CN104139810B - A kind of robot running gear - Google Patents
A kind of robot running gear Download PDFInfo
- Publication number
- CN104139810B CN104139810B CN201310173053.9A CN201310173053A CN104139810B CN 104139810 B CN104139810 B CN 104139810B CN 201310173053 A CN201310173053 A CN 201310173053A CN 104139810 B CN104139810 B CN 104139810B
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- CN
- China
- Prior art keywords
- stepper motor
- belt wheel
- rolling
- rotating
- connecting plate
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Abstract
The invention discloses a kind of robot running gear, including chassis, the anterior left and right sides on the chassis and the left and right sides at chassis rear portion are respectively provided with a walking leg, two double end stepper motors are fixed with the chassis, four main shafts of the double end stepper motor are fixedly linked with four walking legs respectively, a rotating stepper motor is equipped with the every walking leg, the main shaft of the rotating stepper motor is fixedly connected with a belt wheel connecting plate respectively, there is a rolling stepper motor on every piece of belt wheel connecting plate, the outside for rolling stepper motor is socketed with a driving pulley, the driving pulley is provided with rotating shaft, the rotating shaft is fixedly connected with rolling the main shaft of stepper motor, the periphery of the rotating stepper motor is socketed with a driven pulley, timing belt is provided between the driven pulley and driving pulley.The beneficial effect that the present invention is obtained is：With multiple frees degree, thus flexibility is good, and obstacle climbing ability is strong, applied widely.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of robot running gear.
Background technology
At present, mobile robot has had multiple product appearance, but still in place of coming with some shortcomings, e.g., most moving machines
The obstacle climbing ability of device people is not strong, and most of running gears can only cross the obstacle of not higher than oneself height, can not be in miriness
Walked on road.How more powerful walking function and obstacle detouring energy is made it have in the case of robot appearance and size is not increased
Power, particularly its cross trench, excessively muddy marshland, the ability for even crossing high bank, this expansion to mobile robot application environment
Exhibition is particularly important.
The content of the invention
The problem to be solved in the present invention is：There is provided that a kind of flexibility is good, obstacle climbing ability is strong, robot row applied widely
Walk mechanism.
In order to solve the above problems, robot running gear of the invention, including chassis, the anterior left and right on the chassis
The left and right sides at both sides and chassis rear portion is respectively provided with a walking leg, the chassis and is fixed with two double end stepper motors, institute
Four main shafts for stating double end stepper motor are fixedly linked with four walking legs respectively, and a rotation is equipped with the every walking leg
Turn stepper motor, the main shaft of the rotating stepper motor is fixedly connected with a belt wheel connecting plate respectively, every piece of belt wheel connects
There is a rolling stepper motor on fishplate bar, the outside of the rolling stepper motor is socketed with a driving pulley, the active
Belt wheel is provided with rotating shaft, and the rotating shaft is fixedly connected with rolling the main shaft of stepper motor, the periphery set of the rotating stepper motor
A driven pulley is connected to, timing belt is provided between the driven pulley and driving pulley.
Further, provided with a band between robot running gear of the invention, driving pulley and the belt wheel connecting plate
Take turns swelling device.
Further, robot running gear of the invention, the belt wheel swelling device includes being arranged on belt wheel connecting plate
Chute, the rotating shaft being positioned in chute and the screw rod moved left and right to drive shaft along chute, on the belt wheel connecting plate
Provided with retainer nut, the end of the screw rod is provided with adjusting nut, and the screw rod is inserted in retainer nut, and the screw rod is with stopping
Dynamic nut matches.
Further, one is respectively connected with robot running gear of the invention, the main shaft of the double end stepper motor
One transition axis, one end of the First Transition axle is connected by shaft coupling with the main shaft of double end stepper motor, the First Transition
The other end of axle is fixedly connected with walking leg.
Further, electric rotating machine sleeve, the rotation are fixed with robot running gear of the invention, the walking leg
Rotating stepper motor is fixed with motor sleeve, the main shaft of the rotating stepper motor is connected with second mistake by shaft coupling
Cross and transition disc is fixed with the top of axle, second transition axis, the transition disc is fixed with one and hollow is socketed in electric rotating
The rotation driving axle of machine cartridge exterior, the rotation driving axle is fixedly connected by fixed disk with belt wheel connecting plate, described driven
Belt wheel is socketed in the outside of rotation driving axle, and bearing is provided between the driven pulley and rotation driving axle.
