CN216196981U - Walking transmission mechanism of manipulator and manipulator - Google Patents

Abstract

The utility model relates to the technical field of mechanical arms for garages, in particular to a walking transmission mechanism of a mechanical arm; the manipulator comprises a frame body, a second driving unit, a walking transmission mechanism and a driving walking wheel unit, wherein the walking transmission mechanism is arranged on the frame body and is positioned between the driving walking wheel unit and the second driving unit; the walking transmission mechanism comprises: a second linkage unit connected with the second driving unit and having at least two output terminals; the second transmission units are arranged in one-to-one correspondence with the output ends and are connected with the corresponding driving travelling wheel units; each group of second transmission units at least comprises a third coupler, one end of the third coupler is connected with the output end, and the other end of the third coupler is connected with the corresponding second transmission unit. The utility model has the advantages that: the multi-head output is effectively realized, and the requirement of simultaneously driving a plurality of groups of travelling wheels is met.

Description

Walking transmission mechanism of manipulator and manipulator

Technical Field

The utility model relates to the technical field of parking, in particular to a walking transmission structure of a manipulator and the manipulator.

Background

The stereo garage is used for parking vehicles. In order to complete parking and vehicle taking of the vehicle, the stereo garage is provided with a manipulator so as to realize circulation of the vehicle in the stereo garage. The motion of current manipulator in the garage the adoption mode does: and a direct drive mode of the motor and the gear. Thus, the synchronous driving of a plurality of groups of travelling wheels cannot be realized; simultaneously, direct mode, the gear receives the influence of motor easily, and stability is relatively poor.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is necessary to provide a robot hand travel transmission mechanism and a robot hand that can realize synchronous driving of multiple sets of travel wheels, in order to solve the current problems.

A walking transmission mechanism of a manipulator comprises a frame body, a second driving unit, a walking transmission mechanism and a driving walking wheel unit, wherein the walking transmission mechanism is arranged on the frame body and is positioned between the driving walking wheel unit and the second driving unit; the walking transmission mechanism comprises:

a second linkage unit connected with the second driving unit and having at least two output terminals;

the second transmission units are arranged in one-to-one correspondence with the output ends and are connected with the corresponding driving travelling wheel units;

each group of second transmission units at least comprises a third coupler, one end of the third coupler is connected with the output end, and the other end of the third coupler is connected with the corresponding second transmission unit.

In one embodiment, the second linkage unit is a double right-angle reducer or a hydraulic transmission structure.

In one embodiment, the second coupling unit comprises a first bevel gear, a second bevel gear and a second transmission shaft, the first bevel gear is connected with the second driving unit, and the second bevel gear is fixed on the second transmission shaft and meshed with the first bevel gear; and at least two groups of second transmission units are respectively connected with two ends of the second transmission shaft.

In one embodiment, the second linkage unit includes a housing fixed to the frame body, the first bevel gear and the second bevel gear are located in the housing, the second transmission shaft penetrates through the housing, and two ends of the second transmission shaft are located outside the housing to form two output ends.

In one embodiment, each set of the second transmission units further includes a fourth transmission shaft, and the fourth transmission shaft is connected with the output end through the third coupling.

In one embodiment, the axis of the fourth transmission shaft is located above and parallel to the axis of the output end in the vertical direction.

In one embodiment, the angle between the axis of the fourth transmission shaft and the axis of the third coupling is a, and 90 ° < a <180 °.

In one embodiment, each set of the second transmission units further includes a gear set fixed to an end of the fourth transmission shaft away from the output end, and the gear is connected to the ground engaging wheel unit.

In one embodiment, the gear set includes a first gear, a second gear and a third gear, the first gear is fixedly connected with the third transmission shaft, and the second gear and the third gear are arranged on two sides of the first gear and meshed with the first gear.

The utility model also provides the following technical scheme:

the utility model provides a manipulator, the manipulator includes the frame body, takes turns unit, second drive unit and the transmission structure of manipulator walking, transmission structure install in on the frame body, be used for with the drive power transmission of second drive unit extremely take turns the unit.

Compared with the prior art, the walking transmission mechanism of the manipulator effectively realizes multi-head output by arranging the second linkage unit and the second transmission unit, and meets the requirement of simultaneously driving a plurality of groups of walking wheels; meanwhile, through the switching of the third coupler, the influences of vibration, impact and the like on the travelling wheels can be reduced, and the movement stability of the travelling wheels is improved.

Drawings

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

Fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a main manipulator in a folded state according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a main manipulator in an unfolded state according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a clamping arm mechanism according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a clamping arm mechanism according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a traveling mechanism according to an embodiment of the present invention.

Fig. 8 is a partial enlarged view of fig. 7 at B.

Fig. 9 is a diagram of a stress model of a simple supporting beam in a comparative example according to an embodiment of the present invention.

Fig. 10 is a schematic diagram of a shearing force of the simply supported beam of fig. 9 under an F-acting force according to an embodiment of the present invention.

Fig. 11 is a schematic view of a bending moment of the simply supported beam of fig. 9 under an F-acting force according to an embodiment of the present invention.

Fig. 12 is a schematic diagram of a torsion angle of a cross section of the simply supported beam of fig. 9 under an F-acting force according to an embodiment of the present invention.

Fig. 13 is a schematic view of the deflection of the simply supported beam of fig. 9 under the F-acting force according to an embodiment of the present invention.

Fig. 14 is a stress model diagram of the simply supported beam according to an embodiment of the present invention.

Fig. 15 is a schematic diagram of a shearing force of the simply supported beam of fig. 14 under an F-acting force according to an embodiment of the present invention.

Fig. 16 is a schematic view of a bending moment of the simply supported beam of fig. 14 under an F-acting force according to an embodiment of the present invention.

Fig. 17 is a schematic diagram of a torsion angle of a cross section of the simply supported beam of fig. 14 under an F-acting force according to an embodiment of the present invention.

Fig. 18 is a schematic view of the deflection of the simply supported beam of fig. 14 under F-acting force according to an embodiment of the utility model.

