CN214296207U

CN214296207U - Transmission mechanism for walking robot

Info

Publication number: CN214296207U
Application number: CN202120349164.0U
Authority: CN
Inventors: 徐皓; 周宇航; 周浩澜; 周艳琳
Original assignee: Chongqing Vocational Institute of Engineering
Current assignee: Chongqing Vocational Institute of Engineering
Priority date: 2021-02-05
Filing date: 2021-02-05
Publication date: 2021-09-28
Anticipated expiration: 2031-02-05

Abstract

The utility model relates to a drive mechanism for walking robot, including servo motor, integral key shaft, cross universal joint one, connecting axle one, cross universal joint two, connecting axle two, cross universal joint three, connecting axle three and the fifth wheel that sets gradually. The output shaft of the servo motor is connected with one end of the spline shaft, the other end of the spline shaft is connected with one end of the first connecting shaft through the first cross universal coupling, the other end of the first connecting shaft is connected with one end of the second connecting shaft through the second cross universal coupling, the other end of the second connecting shaft is connected with one end of the third connecting shaft through the third cross universal coupling, and the middle section sleeve of the third connecting shaft is provided with the first bearing. The connecting wheel is arranged at the other end of the connecting shaft III. The utility model discloses the installation is used on walking robot, is equipped with the utility model discloses a walking robot is applicable to the mountain area, when walking on rugged mountain road, has stronger stability, and difficult emergence is rocked, has effectively prolonged life.

Description

Transmission mechanism for walking robot

Technical Field

The utility model relates to the technical field of robot, concretely relates to running robot uses drive mechanism.

Background

With the development and progress of science and technology, robots are applied more and more widely in various industries. The mountains in the southwest area of China are complex, natural disasters such as debris flow and the like occur frequently, and when the natural disasters or other accidents occur and need rescue, the robot with flexible action and various functions can play an important role. The existing transmission mechanism for the walking robot is mostly suitable for flat ground, and when walking on a rugged mountain road, the transmission mechanism is easy to shake, even topple and affect the stability of the transmission mechanism for the walking robot.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a drive mechanism for walking robot, this drive mechanism for walking robot are applicable to the mountain area, when walking on rugged mountain road, have stronger stability, and difficult emergence is rocked, has effectively prolonged life.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a transmission mechanism for a walking robot comprises a servo motor, a spline shaft, a first cross universal coupling, a first connecting shaft, a second cross universal coupling, a second connecting shaft, a third cross universal coupling, a third connecting shaft and a connecting wheel which are sequentially arranged; the output shaft of the servo motor is connected with one end of the spline shaft, the other end of the spline shaft is connected with one end of the first connecting shaft through the first cross universal coupling, the other end of the first connecting shaft is connected with one end of the second connecting shaft through the second cross universal coupling, the other end of the second connecting shaft is connected with one end of the third connecting shaft through the third cross universal coupling, and the middle section of the third connecting shaft is sleeved with the first bearing; and the connecting wheel is arranged at the other end of the connecting shaft III.

Furthermore, the output shaft of the servo motor is connected with one end of the spline shaft through a coupler.

Furthermore, a planetary reducer is mounted on an output shaft of the servo motor.

Further, the connecting shaft is arranged obliquely.

Further, the servo motor is installed on the motor installation seat.

According to the technical scheme provided by the utility model, the utility model discloses the installation is used on walking robot, is equipped with the utility model discloses a walking robot is applicable to the mountain area, when walking on rugged mountain road, has stronger stability, and difficult emergence is rocked, has effectively prolonged life.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a schematic view of a first usage state of the present invention;

FIG. 3 is a schematic view of the second usage state of the present invention;

fig. 4 is a third schematic view of the usage state of the present invention;

fig. 5 is a schematic view of the usage state of the present invention;

FIG. 6 is a schematic view showing an assembled structure of the traveling mechanism, the transmission mechanism, and the steering mechanism;

FIG. 7 is a schematic view of an assembly structure of a first main cylinder, a second main cylinder, a knee sport ball, a lower leg sport cylinder and a lower leg support; wherein the part of the knee sport ball is in section;

FIG. 8 is a schematic structural view of a steering mechanism;

FIG. 9 is a schematic view of the structure of the damper mechanism;

fig. 10 is a schematic view of an exploded structure of the shock absorbing mechanism, with a section of the steering actuator seat portion.

