to the present invention;
fig. 4 is a perspective view of a traveling mechanism of an explosion-proof robot in the present invention;
in the figure: 1-a base; 2-wheel leg structure; 21-a first connecting rod; 22-a second connecting rod; 23-a third connecting rod; 24-a wheel assembly; 241-wheel carrier; 242-wheels; 3-a damping device; 31-a cross-bar; 32-a spring; 4-a revolute joint; 5-joint steering engine; 6-waterproof insulation motor case; 61-a servo motor; 611-servo motor controller; 7-an angle sensor; and 8, controlling the motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail through the accompanying drawings and embodiments. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Referring to fig. 1-4, an embodiment of the present invention provides a traveling mechanism of an explosion-proof robot, including a base 1 and a wheel leg structure 2, wherein the base 1 is fixedly connected to the wheel leg structure 2 through a damping device 3, a control module and a power module are arranged inside the base 1, the control module is in communication connection with the wheel leg structure 2, and the power module is respectively electrically connected to the control module and the wheel leg structure; the wheel leg structure 2 comprises a first connecting rod 21, a second connecting rod 22, a third connecting rod 23 and a wheel assembly 24, wherein the connecting rods are hinged through a rotating joint 4, the third connecting rod 23 is hinged with the wheel assembly 24 through the rotating joint 4, a joint steering engine 5 is arranged inside the rotating joint 4, and a servo motor 61 is fixedly arranged on the wheel assembly 24.
Specifically, the wheel assembly 24 employs a universal wheel mechanism.
Further, a rotating shaft of the rotating joint 4 is movably connected with a motor shaft of the joint steering engine 5.
Specifically, joint steering wheel 5 drives revolute joint 4 rotary motion, and then drives two connecting rods that revolute joint 4 connects and carry out seesaw or the height of whole wheel leg structure 2.
Further, damping device 3 is used for reducing the vibrations that produce when wheel leg structure 2 up-and-down motion, including horizontal pole 31, cushion ring and spring 32, and horizontal pole 31 is connected through control motor 8 with first connecting rod 21 and is formed the kinematic pair, and spring 32 one end and horizontal pole 31 fixed connection, the spring 32 other end and base 1 fixed connection, wherein spring 32 all is equipped with cushion ring with horizontal pole 31 or base 1's junction.
Further, the control motor 8 is a rotating motor, and a motor shaft of the control motor 8 is movably connected with a rotating shaft of the first connecting rod 21.
In particular, the control motor 8 may control the rotational movement of the first connecting rod 21, thereby causing the wheel leg structure 2 to swing forward or backward.
Further, the rotary joint 4, the wheel assembly 24 and the connection between the cross bar 31 and the first connecting rod 21 are all provided with an angle sensor 7.
Specifically, the cooperation of the rotary joint 4 and the shutdown steering engine 5 can make each connecting rod extend and bend.
Specifically, the control motor 8, the rotary joint 4 and the joint steering engine 5 are matched together, so that the forward, backward, upward and downward movement of the wheel leg structure can be realized.
Further, the wheel leg structure 2 comprises four groups, which are respectively arranged around the bottom of the base 1.
Further, damping device 3 includes two sets ofly, sets up respectively in the front end and the rear end of base 1 bottom, and wheel leg structure 2 on both sides about every group damping device 3 is connected respectively.
Specifically, the damping device 3 is used for relieving the impact caused by uneven ground in the running process of the running mechanism, and rapidly absorbing the vibration generated by bumping, so that the whole robot is in a normal running state.
Further, the wheel assembly 24 includes a wheel frame 241 and a wheel 242 of the wheel, the servo motor 61 and the angle sensor 7 are fixedly arranged at two sides of the wheel frame 241, and a waterproof insulation motor box 6 is arranged at the outer sides of the servo motor 61 and the angle sensor 7, so as to effectively prevent the influence of the external environment on the angle sensor, and further improve the sensitivity of the angle sensor; the motor shaft of the servo motor 61 is movably connected with the wheel 242, the servo motor 61 is in communication connection with the control module through a servo motor controller 611, and the angle sensor 7 is in communication connection with the control module.
Specifically, the servo motor 61 is used to control the rotation, stop, and rotation speed of the wheel.
Further, the center of the bottom of the base 1 is provided with a horizontal sensor which is in communication connection with the control module.
Specifically, in the motion process of the wheel leg structure 2, all the joint steering engines 5 and the control motors 8 are controlled by the control module through analyzing signals transmitted by the horizontal sensors, so that the whole walking mechanism is in a horizontal state all the time.
Specifically, the wheel motion mode: the control module controls the wheel carrier assembly 24, the servo motor 61 fixedly mounted on the wheel carrier assembly 24 and the angle sensor 7 to realize the omnidirectional movement of the wheels 242, so that the robot can move in any direction and rotate in place.