200, a stereo garage; 201. a vehicle; 202. a vertical axis; 203. a vehicle entrance; 210. a main body; 220. a carrying device; 230. a translation mechanism; 240. a parking platform; 250. a vertically moving platform; 260. a horizontal moving platform; 100. a manipulator; 101. a main manipulator; 102. a slave manipulator; 10. a frame body; 11. a first side; 12. a second side; 13. a connecting shaft; 14. mounting grooves; 20. a clamp arm mechanism; 21. a first drive unit; 211. a first drive motor; 212. a first decelerator; 213. a first drive shaft; 214. a first coupling; 22. a first linkage unit; 221. a first drive wheel; 222. a first linkage wheel; 223. a second linkage wheel; 224. a transmission belt; 225. a middle linkage wheel; 23. a first transmission unit; 231. a first worm; 232. a second worm; 233. a second coupling; 24. a clamping arm group; 241. clamping arms; 2411. a first clamp arm; 2411a, an arm body; 2411b, a connecting part; 2411c, a meshing part; 2411d, a reinforcement; 2411e, rolling wheels; 2412. a second clamp arm; 2413. a clamping space; 30. a traveling mechanism; 30a, a transmission mechanism; 31. a second driving unit; 311. a second drive motor; 312. an output shaft of the second drive motor; 313. a second decelerator; 314. a second coupling; 32. a second linkage unit; 321. a first bevel gear; 322. a second bevel gear; 323. a second drive shaft; 324. a housing; 325. a third drive shaft; 33. a second transmission unit; 331. a fourth drive shaft; 332. a third coupling; 333. a gear set; 3331. a first gear; 3332. a second gear; 3333. a third gear; 34. a driving traveling wheel unit; 341. driving travelling wheels; 35. a driven traveling wheel unit; 351. a driven travelling wheel; 40. a controller; 50. and a power supply.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1, fig. 1 shows an illustrative embodiment of a stereo garage. This stereo garage 200 can be applied to areas such as market, hotel, house, and it can have one deck or multilayer, and every layer can set up a plurality of parking stalls to realize parking of vehicle 201, with the nervous scheduling problem in solution corresponding regional parking stall.

Specifically, the stereo garage 200 includes a main body 210 and a carrying device 220, wherein the main body 210 has a vehicle entrance 203 and a plurality of parking platforms 240, the plurality of parking platforms 240 are arranged in the main body 210 at intervals, and the carrying device 220 can operate inside or outside the main body 210 to carry the vehicle 201 to a predetermined position. For example, when parking/picking up a vehicle, the vehicle 201 is transported to the corresponding parking platform 240 from the vehicle entrance 203 to realize parking; or the vehicle 201 on the parking platform 240 is transported to the vehicle entrance 203 (which can be understood as a vehicle exit) to realize vehicle taking; for another example, when moving on a road, the handling device 220 moves the vehicle 201 to another location, such as another location or another open location.

As shown in fig. 1, a schematic structural diagram of a handling device is exemplarily shown. The handling device 220 comprises a translation mechanism 230 and the robot 100, wherein the translation mechanism 230 can run in the main body 210, the translation mechanism 230 is used as an intermediate transport component and can receive the vehicle 201 and carry the vehicle 201 to make vertical or horizontal translation in the main body 210 so as to transport the vehicle 201 to a preset position; the manipulator 100 is arranged on the translation mechanism 230 and is used for clamping the tire of the vehicle 201; also, the robot 100 is capable of moving between the translation mechanism 230 and the parking platform 240 to effect the circulation of the vehicle 201 between the translation mechanism 230 and the parking platform 240 as an intermediate transport mechanism. That is, in the vehicle parking process shown in one embodiment, the vehicle 201 to be parked moves from the vehicle entrance 203 into the translation mechanism 230 in the main body 210, and the translation mechanism 230 starts and transports the vehicle 201 to be parked to a position corresponding to the parking platform 240; then, the manipulator 100 clamps the wheels of the vehicle 201 to be parked, so that the vehicle 201 to be parked is suspended relative to the translation mechanism 230, and the manipulator 100 transfers the vehicle 201 to be parked from the translation mechanism 230 to the parking platform 240, thereby realizing the parking of the vehicle 201 in a garage. The vehicle taking step is opposite to the parking process, and is not described in detail herein.

Further, the translation mechanism 230 includes a vertical moving platform 250 and a horizontal moving platform 260, the vertical moving platform 250 is used for carrying the vehicle 201 and driving the vehicle 201 to move along the vertical axis 202 at the main body 210, so as to transport the vehicle 201 to the corresponding floor. The horizontal moving platform 260 corresponds to the vertical moving platform 250 to carry the vehicle on the vertical moving platform 250, and can move in a horizontal direction within the main body 210 to transport the vehicle to the corresponding parking platform 240. The manipulator 100 may be disposed on the vertical moving platform 250 or the horizontal moving platform 260, and may be capable of moving among the vertical moving platform 250, the horizontal moving platform 260, and the parking platform 240, and when the vertical moving platform 250 moves to a corresponding parking level, the manipulator 100 transports the vehicle on the vertical moving platform 250 to the horizontal moving platform 260; then, the horizontal moving platform 260 transports the vehicle together with the robot 100 to the corresponding parking platform 240, and then the robot 100 transports the vehicle onto the parking platform 240 to achieve parking. It should be noted that the specific structures of the vertical moving platform 250 and the horizontal moving platform 260 are the prior art and will not be described in detail herein.

Of course, the above embodiments only show the movement of the robot 100 on the vertical moving platform 250, the horizontal moving platform 260, or the parking platform 240; the robot 100 may also operate directly on the ground, as desired. And carries the vehicle to the corresponding location.

As shown in fig. 2, a schematic diagram of the robot 100 is shown. The manipulator 100 may be an integrated structure or a split structure. In the embodiment, a split type manipulator is taken as an illustration object, and a specific structure, principle and working process of the manipulator 100 are specifically illustrated.

Specifically, the robot 100 includes a master robot 101 and a slave robot 102, and the master robot 101 and the slave robot 102 respectively carry/grip front wheels and rear wheels of the vehicle, thereby suspending the vehicle 201 with respect to the translation mechanism 230 and transporting the vehicle 201 to a predetermined position.