Wherein:

100. a traveling mechanism 101, a first main cylinder 102, a second main cylinder 103, a connecting rod 104, a knee ball 105, a shank cylinder 106, a shank support member 107, a shank support member 108, a foot plate 109, a ball 110, a first motion groove 111, a second motion groove 112, a first motion ball 113, a second motion ball 114, a second bearing 115, a third bearing 200, a transmission mechanism 201, a servo motor 202, a planetary reducer 203, a coupling 204, a spline shaft 205, a first cross universal coupling 206, a first connecting shaft 207, a second cross universal coupling 208, a second connecting shaft 209, a third cross universal coupling 210, a third connecting shaft 211, a connecting wheel 212, a first bearing 300, a steering mechanism 301, a motor 302, a worm wheel, 303, a worm 304, a first traction block 305, a second traction block 306, a folding block 307, a motor mounting seat, 308. the damping device comprises a limiting plate, 309, four bearings, 400, a damping mechanism, 401, a main damping, 402, a first auxiliary damping, 403, a second auxiliary damping, 404, a steering driving seat, 405, a steering traction shell, 406, a back plate, 407, an upper damping plate, 408, a lower damping plate, 409, an upper main damping fixing seat, 410, an upper auxiliary damping fixing seat, 411, a steering driving seat body, 412, a third motion groove, 413, a fourth motion groove, 414, a third motion ball, 415, a fourth motion ball, 601 and a support rod.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

as shown in fig. 1, the transmission mechanism for the walking robot comprises a servo motor 201, a spline shaft 204, a first cross universal coupling 205, a first connecting shaft 206, a second cross universal coupling 207, a second connecting shaft 208, a third cross universal coupling 209, a third connecting shaft 210 and a connecting wheel 211 which are arranged in sequence. The utility model discloses constitute like the walking robot that is shown in fig. 2-6 with running gear 100, steering mechanism 300 and damper 400 jointly, this walking robot is applicable to and walks on rugged mountain road for rescue trapped person. A walking mechanism similar to a leg and foot structure for walking; the transmission mechanism and the steering mechanism are used for controlling the movement of the travelling mechanism; and the damping mechanism is used for playing a damping role in the walking process.

In the transmission mechanism of the present invention, a planetary reducer 202 is installed on an output shaft of the servo motor 201. The output shaft of the servo motor 201 is connected with one end of the spline shaft 204 through the coupler 203, the other end of the spline shaft 204 is connected with one end of the first connecting shaft 206 through the first cross universal coupler 205, the other end of the first connecting shaft 206 is connected with one end of the second connecting shaft 208 through the second cross universal coupler 207, the other end of the second connecting shaft 208 is connected with one end of the third connecting shaft 210 through the third cross universal coupler 209, and the middle section of the third connecting shaft 210 is sleeved with the first bearing 212. The first connecting shaft 206 is obliquely arranged. The third universal joint cross 209 is to make the legs turn when turning, but the main body does not turn, so that the injured person sitting on the upper part is more comfortable. The connecting wheel 211 is arranged at the other end of the connecting shaft III 210; the upper end of the second main cylinder 102 is sleeved outside the first bearing 212, and the upper end of the connecting rod 103 is pivotally connected with the connecting wheel 211. The servo motor 201 is mounted on a motor mount 307. The steering traction shell 405 covers the outer side of the upper end of the second main cylinder 102.

