CN212889681U

CN212889681U - Traveling mechanism

Info

Publication number: CN212889681U
Application number: CN202021399741.9U
Authority: CN
Inventors: 唐俊
Original assignee: Zhongyuan Power Intelligent Robot Co Ltd
Current assignee: Zhongyuan Power Intelligent Robot Co Ltd
Priority date: 2020-07-15
Filing date: 2020-07-15
Publication date: 2021-04-06
Anticipated expiration: 2030-07-15

Abstract

The utility model relates to the technical field of robot, a running gear is disclosed, it includes walking wheel and drive arrangement, the walking wheel is established to at least two and coaxial line settings, drive arrangement's quantity with the quantity of walking wheel equals, just drive arrangement with the walking wheel one-to-one, each drive arrangement is used for the drive rather than corresponding the walking wheel rotates. The utility model discloses running gear can reach the purpose that obstacle-surmounting ability is strong, the stationarity is good and walking speed is fast.

Description

Traveling mechanism

Technical Field

The utility model relates to the technical field of robot, especially, relate to a running gear.

Background

At present, robots at home and abroad can be divided into a wheeled robot and a tracked robot according to a walking mechanism, wherein the wheeled robot comprises at least two wheeled mechanisms, each wheeled mechanism is a walking wheel, and the wheeled robot has the advantages of high efficiency, high speed and stable action, but the obstacle crossing capability of the wheeled robot is limited and cannot pass through a road edge and a stair step; the walking mechanism of the crawler-type robot is a crawler, the crawler-type robot has the advantages of high efficiency, strong obstacle-crossing capability and stable action, but the walking speed of the crawler-type robot is slow and heavy.

Disclosure of Invention

The utility model aims at: the utility model provides a robot moving platform to reach the purpose that obstacle crossing ability is strong, the stationarity is good and walking speed is fast.

In order to realize the above object, the utility model provides a running gear, it includes walking wheel and drive arrangement, the walking wheel is established to at least two and coaxial line settings, drive arrangement's quantity with the quantity of walking wheel equals, just drive arrangement with the walking wheel one-to-one, each drive arrangement is used for the drive rather than corresponding the walking wheel rotates.

In some embodiments of the application, the walking wheel includes wheel hub and roller, wheel hub with drive arrangement's power take off end is connected, wheel hub has the supporting leg that extends to the direction of keeping away from its center, the roller is located the supporting leg is kept away from the one end at wheel hub center.

In some embodiments of the present application, the traveling wheels are provided in two, and the supporting legs of the two traveling wheels are alternately provided.

In some embodiments of the present application, the hub has at least two of the support legs, and all of the support legs of the same hub are spaced apart in a circumferential direction of the hub.

In some embodiments of the present application, the included angle between any two adjacent support legs of the two road wheels is equal.

In some embodiments of the present application, the rollers of the two road wheels are disposed adjacent to each other in a pair of two.

In some embodiments of the present application, the hub has three of the support legs, and the three support legs are arranged in a Y-shape.

In some embodiments of the present application, the axial direction of the rollers forms an oblique angle with the transverse axial direction of the hub.

In some embodiments of the present application, the angle between the axes of two of the support legs, arranged in pairs, is 0 ° to 60 °.

In some embodiments of the present application, the drive device is an electric motor.

The embodiment of the utility model provides a running gear, compared with the prior art, its beneficial effect lies in:

the walking mechanism comprises at least two walking wheels, and the walking wheels are independently driven by the corresponding driving devices, so that the walking mechanism has stronger power and wider application range, and can pass through complex terrains such as road edges, stairs and the like; in addition, because the walking wheel is wheeled structure again, compare in crawler-type structure, wheeled structure has light in weight, walking speed is fast, the little advantage of jolting, consequently, this robot moving platform still has the advantage that the flexibility ratio is higher, the stationarity is better.

Drawings

Fig. 1 is a schematic structural view of a traveling mechanism according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of a traveling mechanism according to an embodiment of the present invention in a climbing state.

Fig. 3 is a schematic structural diagram of the traveling mechanism according to the embodiment of the present invention in the state of rapid translation.

Fig. 4 is a schematic structural diagram of the traveling mechanism according to the embodiment of the present invention in a dynamic adjustment state.

In the figure, 1, a road wheel; 11. a hub; 12. a roller; 13. supporting legs; 2. a drive device.