Preferably, the master robot 101 and the slave robot 102 are connected to each other, and may be provided independently; when connected with each other, the connection can be realized through a telescopic component. When the master robot 101 and the slave robot 102 are independent from each other, they are also in an interlocking state. That is, regardless of how the master manipulator 101 and the slave manipulator 102 are arranged, the slave manipulator 102 will move synchronously with the master manipulator 101, and the master manipulator 101 and the slave manipulator 102 can also move closer to or farther away from each other, so that the distance between the master manipulator 101 and the slave manipulator 102 can be adjusted, and therefore the manipulator 100 can adapt to vehicles with different wheelbases, and the model of the manipulator 100 can be improved.

The master manipulator 101 and the slave manipulator 102 have substantially the same structure, and the present application mainly describes the master manipulator 101 and the detailed structure and operation principle of the master manipulator 101.

As shown in fig. 3 to 5, the configuration diagrams exemplarily showing the folded state and the unfolded state of the main robot 101 are illustrated. In the exemplary embodiment, the main manipulator 101 includes a frame 10, a clamping arm mechanism 20, and a traveling mechanism 30, wherein the clamping arm mechanism 20 is mounted on the frame 10, and the clamping arm mechanism 20 can be folded or unfolded with respect to the frame 10, and in an unfolded state, clamps wheels of the vehicle 201, so that the vehicle 201 is suspended with respect to the translation mechanism 230 or the parking platform 240. The traveling mechanism 30 is mounted on the frame body 10 for driving the frame body 10 to move on the translation mechanism 230, the parking platform 240 or the ground, thereby realizing the circulation of the vehicle.

It should be explained that, for clamping the tire of the vehicle 201, the main manipulator 101 has two sets of clamping arm sets, the two sets of clamping arm sets are respectively located at two sides of the frame body of the main manipulator 101, each set of clamping arm set has two clamping arms, and the two clamping arms at the same side are close to each other to form a clamping space, thereby realizing the clamping of the vehicle tire. In the prior art, each clamping arm needs to be matched with a corresponding driving part, so that four clamping arms need to be provided with four driving parts, so that the synchronism among the clamping arms is difficult to adjust, and the driving parts are excessive under the condition that the space of the main manipulator 101 is limited, so that the overall layout difficulty is high; meanwhile, when the acting forces output by the driving members are inconsistent, the main manipulator 101 may be subjected to a large local force, which may cause a series of problems such as abrasion and damage to local components. In the utility model, the main manipulator 101 is provided with the driving piece to drive the four clamping arms at the same time, so that the structure is simple and compact, and the height of the four clamping arms can be effectively ensured to be consistent.

As shown in fig. 4 to 6, a structural schematic diagram of the clamping arm mechanism 20 is exemplarily shown. Specifically, the clamping arm mechanism 20 includes a first driving unit 21, a first linkage unit 22, two sets of first transmission units 23, and two sets of clamping arm sets 24. The frame body 10 is provided in a substantially rectangular shape, and the frame body 10 has a first side 11 and a second side 12. One set of clamping arm sets 24 is positioned on the first side 11 of the frame body 10 and is rotatably connected with the frame body 10 and correspondingly clamps the tire on one side of the vehicle 201, and the other set of clamping arm sets 24 is positioned on the second side 12 of the frame body 10 and is rotatably connected with the frame body 10 and correspondingly clamps the tire on the other side of the vehicle. The first driving unit 21 is installed on the frame body 10, the first linkage unit 22 is connected with the first driving unit 21 and can rotate under the driving of the first driving unit 21, the two sets of first transmission units 23 are respectively connected with the first linkage unit 22 and can synchronously move under the rotation of the first linkage unit 22, and the two sets of clamping arm sets 24 are respectively arranged in one-to-one correspondence with the two sets of first transmission units 23 and are in rotating connection. It can be understood that, when the arm clamping set 24 needs to be unfolded to clamp the vehicle tire, the first driving unit 21 acts to drive the first linkage unit 22 to rotate, the first linkage unit 22 rotates to drive the two sets of first transmission units 23 connected to the first linkage unit 22 to rotate respectively, and the two sets of first transmission units 23 respectively drive the two sets of arm clamping sets 24 to move and unfold correspondingly; in other words, in the present embodiment, the simultaneous movement of the clamping arm sets 24 on both sides of the frame body 10 can be realized only by using one first driving unit 21, so that the uniformity of the movement steps of the clamping arm sets 24 is ensured; meanwhile, the number of the first driving units 21 is reduced, so that the layout is convenient and the cost is low.

Preferably, a bisector in the width direction of the frame body 10 is denoted by X, and a bisector in the length direction of the frame body 10 is denoted by Y. The first driving unit 21 is arranged at a middle position of the frame body 10, and an axis of the first driving unit 21 is disposed adjacent to the bisector X. It is understood that adjacent in the present invention means that the axis of the first drive unit 21 is arranged close to or coincides with the bisector X. Meanwhile, the middle position explained in the present application may be a middle position where the frame body 10 is defined as three sections in the width direction of the frame body 10, and the middle section may be defined as a middle position of the frame body 10.

More preferably, the axis of the output shaft of the first drive unit 21 is arranged parallel and adjacent to the bisector X.

In one embodiment, the first driving unit 21 includes a first driving motor 211, a first speed reducer 212, and a first transmission shaft 213, the first driving motor 211 is located at a middle position of the frame body 10, and an output shaft of the first driving motor 211 faces the bisector Y. The first reducer 212 is mounted on the first driving motor 211, and is configured to control a speed of the first driving motor 211 and increase an output torque of the first driving motor 211, and one end of the first transmission shaft 213 is connected to the first reducer 212, and the other end is connected to the first linkage unit 22. The first driving motor 211 acts and drives the first transmission shaft 213 to rotate through the first reducer 212, so that the first transmission shaft 213 drives the first linkage unit 22 to move, thereby realizing linkage between the first driving motor 211 and the first linkage unit 22.

Preferably, the axis of the first driving motor 211 is arranged to coincide with the bisector X, and an extension line of the axis of the output shaft of the first driving motor 211 passes through an intersection of the bisector X and the bisector Y. In this way, it is ensured that the first driving motor 211 is located in the middle of the frame body 10, so that the overall structure of the frame body 10 is more compact.