The servo motor 201 works to drive the spline shaft 204 to rotate, the spline shaft 204 drives the first connecting shaft 206 to rotate, the first connecting shaft 206 drives the second connecting shaft 208 to rotate, the second connecting shaft 209 drives the third connecting shaft 210 to rotate, and the third connecting shaft 210 drives the first bearing 212 and the connecting wheel 211 to rotate. Through adopting cross universal joint to connect each axle, can avoid each part among the drive mechanism to receive vibrations when running gear is walked on rugged road surface and strike, guarantee the job stabilization nature of each part among the drive mechanism, prolonged the life of each part among the drive mechanism. When the cylinder rods of the first main cylinder 101 and the second main cylinder 102 do telescopic movement, the common acting force of the two on the knee sport ball is on the central axis of the shank support piece, so that the actions of lifting and putting legs are realized. Because the connecting rod 103 is pivotally connected to the connecting wheel 211, when the connecting wheel 211 rotates, the connecting rod is driven to move, and then an acting force is applied to the second calf support 107, so that the second calf support 107 connected to the lower end of the connecting rod moves. Because the upper end of the second shank support part is connected with the knee sport ball in a spherical pair mode, the second shank support part 107 can rotate within a certain angle range under the driving of the connecting rod, and the leg lifting and placing actions of the shanks are assisted. The calf movement cylinder 105, the calf support I106 and the foot plate 108 form a rocker structure, a cylinder rod of the calf movement cylinder 105 extends to drive the upper end of the calf support I105 to move downwards, and the foot plate 108 arranged at the bottom of the calf support I105 is lifted; retraction of the cylinder rod of the calf-motion cylinder 105 drives the upper end of the first support member 105 upward and the foot plate 108 disposed at the bottom of the first calf support member 105 lowers. Because walking robot is with drive mechanism's main usage go rugged mountain region and carry out injured person's rescue, consequently, the utility model designs a drive mechanism drives the motion of connecting rod, even the robot takes place the sole in muddy area and sinks like this, also can drive the motion of a plurality of cylinders of connecting rod cooperation through drive mechanism, can leave very easily, make the motion of whole robot more harmonious.

As can be seen from fig. 2-6, the transmission mechanisms 200, the leg structures, and the shock absorbing mechanisms 400 are equal in number and are arranged in a one-to-one correspondence. One steering mechanism corresponds to two leg structures which are arranged in bilateral symmetry.

Specifically, the walking mechanism 100 includes a pair of leg structures. One for each leg structure 200. The leg structure includes a first main cylinder 101, a second main cylinder 102, a connecting rod 103, a knee sport ball 104, a lower leg sport cylinder 105, a first lower leg support 106, a second lower leg support 107, and a foot plate 108. The lower end of the first master cylinder 101 is connected to a first mounting bracket mounted on the outer wall of the knee sport ball 104. The lower end of the second main cylinder 102 is matched with the knee sport ball 104 in a spherical pair mode. The lower end of the connecting rod 103 is connected to the middle section of the calf support II 107. The upper end of the shank motion cylinder 105 is rotatably connected with a second mounting bracket installed on the outer wall of the knee motion ball 104 through a rotating shaft, and the lower end is rotatably connected with the upper end of a shank support member 106 through a rotating shaft, so that traction auxiliary force is generated during rotation, the shank motion cylinder cannot be torn due to excessive acting force, and the stability of the structure is ensured. The main cylinder I, the shank motion cylinder and the knee motion ball are connected through the mounting support I and the mounting support II, the main cylinder I and the shank motion cylinder are not directly inserted into the knee motion ball, the bearing stress of the knee motion ball is reduced, the service life of the knee motion ball is prolonged, and meanwhile, the parts are convenient to replace. The lower end of the first calf support 106 is fixedly or pivotally attached to the top of the foot plate 108. The upper end of the calf support II 107 is matched with the knee sport ball 104 in a spherical pair mode, and the lower end of the calf support II is rotatably connected with the middle section of the calf support I106 through a bearing III 115. As shown in fig. 6, the knee sport ball 104 includes a ball 109 and a first sport groove 110 and a second sport groove 111 respectively opened inside the ball; the lower end of the main cylinder II 102 is provided with a first sport ball 112, and the first sport ball 112 is embedded in the first sport groove 110 and is matched with the first sport groove 110 in a spherical pair manner; the upper end of the second shank support part 107 is provided with a second sport ball 113, and the second sport ball 113 is embedded in the second sport groove 111 and is matched with the second sport groove 111 in a spherical pair manner. The upper ends of the main cylinders I in the two leg structures are respectively connected with the two ends of the supporting rod 601 in a rotating mode through a bearing II; the bearing is sleeved on the supporting rod 601. The first motion groove 110 is connected with the first motion ball 112 spherical pair, and the second motion groove 111 is connected with the second motion ball 113 spherical pair, so that the motion range of the second main cylinder 102 and the second lower leg support 107 can be limited, and the motion of the walking mechanism can be more flexible.