Specifically, legged motion mode: the servo motor controller 611 controls the wheels 242 to stop rotating, and the control module controls the joint steering engine 5, the angle sensor and the control motor 8 to realize the lifting and falling of the whole wheel leg structure 2 and the forward and backward stepping, so that the legged movement of the robot and the obstacle crossing function are completed.
Specifically, in the legged movement mode, when a user needs to take a step forward, the control motor 8 drives the first connecting rod 21 to move upward and forward; the joint steering engine 5 drives the rotating joint 4 at which the second connecting rod 22 is located to rotate, and then drives the second connecting rod 22 to move towards the upper part of the front side, and similarly, the third connecting rod 23 also moves towards the upper part of the front side and is located on the same straight line with the second connecting rod 22, so that the wheel leg structure 2 can step forwards.
Specifically, when a barrier with a low height needs to be passed, the joint steering engine 5 drives the rotary joint 4 to rotate, so as to drive the second connecting rod 22 to move towards the upper front side, and the third connecting rod 23 to move towards the lower rear side, so that the height of the whole wheel leg structure 2 is reduced and the barrier is passed.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered by the protection scope of the present invention.
Claims (9)
1. The utility model provides an explosion-proof robot's running gear which characterized in that: the wheel leg structure comprises a base (1) and a wheel leg structure (2), wherein the base (1) is fixedly connected with the wheel leg structure (2) through a damping device (3), a control module and a power supply module are arranged in the base (1), the control module is in communication connection with the wheel leg structure (2), and the power supply module is respectively electrically connected with the control module and the wheel leg structure; the wheel leg structure (2) comprises a first connecting rod (21), a second connecting rod (22), a third connecting rod (23) and a wheel assembly (24), wherein the connecting rods are hinged through a rotating joint (4), the third connecting rod (23) is hinged with the wheel assembly (24) through the rotating joint (4), a joint steering engine (5) is arranged inside the rotating joint (4), and a servo motor (61) is fixedly arranged on the wheel assembly (24).
2. The running gear of an explosion-proof robot of claim 1, characterized in that: the rotating shaft of the rotating joint (4) is movably connected with the motor shaft of the joint steering engine (5).
3. The running gear of an explosion-proof robot of claim 1, characterized in that: damping device (3) include horizontal pole (31), cushion ring and spring (32), and horizontal pole (31) are connected through control motor (8) with head rod (21) and are formed the kinematic pair, spring (32) one end and horizontal pole (31) fixed connection, spring (32) other end and base (1) fixed connection, and wherein spring (32) all are equipped with cushion ring with the junction of horizontal pole (31) or base (1).
4. The running gear of an explosion-proof robot of claim 3, characterized in that: the control motor (8) is a rotating motor, and a motor shaft of the control motor (8) is movably connected with a rotating shaft of the first connecting rod (21).
5. The running gear of an explosion-proof robot of claim 1, characterized in that: the rotary joint (4), the wheel assembly (24) and the connecting part of the cross rod (31) and the first connecting rod (21) are all provided with angle sensors (7).
6. The traveling mechanism of an explosion-proof robot according to any one of claims 1 to 5, characterized in that: the wheel leg structure (2) comprises four groups which are respectively arranged around the bottom of the base (1).
7. The running gear of an explosion-proof robot of claim 6, characterized in that: damping device (3) include two sets ofly, set up respectively in the front end and the rear end of base (1) bottom, and wheel leg structure (2) on both sides about every damping device (3) of group are connected respectively.
8. The running gear of an explosion-proof robot of claim 5, characterized in that: wheel subassembly (24) include wheel carrier (241) and wheel (242) of wheel, servo motor (61) and angle sensor (7) are fixed to be set up in wheel carrier (241) both sides, servo motor (61) and angle sensor (7) outside are equipped with waterproof insulating motor case (6), wherein, the motor shaft and the wheel (242) swing joint of servo motor (61), servo motor (61) pass through servo motor controller (611) and control module communication connection, angle sensor (7) and control module communication connection.
9. The running gear of an explosion-proof robot of claim 1, characterized in that: the center of the bottom of the base (1) is provided with a horizontal sensor which is in communication connection with the control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020076534.3U CN212099127U (en) | 2020-01-09 | 2020-01-09 | Running gear of explosion-proof robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020076534.3U CN212099127U (en) | 2020-01-09 | 2020-01-09 | Running gear of explosion-proof robot |
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| Publication Number | Publication Date |
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| CN212099127U true CN212099127U (en) | 2020-12-08 |
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| CN202020076534.3U Active CN212099127U (en) | 2020-01-09 | 2020-01-09 | Running gear of explosion-proof robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU212121U1 (en) * | 2022-03-02 | 2022-07-06 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Волгоградский государственный технический университет" (ВолгГТУ) | Hybrid wheel-walking propulsion |
-
2020
- 2020-01-09 CN CN202020076534.3U patent/CN212099127U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU212121U1 (en) * | 2022-03-02 | 2022-07-06 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Волгоградский государственный технический университет" (ВолгГТУ) | Hybrid wheel-walking propulsion |
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