Further, the first driving unit 21 further includes a first coupling 214, and the first coupling 214 is disposed between the first transmission shaft 213 and the first speed reducer 212, and is used for connecting an output shaft of the first speed reducer 212 and the first transmission shaft 213. Therefore, when the power transmission is realized through the first coupling 214, the power part formed by the first driving motor 211 and the first speed reducer 212 is separated from the first transmission shaft 213, and if the transmission torque is too large due to abnormality in the operation process, the first coupling 214 can be damaged at first, so that the damage of the motor or other transmission parts is avoided. It is understood that any one of a rigid coupling or an elastic coupling may be used for the first coupling 214, and the specific choice may be determined according to actual needs. Of course, in an embodiment, the first driving motor 211 may also be directly connected to the first linkage unit 22, so as to realize direct driving.

The first linkage unit 22 includes a first driving wheel 221, a first linkage wheel 222, a second linkage wheel 223 and a transmission belt 224, the first driving wheel 221 is fixed on the output shaft of the first driving unit 21, and the axis of the first driving wheel 221 coincides with the first transmission shaft 213, so as to ensure the synchronism of the movement of the first driving wheel 221 and the first driving wheel 221. The first linkage wheel 222 is fixed on one group of the first transmission units 23, the second linkage wheel 223 is fixed on the other group of the first transmission units 23, and the transmission belt 224 is sleeved on the first linkage wheel 222 and the second linkage wheel 223 and is in transmission connection with the first driving wheel 221. The first driving unit 21 drives the first driving wheel 221 to rotate, the driving belt 224 is linked with the first linkage wheel 222 and the second linkage wheel 223, so as to respectively drive the two sets of first driving units 23 to move, and then the two sets of first driving units 23 move to respectively drive the two sets of clamping arm sets 24 to be unfolded or folded, so that the clamping and the releasing of the vehicle are realized.

Preferably, the frame body 10 is fixed with a connecting shaft 13, the connecting shaft 13 is fixed with a bearing, and the first linkage wheel 222 is sleeved on the bearing, so that the first linkage wheel 222 is rotatably connected with the frame body 10. Likewise, the second coupling wheel 223 is also rotatably connected to the frame body 10 in the above-described manner. It is understood that in other embodiments, the rotational connection of the first linkage wheel 222 and/or the second linkage wheel 223 with the frame body 10 can be directly realized by a rotating shaft.

Further, the first linkage unit 22 further includes an intermediate linkage wheel 225, the intermediate linkage wheel 225 is in transmission connection with the transmission belt 224, and plays roles in bridging and tensioning, so that the transmission of the power of the transmission belt 224 is more stable and reliable. In one embodiment, the number of the intermediate linkage wheels 225 is one, and one intermediate linkage wheel 225 is disposed between the first driving wheel 221 and the first linkage wheel 222 or between the first driving wheel 221 and the second linkage wheel 223. In another embodiment, the number of intermediate linkage wheels 225 is multiple; at this time, at least one intermediate linkage wheel 225 is arranged between the first driving wheel 221 and the first linkage wheel 222; the first drive wheel 221 and the second linkage wheel 223 are also provided with at least one intermediate linkage wheel 225.

In an exemplary embodiment, the first driving wheel 221, the first linkage wheel 222, the second linkage wheel 223 and/or the intermediate linkage wheel 225 are sprockets, and the driving belt 224 is a chain, and the chain is engaged with the sprockets to transmit the power of the first driving unit 21 to the two sets of first transmission units 23 respectively. Of course, in another embodiment, the first driving wheel 221, the first linkage wheel 222 and the second linkage wheel 223 are belt pulleys, and the transmission belt 224 is a belt, so that the belt is in transmission connection with the corresponding belt pulleys to realize the transmission of the power of the first driving unit 21 to the two sets of first transmission units 23 respectively.

Each set of the first transmission units 23 corresponds to one set of the clamp arm sets 24, and each set of the first transmission units 23 includes a first worm 231, a second worm 232, and a second coupling 233. Each set of clamping arm set 24 includes two clamping arms 241, for convenience of description, the two clamping arms 241 are respectively defined as a first clamping arm 2411 and a second clamping arm 2412, the first clamping arm 2411 and the second clamping arm 2412 are respectively rotatably connected to the frame body 10 and are symmetrically arranged with Y as a symmetry axis, and when the first clamping arm 2411 and the second clamping arm 2412 are both in an unfolded state, a clamping space 2413 for clamping a vehicle wheel is formed between the first clamping arm 2411 and the second clamping arm 2412. The first worm 231 is rotatably installed on the frame body 10, the first worm 231 is in transmission connection with the first clamping arm 2411, and the first linkage wheel 222 is fixed on the first worm 231, so that when the first worm 231 rotates, the first clamping arm 2411 is driven to expand or contract, and at this time, the first worm 231 serves as a driving worm. The second worm 232 is in transmission connection with the second clamping arm 2412, the second worm 232 is rotatably mounted on the frame body 10, and the second worm 232 is in transmission connection with the first worm 231 through the second coupling 233, so that the second worm 232 and the first worm 231 move synchronously, that is, the synchronous movement of the first clamping arm 2411 and the second clamping arm 2412 for unfolding or folding is realized through one power source. The second worm 232 now acts as a follower worm. Of course, the first linkage wheel 222 may also be fixed to the second worm 232, in which case the second worm 232 is used as a driving worm, and the first worm 231 is used as a driven worm. It can be understood that the worm wheel and the worm drive have larger transmission ratio, the linear contact between the meshing tooth surfaces has large bearing capacity, the transmission is stable, and the noise is low. In other embodiments, the first transmission unit 23 may also be provided as a gear structure or the like.

Illustratively, to improve the stability of the transmission of the first and second worms 231 and 232, two connecting positions of the first and second worms 231 and 232 to the frame body 10 are provided. Specifically, taking the installation of the first worm 231 as an example, two installation points (not shown) are provided on the frame body 10 at intervals, each installation point is provided with a bearing, and the first worm 231 penetrates through the two bearings to realize the rotational connection with the frame body 10.