Further, a rolling motor sleeve is fixed with robot running gear of the invention, the belt wheel connecting plate,
Rolling stepper motor is fixed with the rolling motor sleeve, the main shaft of the rolling stepper motor is connected with one by shaft coupling
The transition axis of root the 3rd, the 3rd transition axis is fixedly connected with rotating shaft, is provided between the rolling motor sleeve and driving pulley
Bearing.
The beneficial effect that the present invention is obtained is：Whole mechanism includes being equipped with chassis, four walking legs, every walking leg
One group of driving pulley and driven pulley, driving pulley and driven belt are equipped with one piece of belt wheel connecting plate, each belt wheel connecting plate
Timing belt is provided between wheel, and drive part is respectively two double end stepper motors, four rotating stepper motors and four rollings
Stepper motor, double end stepper motor can drive four walking legs to be rotated freely along base in 360 ° respectively, and four rotations
Stepper motor drives four belt wheel connecting plate rotations respectively, and four rolling stepper motors drive four driving pulley rotations respectively,
Driving pulley drives driven pulley to rotate by timing belt again, thus realize driving pulley and driven pulley forward or backward
Roll, and finally realize the motion of robot running gear, therefore, robot running gear of the invention has multiple freedom
Degree, thus flexibility is good, obstacle climbing ability is strong, applied widely.
Brief description of the drawings
Fig. 1 is the front view of the present invention.
Partial enlarged drawing in Fig. 2 Fig. 1 at A.
Fig. 3 is the top view of the present invention.
Fig. 4 is the partial enlarged drawing at B in Fig. 3.
In figure：1st, chassis, 2, walking leg, 3, driven pulley, 4, timing belt, 5, driving pulley, 6, screw rod,
7th, belt wheel connecting plate, 8, rotating shaft, 9, retainer nut, 10, adjusting nut, 11, double end stepper motor,
12nd, shaft coupling, 13, First Transition axle, 14, rotating stepper motor, 15, electric rotating machine sleeve,
16th, fixed disk, 17, transition disc, the 18, second transition axis, 19, bearing, the 20, the 3rd transition axis,
21st, roll stepper motor, 22, roll motor sleeve.
Embodiment
As Figure 1-Figure 4, robot running gear of the invention, including chassis 1, the anterior left and right on the chassis 1
The left and right sides at both sides and the rear portion of chassis 1 is respectively provided with a walking leg 2, the chassis 1 and is fixed with two double end stepper motors
11, four main shafts of the double end stepper motor 11 are fixedly linked with four walking legs 2 respectively, on the every walking leg 2
Provided with a rotating stepper motor 14, the main shaft of the rotating stepper motor 14 is fixedly connected with a belt wheel connecting plate 7 respectively,
There is a rolling stepper motor 21 on every piece of belt wheel connecting plate 7, the outside for rolling stepper motor 21 is socketed with one
Individual driving pulley 5, the driving pulley 5 is provided with rotating shaft 8, and the rotating shaft 8 is fixedly connected with rolling the main shaft of stepper motor 21,
The periphery of the rotating stepper motor 14 is socketed with a driven pulley 3, is provided between the driven pulley 3 and driving pulley 5
Timing belt 4；Provided with a belt wheel swelling device between the driving pulley 5 and belt wheel connecting plate 7；The belt wheel swelling device bag
The chute being arranged on belt wheel connecting plate 7 is included, the rotating shaft 8 that is positioned in chute and is moved left and right to drive shaft 8 along chute
Screw rod 6, the belt wheel connecting plate 7 is provided with retainer nut 9, and the end of the screw rod 6 is provided with adjusting nut 10, the screw rod
6 are inserted in retainer nut 9, and the screw rod 6 matches with retainer nut 9；Connect on the main shaft of the double end stepper motor 11
A First Transition axle 13 is connected to, one end of the First Transition axle 13 passes through shaft coupling 12 and the main shaft of double end stepper motor 11
It is connected, the other end of the First Transition axle 13 is fixedly connected with walking leg 2；Electric rotating machine is fixed with the walking leg 2
Rotating stepper motor 14 is fixed with sleeve 15, the electric rotating machine sleeve 15, the main shaft of the rotating stepper motor 14 passes through
Shaft coupling 12 is connected with second transition axis 18, and the top of second transition axis 18 is fixed with transition disc 17, the transition
Disk 17 is fixed with a hollow rotation driving axle 23 being socketed in outside electric rotating machine sleeve 15, and the rotation driving axle 23 leads to
Cross fixed disk 16 to be fixedly connected with belt wheel connecting plate 7, the driven pulley 3 is socketed in the outside of rotation driving axle 23, it is described from
Bearing 19 is provided between movable belt pulley 3 and rotation driving axle 23；A rolling motor sleeve is fixed with the belt wheel connecting plate 7
22, described roll is fixed with rolling stepper motor 21 in motor sleeve 22, the main shaft for rolling stepper motor 21 passes through shaft coupling
Device 12 is connected with the 3rd transition axis 20, and the 3rd transition axis 20 is fixedly connected with rotating shaft 8, the rolling motor sleeve 22
Bearing 19 is provided between driving pulley 5.