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

As shown in fig. 1 to 4, a preferred embodiment of the present invention provides a traveling mechanism, which includes: the walking wheels 1 and the driving devices 22, the walking wheels 1 are arranged in at least two coaxial lines, the number of the driving devices 22 is equal to that of the walking wheels 1, the driving devices 22 are in one-to-one correspondence with the walking wheels 1, and each driving device 22 is used for driving the walking wheels 1 corresponding to the driving device to rotate.

Based on the arrangement, the traveling mechanism comprises at least two traveling wheels 1, and the traveling wheels 1 are driven by the corresponding driving devices 222 respectively, so that the power of the traveling mechanism 2 is stronger, and the deformation of the traveling mechanism is completed by adjusting the included angle of the two adjacent traveling wheels 1 of the same traveling mechanism, so that the traveling mechanism can pass through complex terrains such as road edges and stairs;

in addition, because walking wheel 12 is wheeled structure again, compared with crawler-type structure, wheeled structure has light in weight, walking fast, the little advantage of jolting, therefore, this robot moving platform still has the advantage that the flexibility ratio is higher, the stationarity is better.

Alternatively, in some embodiments, as shown in fig. 1-4, the road wheel 12 includes a hub 11 and a roller 12, the hub 11 is connected to the power output end of the driving device 222, the hub 11 has a support leg 13 extending away from the center thereof, and the roller 12 is provided at an end of the support leg 13 away from the center of the hub 11. Thus, each driving device 222 of the same traveling mechanism 2 drives the corresponding hub 11 to rotate, so that the rollers 12 of the same traveling mechanism 2 alternately contact with the ground, thereby facilitating the movement of the traveling mechanism 2.

Alternatively, in some embodiments, as shown in fig. 1 to 4, the driving device 2 is mounted on the frame 3 of the robot moving platform, specifically, the frame 3 is provided with an opening for mounting the traveling mechanism, the traveling wheels 1 are mounted on the opening, and two driving devices 2 are mounted on two opposite sides of the opening, so that, compared with the driving device 2 mounted in the middle of the opening, a user only needs to detachably mount the driving device 2 on the side of the opening through a fastener, thereby making the fixing manner of the driving device 2 simpler; in addition, the opening can be convenient for the rotation of the walking wheel 1, and can not obstruct the rotation of the walking wheel 1.

Alternatively, in some embodiments, as shown in fig. 1-4, the travel mechanism 2 includes two travel wheels 12, and the support legs 13 of the two travel wheels 12 are arranged alternately. Therefore, compared with one walking wheel 12, the two walking wheels 12 can enable the obstacle crossing capability of the walking mechanism 2 to be stronger and the walking speed to be faster; compared with the number of the walking wheels 12 which exceeds two, the two walking wheels 12 are more convenient to connect with the frame 3, excessive restraint is avoided, the walking mechanism 2 can move more flexibly, the cost is lower, and the control mode is simpler.

Alternatively, in some embodiments of the present application, as shown in fig. 1 to 4, in order to allow the traveling wheels 12 to have a smoother traveling state, the hub 11 has at least two supporting legs 13, and all the supporting legs 13 of the same hub 11 are disposed at equiangular intervals in the circumferential direction of the hub 11.

Optionally, in some embodiments of the present application, as shown in fig. 3, the included angle between any two adjacent support legs 13 of the same walking mechanism 2 is equal. Based on this, the included angle between any two adjacent rollers 12 of the same traveling mechanism 2 is equal, and when the rotational speeds output by the power output ends of the two driving devices 222 are the same, the rollers 12 of the traveling mechanism 2 sequentially contact with the ground, so that the rapid translation of the traveling mechanism is realized.

Alternatively, in some embodiments of the present application, as shown in fig. 2, the rollers 12 of the two road wheels 12 of the same traveling mechanism 2 are disposed close to each other in a pair of two. Based on this, compared with the case that the traveling mechanism 2 is driven to move by only one driving device 222, the traveling mechanism 2 of the embodiment of the present application is simultaneously contacted with the ground through two rollers 12 which are arranged in a pair of pairs, and the driving force for driving the traveling mechanism 2 to travel is provided by two driving devices 222, so that the ground capturing force of the traveling mechanism 2 can be increased, and the obstacle crossing capability of the traveling mechanism is further improved; in addition, when the robot moving platform is in an obstacle crossing state, the rotating speeds output by the power output ends of the two driving devices 222 are equal, so that the stability of the walking mechanism is better;

in addition, when the walking mechanism is in an obstacle crossing state, the included angle between the axes of the two supporting legs 13 which are arranged in pairs is 0-60 degrees.