Two first worms 231 in the two groups of first transmission units 23 are respectively arranged on two sides of the frame body 10, and one of the first worms 231 is fixed with a first linkage wheel 222, and the other of the first worms 231 is fixed with a second linkage wheel 223, when the first driving wheel 221 rotates, the transmission belt 224 respectively drives the first worms 231 and the second worms 232 on two sides of the frame body 10 to rotate, thereby realizing the synchronous motion of the four clamping arms 241. That is, one first driving motor 211 is adopted to complete the simultaneous driving of the four clamping arms 241, so that the four clamping arms 241 can equally divide the output force of the first driving motor 211, and the clamping arms 241 are uniformly stressed and move consistently and stably; meanwhile, the existing four clamping arms are driven by motors independently, and each motor is provided with one driver, so that the structure is complex, and more parts are needed. Through the structure arranged in the application, the four clamping arms 241 are driven to move by the first driving motor 211, so that the use number of motors and drivers is reduced, the production cost is obviously reduced, and the structure is simple and the installation is convenient; secondly, the existing worms corresponding to the four clamping arms are stressed unevenly, the structural strength of one or more of the worms needs to be enhanced to meet the use requirements, the existing worm is usually enhanced in volume, and after the volume of the worm is increased, the worm occupies a larger space of the frame body 10, which is not beneficial to thinning the frame body 10. By the reasonable layout of the first driving motor 211, the first worm 231 and the second worm 232, the stress on the first worm 231 and the second worm 232 can be uniform, that is, the volumes of the first worm 231 and the second worm 232 can be kept consistent, so that the occupied space of the first worm 231 and/or the second worm 232 is reduced, and the frame body 10 can be designed to be smaller and thinner.

Preferably, the first driving motor 211 is located on the bisector X, the two first worms 231 are arranged on two sides of the bisector X, and the two first worms 231 are substantially symmetrically arranged on the bisector X; the two second worms 232 are also arranged on two sides of the bisector X, and the second worms 232 are basically symmetrically arranged on the bisector X; meanwhile, the first worm 231 and the second worm 232 are arranged substantially symmetrically about the bisector Y, and the axis of the first worm 231 coincides with the axis of the second worm 232 and is parallel to the axis of the output shaft of the first driving motor 211; the transmission belt 224 is driven by the first driving motor 211 to rotate around the axis of the first driving motor 211.

Referring now to fig. 6, the two sets of clamp arm sets 24 are arranged substantially symmetrically about the bisecting line X as an axis of symmetry. Each of the clamp arms 241 includes an arm body 2411a and a connecting portion 2411b, the connecting portion 2411b is rotatably connected to the frame body 10, and the connecting portion 2411b has a meshing portion 2411c, and the meshing portion 2411c meshes with the worm in the first transmission unit 23. The arm 2411a is connected to the connection portion 2411b and can be folded or unfolded with rotation of the engagement portion 2411 c. Here, when the arm body 2411a is displayed, the arm body 2411a is substantially perpendicular to the frame body 10; when the arm 2411a is closed, the arm 2411a is disposed substantially parallel to the side of the frame 10, so that the dimension of the main robot 101 in the width direction can be reduced, and the main robot 101 can move to the bottom of the vehicle to perform a corresponding clamping operation.

When the vehicle is clamped, the acting force applied to the clamping arm 241 is large, and the connecting portion 2411b of the clamping arm 241 is reinforced to improve the structural strength of the clamping arm 241. Specifically, the thickness of the connecting part 2411b ranges from 20 mm to 30 mm; and/or a reinforcing member 2411d is arranged on the connecting part 2411b so that the structural strength of the connecting part 2411b meets the use requirement.

In this embodiment, the number of the reinforcing members 2411d is two, and the reinforcing members 2411d are respectively disposed on both sides of the connecting portion 2411b and connected to the connecting portion 2411 b; thus, the two sides of the connection portion 2411b are reinforced, so that the structural strength and the service life of the connection portion 2411b are effectively improved.

With continued reference to fig. 6, in order to reduce the wear of the clamping arm 241 and the tire during the clamping process, a plurality of rollers 2411e are disposed at intervals along the length direction of the clamping arm 241 on the side surface of the arm 2411a contacting the tire, and the rollers 2411e are rotatably connected with the arm 2411 a. As such, during clamping, the rollers 2411e are in sliding contact with the tire contact, thereby reducing wear on the vehicle tire.

The clamping arm 241 is entirely in a floating state, i.e., the clamping arm 241 is not in contact with the translation mechanism 230 and the parking platform 240. It can be understood that, in the prior art, the clamping arm 241 is connected to the translation mechanism 230 and the parking platform 240 in a contact manner, that is, a sliding wheel is disposed at an end of the arm body 2411a away from the connecting portion 2411b, and a rail cooperating with the sliding wheel is required to be disposed on each of the translation mechanism 230 and the parking platform 240, which is high in manufacturing cost. In this application, set up into unsettled state and combine arm lock 241 to have sufficient structural strength with arm lock 241 is whole to omit guide rail and movable pulley, reduced spare part quantity, practice thrift manufacturing cost.

As shown in fig. 4 and 7, fig. 7 exemplarily shows a schematic structure of the traveling mechanism 30. Specifically, the traveling mechanism 30 includes a second driving unit 31, a transmission mechanism 30a, and two sets of active traveling wheel units 34. The transmission mechanism 30a comprises a second linkage unit 32 and at least two sets of second transmission units 33. The second driving unit 31 is installed on the frame body 10, and the second linkage unit 32 is connected to the second driving unit 31 and moves by the second driving unit 31. Two sets of second transmission units 33 are respectively connected to the second linkage units 32, wherein one set of active road wheel units 34 is located on the first side 11 of the frame body 10 and is rotatably connected to the frame body 10, and is connected to one set of second transmission units 33, and the other set of active road wheel units 34 is located on the second side 12 of the frame body 10 and is rotatably connected to the frame body 10, and is connected to the other set of second transmission units 33. When the main manipulator 101 needs to move, the second driving unit 31 is started and is linked with the two sets of second transmission units 33 through the second linkage unit 32, so as to realize the synchronous movement of the two sets of active road wheel units 34. In other words, in this embodiment, the simultaneous movement of the active road wheel units 34 on both sides of the frame body 10 can be realized only by using one second driving unit 31, so that the uniformity of the movement pace of each active road wheel unit 34 is ensured; meanwhile, the number of the second driving unit 31 and the drivers corresponding to the second driving unit 31 is reduced, which not only facilitates layout but also reduces cost.