Adopt drive mechanism's walking robot be applicable to rugged mountain road, mainly used transports wounded and sick personnel or valuables when taking place various calamities. In order to ensure safety and stability during transportation of the sick and wounded or the valuables, the leg structure of the walking robot is innovatively designed.

Firstly, the mechanical dog in the prior art adopts a large number of hydraulic devices and electrical control devices, which improve the controllability of the movement process of the mechanical dog, but because various interferences are more in mountain areas, when the mechanical dog is subjected to external interferences such as vibration, wind power or magnetic fields, the hydraulic devices and the electrical control devices are easy to lose control, and the normal work of the mechanical dog is influenced. If a disaster occurs and the mechanical dog of the type is used for rescuing people, the risk of secondary trapping of injured people due to the trapping of rugged mountain roads exists. The utility model provides a shank structure turns into a large amount of mechanical structure with electrical control structure, when receiving external disturbance such as vibration, wind-force or magnetic field like this to the shank structure motion that mechanical structure is the main part can not receive the influence, and the motion process is more stable, is suitable for and carries out under rugged mountain road environment transporting of injured person. Running robot uses drive mechanism include two shank structures, can adopt linking bridge a plurality of the utility model discloses be connected to together, form polypody running robot uses drive mechanism, it is bigger with the area of contact on ground like this, the motion stability is higher, when walking on rugged mountain road, be difficult to fall down, played the guard action to the injured person who is located the top, avoid injured person together to fall down and receive the secondary injury along with the robot.

Secondly, the utility model discloses well human shank structure of shank structure imitation divide into four positions on thigh, knee, shank and the sole, and the thigh is constituteed with the master cylinder two to master cylinder one, and the knee sport ball is as the knee, and shank motion cylinder, shank support piece one and shank support piece two are as the shank. The thigh is formed by the first main cylinder and the second main cylinder which are arranged on two sides, and the movement of the first main cylinder and the second main cylinder is controlled, so that the shank part can be subjected to acting forces in different directions and different sizes, the movement form of the shank part is more diversified, and the requirement of conveying the sick and wounded on a rugged mountain road is met. Through setting up the knee sport ball as the knee to make the knee sport ball and main cylinder one, the connected mode between the shank motion cylinder be the sphere pair and connect, can enough make the leg structure motion of robot more nimble like this, can make the leg structure of robot only can move at certain stroke within range again through the limiting displacement of motion groove, ensure the stability of traveling on rugged mountain road, avoid falling down. And when transmission mechanism for walking robot received vibrations on rugged mountain road, some vibration can be alleviated in the setting of knee sport ball and the connected mode at thigh, shank position with and, ensure to sit the sick and wounded's of top safety.

In addition, robots such as robot dogs in the prior art mostly adopt bearings as knee joints, adopt a chain transmission structure, adopt a soft transmission chain for fixing to clamp gears at two sides, apply a tensioning force to the middle at two sides, act on the bearings, and support other structures on the bearings, so that the bearings are easily damaged due to too much acting force. The walking robot adopts a knee moving ball as a knee joint of a leg structure, and the acting force is dispersed in a spherical pair connection mode, so that the knee joint is prevented from being subjected to more concentrated acting force; and the leg structure of the walking robot does not adopt chain transmission, but adopts a connecting rod for transmission, and the connecting position of the connecting rod is placed on the lower calf support piece II, so that even if a tensioning force is applied to the middle from two sides, one part of the knee sport ball can be born by the connecting rod, the stress concentration of the knee sport ball is reduced, and the service life of the knee sport ball is prolonged. In addition, under the multiple action of the first main cylinder, the second main cylinder, the shank movement cylinder, the connecting rod and the transmission mechanism, the movement of the leg structure can be more flexible, and when the walking robot walks on a rugged mountain road, the whole movement is more coordinated and more flexible and convenient, and the walking robot cannot get stuck in a low-lying place and cannot walk out.