Optionally, in some embodiments of the present application, as shown in fig. 4, the traveling mechanism 2 of the embodiments of the present application further has a dynamic adjustment state, and for the same traveling mechanism 2, the traveling wheel 12 in contact with the ground is defined as a supporting wheel, the other traveling wheel 12 is a swinging wheel, and one of the rollers 12 of the supporting wheel is grounded; when the walking mechanism 2 needs to move forwards, the swinging wheels swing clockwise towards the supporting wheels, the included angle between the grounded rollers 12 and the rollers 12 positioned in front of the swinging wheels is reduced until one of the rollers 12 of the swinging wheels lands, the swinging wheels become new supporting wheels at the moment, then the original supporting wheels rotate clockwise to become new swinging wheels, and the alternating process of the supporting wheels and the swinging wheels is circulated, so that the robot moving platform can slowly move forwards;

when the walking mechanism 2 needs to move backwards, the swinging wheel rotates anticlockwise towards the supporting wheel, an included angle between the grounded roller 12 and the roller 12 positioned behind the grounded roller is reduced until one of the rollers 23 of the swinging wheel lands, the swinging wheel becomes a new supporting wheel at the moment, then the original supporting wheel rotates anticlockwise to become a new swinging wheel, and the alternating process of the supporting wheel and the swinging wheel is circulated, so that the robot moving platform can slowly retreat.

Optionally, in some embodiments of the present application, as shown in fig. 1 to 4, in order to enable the road wheels 12 to be in better contact with the ground, the hub 11 has three supporting legs 13, and the three supporting legs 13 are arranged in a Y shape; of course, in other embodiments, the hub 11 may have two support legs 13 or four support legs 13, and the number of the support legs 13 is not limited in the embodiments of the present application.

Alternatively, in some embodiments of the present application, as shown in fig. 1 to 4, the axial direction of the roller 12 and the transverse axis direction of the hub 11 form an oblique angle, so that the traveling wheels 12 are arranged in the form of mecanum wheels, thereby enabling the robot mobile platform to move omnidirectionally; in addition, all the travelling wheels 1 of the same travelling mechanism are arranged in a form of dynamically adjusted Mecanum wheels, so that the travelling mechanism not only has the advantage of high travelling speed, but also has the advantage of being capable of passing through complex terrains such as road edges, stairs and the like;

in addition, the degree of the oblique included angle can be determined according to the actual design requirement, the range of the oblique included angle is 20-70 degrees, and the common oblique included angle is 45 degrees.

Alternatively, in some embodiments of the present application, as shown in fig. 1-4, the drive device 2 is an electric motor.

To sum up, the travelling mechanism of the embodiment of the present invention, because the travelling mechanism 2 includes at least two travelling wheels 12, and each travelling wheel 12 is driven by the corresponding driving device 222, the travelling mechanism 2 has stronger power, wider application range, and can pass through complicated terrains such as road edges and stairs; in addition, because walking wheel 12 is wheeled structure again, compared with crawler-type structure, wheeled structure has light in weight, walking fast, the little advantage of jolting, therefore, this robot moving platform still has the advantage that the flexibility ratio is higher, the stationarity is better.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and replacements can be made without departing from the technical principle of the present invention, and these modifications and replacements should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a running gear, its characterized in that, includes walking wheel and drive arrangement, the walking wheel is established to at least two and coaxial line settings, drive arrangement's quantity with the quantity of walking wheel equals, just drive arrangement with the walking wheel one-to-one, each drive arrangement is used for the drive rather than corresponding the walking wheel rotates.

2. The traveling mechanism according to claim 1, wherein the traveling wheel includes a hub connected to a power output end of the driving device and having support legs extending in a direction away from a center thereof, and a roller provided at an end of the support legs away from the center of the hub.

3. The traveling mechanism according to claim 2, wherein the number of the traveling wheels is two, and the support legs of the two traveling wheels are alternately arranged.

4. The running gear of claim 3, wherein the hub has at least two of the support legs, and all of the support legs of the same hub are spaced apart circumferentially of the hub.

5. The walking mechanism of claim 3, wherein the included angle between any two adjacent supporting legs of the two walking wheels is equal.

6. The travel mechanism of claim 3, wherein the rollers of the two travel wheels are closely arranged in pairs of two.

7. The running gear according to claim 6, wherein the angle between the axes of two support legs arranged in pairs is 0-60 °.

8. The running mechanism of claim 3, wherein the hub has three of the support legs, and the three support legs are arranged in a Y-shape.

9. A running gear according to claim 3, wherein the axial direction of the rollers forms an oblique angle with the transverse axial direction of the hub.