In an exemplary embodiment, the axis of the second drive unit 31 is arranged adjacent to the bisector X. That is, the second driving unit 31 is located near or coincident with the bisector X, and the first transmission unit 23 and the second transmission unit 33, which are located on the same side of the frame body 10, are arranged to intersect and are stacked in the thickness direction of the frame body 10. So set up, practiced thrift the space of main manipulator 101 effectively for the whole thickness of frame body 10 reduces, thereby main manipulator 101 can adapt to more vehicles of different chassis height, and accomplish the transport that corresponds the vehicle.

Preferably, the axis of the second driving unit 31 coincides with the bisector X, that is, coincides with the axis of the first driving unit 21, and the axis of the second transmission unit 33 is perpendicular to the bisector X and is arranged crosswise to the axis of the first transmission unit 23; further, the axis of the second transmission unit 33 is relatively located above the axis of the first transmission unit 23 in the vertical axis 202 (thickness of the frame body) direction, that is, the second transmission unit 33 and the first transmission unit 23 are disposed in a stacked manner in the vertical axis 202 direction. The two groups of second transmission units 33 are symmetrically arranged on a bisector X, and the two groups of driving travelling wheel units 34 are symmetrically arranged on the bisector X. Thus, the clamping arm mechanism 20 and the traveling mechanism 30 are intensively arranged in the middle of the main manipulator 101, so that the main manipulator 101 is more compact in structure.

As shown in fig. 4, in one embodiment, a set of driving traveling wheel units 34 is disposed between the two clamping arms 241 on the same side of the frame body 10. Therefore, the space of the frame body 10 is fully utilized, so that the structure of the frame body 10 is more compact; meanwhile, the driving traveling wheel unit 34 can serve as a supporting point for the frame body 10 to bear, and is arranged between the two clamping arms 241, so that the bearing capacity of the frame body at the position is more reliable and stable.

As shown in fig. 6, the second driving unit 31 includes a second driving motor 311, the second driving motor 311 is located near or on the bisector X, and an output shaft 312 of the second driving motor 311 is connected to the second linkage unit 32, so that the linkage between the second driving motor 311 and the second linkage unit 32 is realized.

Preferably, the axis of the second drive motor 311 is arranged parallel to or coincident with the bisector X. And the output shaft 312 of the second drive motor 311 is disposed toward the bisector Y.

Further, the second driving unit 31 further includes a second speed reducer 313, and the second speed reducer 313 is mounted to an output shaft 312 of the second driving motor 311, and is used for controlling the speed of the second driving motor 311 and increasing the output torque of the second driving motor 311. It should be explained that the second speed reducer 313 can be arranged according to actual requirements.

Further, the second driving unit 31 further includes a second coupling 314, and the second coupling 314 is disposed between the second coupling unit 32 and the output shaft 312 of the second driving motor 311, so as to connect the second coupling unit 32 and the output shaft 312 of the second driving motor 311. In this way, the second driving motor 311 and the second coupling unit 32 are separated from each other while power transmission is realized through the second coupling 314, and if transmission torque is too large due to abnormality in the operation process, the second coupling 314 is damaged at first, so that damage to the motor or other transmission parts is avoided. It is understood that the second coupling 314 may be a rigid coupling or an elastic coupling, and the specific choice may be determined according to actual needs.

As shown in fig. 7 and 8, the second linkage unit 32 has at least two output ends, and two sets of second transmission units 33 are respectively disposed corresponding to the output ends one by one and connected to the corresponding active road wheel units 34, so that the two sets of second transmission units 33 respectively drive the corresponding active road wheel units 34 to move under the driving of the corresponding output ends.

Alternatively, the second linkage unit 32 is a double right angle reducer or a hydraulic transmission structure in the present embodiment, the second linkage unit 32 is a double right angle reducer.

Specifically, the second coupling unit 32 includes a first bevel gear 321, a second bevel gear 322, and a second transmission shaft 323, the first bevel gear 321 is fixed to the output shaft 312, the second bevel gear 322 is fixed to the second transmission shaft 323, the second bevel gear 322 is engaged with the first bevel gear 321, and both ends of the second transmission shaft 323 are respectively connected to the two sets of second transmission units 33; therefore, the first bevel gear 321 rotates to drive the second bevel gear 322 to rotate, and the second transmission shaft 323 synchronously rotates to drive the two sets of second transmission units 33 to move, so as to control the two sets of active road wheel units 34 to move. It is to be understood that the structure of the second linkage unit 32 is not limited to the above description, and it may also be a hydraulic transmission structure, etc., as long as it can drive the two sets of second transmission units 33 to move synchronously.

Preferably, the second linkage unit 32 further includes a housing 324, the second transmission shaft 323 is disposed through the housing 324, and two ends of the second transmission shaft 323 are located outside the housing 324 to correspondingly form the output end. The first bevel gear 321 and the second bevel gear 322 are located in the housing 324 to protect the first bevel gear 321 and the second bevel gear 322 by the housing 324.

Further, the second coupling unit 32 further includes a third transmission shaft 325, the first bevel gear 321 is fixed to the third transmission shaft 325, and the third transmission shaft 325 is connected to the output shaft 312 of the second driving motor 311 through the second coupling 314. Thus, the second driving motor 311 controls the third transmission shaft 325 to rotate through the second coupling 314, and the first bevel gear 321 moves along with the third transmission shaft 325 and drives the second bevel gear 322 and further drives the second transmission shaft 323 to move, thereby implementing the driving of the second transmission unit 33.

With continued reference to fig. 6, the second transmission unit 33 is arranged at a middle position of the frame body 10, and an axis of the second transmission unit 33 is disposed perpendicular to an axis of the second driving unit 31.

Specifically, each group of second transmission units 33 includes a fourth transmission shaft 331 and a third coupling 332, the third coupling 332 is disposed between the fourth transmission shaft 331 and the second transmission shaft 323, one end of the fourth transmission shaft 331 is connected to the driving traction unit 34, and the other end of the fourth transmission shaft 331 is connected to the corresponding third coupling 332, so that the acting force of the second transmission shaft 323 is transmitted to the fourth transmission shaft 331 through the third coupling 332, and the driving traction unit 34 is driven to move. In an embodiment, the third coupling 332 and the fourth transmission shaft 331 can be omitted, that is, the ground engaging wheel unit 34 is directly connected to the second transmission shaft 323.

Preferably, the axis of the fourth propeller shaft is disposed adjacent to the bisector Y. Here, adjacent is to be construed as being arranged close to or coinciding with the bisector Y.