As shown in fig. 8, the steering mechanism 300 includes a motor 301, a worm and gear structure, and a traction structure; the worm and gear structure comprises a worm wheel 302 arranged on an output shaft of the motor 301 and a worm 303 in transmission fit with the worm wheel 302; the number of the traction structures is two, and the two traction structures are respectively in one-to-one correspondence with the two leg structures in the pair of leg structures; one end of the traction structure is connected to the end of the worm 303, and the other end is connected with a damping mechanism or a transmission mechanism. The traction structure comprises a first traction block 304, a second traction block 305 and a folding block 306; the folding block 306 adopts a hinge structure and comprises a first hinge structure part and a second hinge structure part which are connected in a rotating manner; the lower end of the first traction block 304 is connected with the end part of the worm 303 through a fourth bearing 309, the upper end of the first traction block is connected with one end of a second traction block 305, the other end of the second traction block 305 is connected with a first hinge structure part, and the second hinge structure part is connected with a steering driving seat 405.

The motor 301 works to drive the worm wheel to rotate, the worm meshed and connected with the worm wheel moves left and right along the axial direction of the worm, the traction structures arranged at the two ends of the worm move left and right along with the worm, and further the steering driving seat 404 connected with the traction structures moves together. The utility model discloses a worm gear structure turns to and pulls, can improve running robot and use drive mechanism's the precision and the degree of accuracy that turn to, like this when traveling on rugged mountain, can be safer. And when walking the robot on rugged road surface, take place to rock easily, through being hinge structure with folding piece design, even walking the robot takes place to rock like this, the in-process of the vibration power transmission that the robot received makes progress, and relative movement takes place for two hinge structure portions, avoids on vibration power transmits other rigidly connected's parts, causes the damage to other parts.

As shown in fig. 9 and 10, the damper mechanism 400 includes a damper mount, a main damper 401, a sub damper, a steering main shoe 404, and a steering traction case 405. And the main shock absorption and the auxiliary shock absorption both adopt springs or dampers. The number of the main shock absorbers 401 is one, the number of the auxiliary shock absorbers is two, the two shock absorbers are respectively an auxiliary shock absorber I402 and an auxiliary shock absorber II 403, and the two auxiliary shock absorbers are symmetrically arranged on two sides below the main shock absorbers 401.

The shock absorption support comprises a back plate 406, an upper shock absorption plate 407 and a lower shock absorption plate 408 which are sequentially arranged on the outer side wall of the back plate 406 from top to bottom, and a main shock absorption upper fixing seat 409 and an auxiliary shock absorption upper fixing seat 410 which are sequentially arranged above the back plate 406; the upper end of the main shock absorber 401 is arranged on a main shock absorber upper fixing seat 409, and the lower end of the main shock absorber 401 is arranged on an upper shock absorbing plate 407; the upper end of the auxiliary shock absorber is arranged on the auxiliary shock absorber upper fixing seat 410, and the lower end of the auxiliary shock absorber is arranged on the lower shock absorbing plate 408; one end of the upper damping plate 407 is connected to the back plate 406, and the other end of the upper damping plate is matched with the steering driving seat 404 in a spherical pair manner; one end of the lower damping plate 408 is connected to the back plate 406, and the other end of the lower damping plate is matched with the steering driving seat 404 in a spherical pair manner; the steering traction shell 405 is connected to the steering actuator base 404. A motor mounting seat 307 is arranged on the inner side wall of the back plate 406; the motor 301 is mounted on a motor mounting seat 307; the main damping upper fixing seat 409 is installed at the top of the motor installation seat 307, and the main damping upper fixing seat 409 is installed on the motor installation seat instead of being designed into a whole with the damping support, so that the stability of connection between the whole structures is ensured, and the phenomenon that the main damping upper fixing seat 409 is scattered in a repeated violent movement process is avoided. A limiting plate 308 is arranged above the motor mounting seat 307, the end of the limiting plate 308 is connected to the main damping upper fixing seat 409, and the limiting plate 308 is used for ensuring the stability of the mounting structure of the motor 301 and the servo motor 201. The auxiliary shock absorption upper fixing seat 410 is installed on the side wall of the motor installation seat 307. The steering driving base 404 comprises a steering driving base body 411, and a third moving groove 412 and a fourth moving groove 413 which are sequentially formed in the steering driving base body 411; a third moving ball 414 is arranged at the end part of the upper damping plate 407, and the third moving ball 414 is embedded in the third moving groove 412 and is matched with the third moving groove 412 in a spherical pair manner; the end of the lower damping plate 408 is provided with a moving ball four 415, and the moving ball four 415 is embedded in the moving groove four 413 and is matched with the moving groove four 43 in a spherical pair manner.