Further, the axis of the third coupling 332 is inclined with respect to the axis of the second transmission shaft 323 and is raised in a vertically upward direction, and the fourth transmission shaft 331 is connected to the third coupler 332 so that the axis of the fourth transmission shaft 331 is relatively located above the corresponding worm (the first worm 231 or the second worm 232) in the vertical axis 202 direction, thereby realizing that the second transmission unit 33 is stacked with the first transmission unit 23 in the vertical axis 202 direction. I.e., in a vertical direction, the axis of the fourth transmission shaft 331 is located above and parallel to the axis of the output end.

Preferably, the angle between the axis of the fourth transmission shaft 331 and the axis of the third combiner 332 is B, and 90 ° < B <180 °. It is understood that the value of B is selected from the above range, and if the value of B is too small, the fourth transmission shaft 331 and the second transmission shaft 323 are stacked due to accommodation, so that a larger space is required in the thickness direction of the frame body 10 to accommodate the fourth transmission shaft 331 and the third coupler 332, and thus the thickness of the whole frame body 10 is larger, which is not favorable for the light and thin arrangement of the frame body. Optionally, B may be 95 °, 100 °, 110 °, 120 °, 130 °, 140 °, 150 °, 160 °, 170 °, and the like, and specific numerical values may be set according to requirements.

For example, referring to fig. 6, two sets of active road wheel units 34 are located in the middle of the frame body 10 and symmetrically installed on two sides of the frame body 10 with the bisector X as the symmetry axis, and the two sets of active road wheel units 34 are respectively connected to two ends of the fourth transmission shaft 331 to drive the active road wheel units 34; and, a set of active road wheel unit 34 is provided between the two clamping arms located on the same side of the frame body 10.

Further, each set of the ground engaging wheel unit 34 at least includes two ground engaging wheels 341, and at least two ground engaging wheels 341 are connected to the corresponding fourth transmission shaft 331. It can be understood that the two active traveling wheels 341 are provided to improve the traveling stability of the frame body 10.

To further embody the structural advantages of the present application, the frame body 10 is simplified to a simple beam model, and the acting force applied to the simple beam is F (i.e. the clamping arm is stressed by F). Fig. 9 shows a comparative example in which the ground engaging wheels 341 are arranged in a front-rear manner at both ends of a simply supported beam; fig. 10 to 13 show a shear diagram, a bending moment diagram, a torsion diagram and a deflection diagram of the simply supported beam in fig. 7 under the action of F, respectively. Fig. 14 shows the present application with the ground engaging wheels 341 disposed in the middle of the simply supported beam; fig. 15 to 18 show a shear diagram, a bending moment diagram, a torsional deformation diagram and a deflection diagram of the simply supported beam of fig. 14, respectively, under the action of F.

It should be noted that, compared with fig. 15 and fig. 10, under the same F acting force, the shear force applied to the simply supported beam of the present application is smaller, which is only about 9/20 in fig. 10; compared with fig. 16 and 11, under the same F acting force, the bending moment applied to the simply supported beam in the application is about 0.67kn.m at the maximum, while the bending moment applied to the simply supported beam in fig. 11 is about 4 times of the bending moment applied to the simply supported beam in the application at the maximum of 2.65kn.m, so that the acceptance of the bending moment applied to the simply supported beam in the application is obviously smaller; compared with fig. 17 and 12, the cross-sectional torsion angle of the simple beam in fig. 12 is about 10 times that of the simple beam of the present application; compared with fig. 13, fig. 18 shows that the deflection of the simply supported beam in fig. 18 is only 0.18mm, while the deflection of the simply supported beam in fig. 12 is as high as 4.02mm, so that it is obvious that the deformation of the simply supported beam in the application can be ignored, and the simply supported beam can bear larger acting force. As can be seen from the above comparison, the framework 10 in the present application is better in handling than the layouts shown in fig. 7 to 11, regardless of the analysis of the shear force, the bending moment, the torsion angle, and the deflection of the simply supported beam.

As shown in fig. 7, to facilitate the connection of the two ground engaging wheels 341 with the corresponding fourth transmission shafts 331. The second transmission unit 33 further comprises gear sets 333, each set 333 comprising three gears. For convenience of description, the three gears respectively define a first gear 3331, a second gear 3332 and a third gear 3333, the first gear 3331 is fixedly connected to the fourth transmission shaft 331, and the second gear 3332 and the third gear 3333 are disposed at both sides of the first gear 3331 and are engaged with the first gear 3331. The two active road wheels 341 are respectively fixed on the second gear 3332 and the third gear 3333, so that the fourth transmission shaft 331 is brought into rotation with the first gear 3331, and the second gear 3332 and the third gear 3333 rotate along with the first gear 3331 to drive the two active road wheels 341 to move synchronously.

As shown in fig. 6, the traveling mechanism 30 further includes a driven traveling wheel unit 35, and the driven traveling wheel unit 35 is mounted on the frame body 10 to support and assist the movement of the frame body 10.

Specifically, the driven traveling wheel unit 35 includes a plurality of driven traveling wheels 351, and the plurality of driven traveling wheels 351 are provided at intervals on the frame body 10. Preferably, the number of the driven traveling wheels 351 is four, and the four driven traveling wheels 351 are arranged at four corners of the frame body 10 in a rectangular array manner to stably support the frame body 10, and at the same time, cooperate with the driving traveling wheels 341 to stabilize the traveling of the lower auxiliary frame body 10. It is understood that the specific number of the driven road wheels 351 can be selected according to actual requirements, and is not limited herein.

Exemplarily, as shown in fig. 2 to 8, as a preferred embodiment, the first driving motor 211 and the second driving motor 311 are both disposed at a middle position of the frame, and the first driving motor 211 and the second driving motor 311 are located at two of the bisector Y; meanwhile, the axis of the first driving motor 211 and the axis of the second driving motor 311 are both parallel to the bisector X. The two groups of first transmission units 23 are symmetrically arranged by taking the bisector X as a symmetry axis, and the axes of the first transmission units 23 are parallel to the bisector X. The two sets of clamping arm sets 24 are symmetrically arranged on the frame body 10 by taking the bisector X as a symmetry axis. The two groups of second transmission units 33 are symmetrically arranged by taking the bisector X as a symmetry axis, and the two groups of driving travelling wheel units 34 are symmetrically arranged by taking the bisector X as a symmetry axis; the second transmission unit 33 and the first transmission unit 23 are arranged in a crossed manner; and, the second transmission unit 33 is relatively located above the first transmission unit 23 along the vertical axis 202 direction. With such a layout, the second transmission unit 33 and the first transmission unit 23 are arranged in a crossed manner to reduce the thickness of the frame body 10 in the vertical axis 202 direction as a whole, so that the main manipulator 101 becomes an ultra-thin body (less than 95 mm), and is suitable for vehicles with more chassis heights. Meanwhile, through the arrangement of the second transmission unit 33 and the first transmission unit 23, the driving of a plurality of clamping arms 241 by one first driving motor 211 can be realized; and, driving the two sets of active road wheel units 34 with a second driving motor 311; thereby reducing the use of drivers and saving not only the cost but also the space of the frame body 10.

Preferably, the middle portion of the frame body 10 defines a mounting groove 14, and the first linkage unit 22 and the second linkage unit 32 are uniformly arranged in the mounting groove 14, so as to accommodate the corresponding components.

Referring to fig. 2 or fig. 3, the main robot 101 further includes a controller 40 and a power source 50, wherein the controller 40 is mounted on the frame body 10 and is in signal connection with an external system for integrally coordinating and controlling the operation of the main robot 101. The power source 50 is disposed on the frame 10, and one end of the power source 50 is electrically connected to the clamping arm mechanism 20, the traveling mechanism 30 and the controller 40, and the other end is connected to an external power source, so as to supply power to the clamping arm mechanism 20, the traveling mechanism 30 and the controller 40. The power supply mode of the existing main manipulator mainly adopts a battery; therefore, more electric elements are caused, and the hidden trouble of failure is increased; meanwhile, the cost is high, and the overall weight of the main manipulator is increased. In the present application, the power source 50 is connected to an external power source, and no additional electrical components are required, thereby effectively avoiding the above problems.

Preferably, the controller 40 is provided near one end of the frame body 10, and the power source 50 is provided near the other end of the frame body 10; in this way, the weight of both ends of the frame body 10 is substantially balanced, and the running stability of the main robot 101 is improved.

The operation of the stereo garage 200 is explained as follows:

in the parking process, the vehicle enters the main body 210 from the vehicle entrance 203 and stops on the vertical moving platform 250, and the vertical moving platform 250 drives the vehicle to move to a preset number of layers along the vertical axis 202 direction according to the control signal; secondly, the horizontal moving platform 260 moves to the vertical moving platform 250 and is in butt joint with the vertical moving platform 250, the manipulator 100 moves from the horizontal moving platform 260 to the bottom of the vehicle on the vertical moving platform 250, the manipulator 100 controls the clamping arm 241 to move from a folded state to an unfolded state and clamps the tire of the vehicle, so that the vehicle is lifted by the manipulator 100 in the direction of the vertical axis 202; then, the robot 100 moves to move the vehicle from the vertical moving platform 250 to the horizontal moving platform 260; and thirdly, the horizontal moving platform 260 drives the vehicle to move to the corresponding parking platform 240 in the horizontal position, and then the manipulator 100 moves the vehicle from the horizontal moving platform 260 to the parking platform 240 and controls the clamping arm 241 to move from the unfolded state to the folded state so as to release the vehicle and complete the parking of the vehicle. And after the vehicle is parked, the robot 100 moves from the parking platform 240 to the horizontal moving platform 260 to be reset and ready for the next action.

And the vehicle taking process is opposite to the vehicle storing process, and is not described herein again.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A walking transmission mechanism of a manipulator comprises a frame body, a second driving unit, a walking transmission mechanism and a driving walking wheel unit, wherein the walking transmission mechanism is arranged on the frame body and is positioned between the driving walking wheel unit and the second driving unit; it is characterized in that the walking transmission mechanism comprises:

a second linkage unit connected with the second driving unit and having at least two output terminals;

the second transmission units are arranged in one-to-one correspondence with the output ends and are connected with the corresponding driving travelling wheel units;

each group of second transmission units at least comprises a third coupler, one end of the third coupler is connected with the output end, and the other end of the third coupler is connected with the corresponding second transmission unit.

2. The robot hand traveling transmission mechanism according to claim 1, wherein the second linkage unit is a double right-angle reducer or a hydraulic transmission structure.

3. The robot hand walking transmission of claim 1, wherein the second coupling unit comprises a first bevel gear, a second bevel gear, and a second transmission shaft, the first bevel gear being connected to the second driving unit, the second bevel gear being fixed to the second transmission shaft and being engaged with the first bevel gear; and at least two groups of second transmission units are respectively connected with two ends of the second transmission shaft.

4. The robot walking transmission mechanism of claim 3, wherein the second linkage unit comprises a housing, the housing is fixed to the frame, the first bevel gear and the second bevel gear are located in the housing, the second transmission shaft penetrates through the housing, and two ends of the second transmission shaft are located outside the housing to form two output ends.

5. The walking transmission mechanism of manipulator according to claim 1, wherein each set of said second transmission units further includes a fourth transmission shaft, and said fourth transmission shaft is connected to said output end through said third coupling.

6. The robot hand travel drive of claim 5, wherein the axis of the fourth drive shaft is vertically above and parallel to the axis of the output end.

7. The robot hand walk transmission mechanism according to claim 5, wherein an angle between an axis of the fourth transmission shaft and an axis of the third coupling is A, and 90 ° < A <180 °.

8. The walking transmission mechanism of manipulator according to claim 5, wherein each set of the second transmission units further includes a gear set fixed to an end of the fourth transmission shaft away from the output end, and the gear is connected to the active walking wheel unit.

9. The robot walking transmission mechanism of claim 8, wherein the gear set comprises a first gear, a second gear and a third gear, the first gear is fixedly connected with the fourth transmission shaft, and the second gear and the third gear are arranged on two sides of the first gear and meshed with the first gear.

10. A manipulator, characterized in that the manipulator comprises a frame body, a driving traveling wheel unit, a second driving unit and a transmission structure for the manipulator traveling according to any one of claims 1 to 9, wherein the transmission structure is mounted on the frame body for transmitting the driving force of the second driving unit to the driving traveling wheel unit.

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