When being equipped with drive mechanism's walking robot when walking on rugged road surface, if take place violent motion, the vibrational force that the sole received can follow the transmission that the travel mechanism upwards transmits, when the upper end of transmission to master cylinder two, the shell can upwards vibrate be drawn in turning to that links to each other with the upper end of master cylinder two, under the effect of whole travel robot with drive mechanism self weight, can eliminate some vibrations. Still some vibration power can be along turning to and pull the shell and transmit to the intermediate position again, turns to and pulls the shell and transmit vibration power for turning to the initiative seat, turns to the initiative seat and transmits vibration power for two vice shock attenuations through the lower shock attenuation board that is located the downside earlier, and two vice attenuations can eliminate some vibrations, turns to the initiative seat and still can transmit vibration power for last shock attenuation through the last shock attenuation board that is located the top, and some vibrations can be eliminated in last shock attenuation. The main damping upper fixing seat is in an arc shape protruding upwards, and the structure is in a reverse-bending design and can play a certain damping role. The shock-absorbing structure of the walking robot not only adopts the main shock absorption and the two sets of auxiliary shock absorption to carry out shock absorption, but also utilizes the rigidity of the whole structure to carry out shock absorption, eliminates the shock to the maximum extent and ensures the stability of the robot. Because running robot is used for conveying sick and wounded under rugged mountain region environment with drive mechanism, consider service environment's particularity, running robot's shock-absorbing structure adopts multilayer spatial arrangement, hang the absorbing mode and strengthen the shock attenuation effect, shock attenuation and vice shock attenuation are arranged from top to bottom in proper order, and main shock attenuation and vice shock attenuation are the slope setting, form an upper and lower space dislocation, adopt oblique reaction force to remove the production that slows down vibrations like this, and not directly remove the suppression by gravity or reaction force, both guarantee to utilize the shock attenuation effect to the biggest, can not lead to the fact the influence to the sick and wounded who sits above again.

The above-mentioned embodiments are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art without departing from the design spirit of the present invention should fall into the protection scope defined by the claims of the present invention.

Claims

1. A transmission mechanism for a walking robot is characterized in that: the universal joint comprises a servo motor (201), a spline shaft (204), a first cross universal coupling (205), a first connecting shaft (206), a second cross universal coupling (207), a second connecting shaft (208), a third cross universal coupling (209), a third connecting shaft (210) and a connecting wheel (211) which are arranged in sequence;

an output shaft of the servo motor (201) is connected with one end of a spline shaft (204), the other end of the spline shaft (204) is connected with one end of a connecting shaft I (206) through a cross universal coupling I (205), the other end of the connecting shaft I (206) is connected with one end of a connecting shaft II (208) through a cross universal coupling II (207), the other end of the connecting shaft II (208) is connected with one end of a connecting shaft III (210) through a cross universal coupling III (209), and a bearing I (212) is sleeved at the middle section of the connecting shaft III (210); and the connecting wheel (211) is arranged at the other end of the connecting shaft III (210).

2. The transmission mechanism for a walking robot according to claim 1, characterized in that: an output shaft of the servo motor (201) is connected with one end of a spline shaft (204) through a coupler (203).

3. The transmission mechanism for a walking robot according to claim 1, characterized in that: and a planetary reducer (202) is mounted on an output shaft of the servo motor (201).

4. The transmission mechanism for a walking robot according to claim 1, characterized in that: the first connecting shaft (206) is obliquely arranged.

5. The transmission mechanism for a walking robot according to claim 1, characterized in that: the servo motor (201) is installed on the motor installation seat.