The beneficial effect that the present invention is obtained is：Whole mechanism is included on chassis 1, four walking legs 2, every walking leg 2
Provided with one piece of belt wheel connecting plate 7, one group of driving pulley 5 and driven pulley 3, driving pulley 5 are equipped with each belt wheel connecting plate 7
Timing belt 4 is provided between driven pulley 3, and drive part is respectively two double end stepper motors 11, four rotation stepping electricity
Machine 14 and four rolling stepper motors 21, double end stepper motor 11 can drive four walking legs 2 along base in 360 ° respectively
Rotate freely, and four rotating stepper motors 14 drive four belt wheel connecting plates 7 to rotate respectively, four 21 points of rolling stepper motors
Not Qu Dong four driving pulleys 5 rotate, driving pulley 5 again by timing belt 4 drive driven pulley 3 rotate so that realize actively
Belt wheel 5 and driven pulley 3 are rolled forward or backward, and finally realize the motion of robot running gear, therefore, the present invention
Robot running gear there are multiple frees degree, thus flexibility is good, and obstacle climbing ability is strong, applied widely.
Claims (1)
1. a kind of robot running gear, it is characterised in that：Including chassis (1), the anterior left and right sides of the chassis (1) and
The left and right sides at chassis (1) rear portion is respectively provided with a walking leg (2), the chassis (1) and is fixed with two double end stepper motors
(11), four main shafts of the double end stepper motor (11) are fixedly linked with four walking legs (2) respectively, the every walking leg
(2) rotating stepper motor (14) is equipped with, the main shaft of the rotating stepper motor (14) is connected with a belt wheel respectively
Plate (7) is fixedly connected, and has a rolling stepper motor (21), the rolling stepping electricity on every piece of belt wheel connecting plate (7)
The outside of machine (21) is socketed with a driving pulley (5), and the driving pulley (5) is provided with rotating shaft (8), the rotating shaft (8) with
The main shaft for rolling stepper motor (21) is fixedly connected, and the periphery of the rotating stepper motor (14) is socketed with a driven pulley
(3) timing belt (4), is provided between the driven pulley (3) and driving pulley (5)；The driving pulley (5) and belt wheel connecting plate
(7) provided with a belt wheel swelling device between；The belt wheel swelling device includes the chute being arranged on belt wheel connecting plate (7),
The rotating shaft (8) being positioned in chute and the screw rod (6) moved left and right to drive shaft (8) along chute, the belt wheel connecting plate
(7) retainer nut (9) is provided with, the end of the screw rod (6) is provided with adjusting nut (10), and the screw rod (6) is inserted in stop
In nut (9), the screw rod (6) matches with retainer nut (9)；It is respectively connected with the main shaft of the double end stepper motor (11)
A piece First Transition axle (13), one end of the First Transition axle (13) passes through shaft coupling (12) and double end stepper motor (11)
Main shaft is connected, and the other end of the First Transition axle (13) is fixedly connected with walking leg (2)；It is fixed on the walking leg (2)
Have in electric rotating machine sleeve (15), the electric rotating machine sleeve (15) and be fixed with rotating stepper motor (14), the rotation stepping
The main shaft of motor (14) is connected with second transition axis (18), the top of second transition axis (18) by shaft coupling (12)
Transition disc (17) is fixed with, the transition disc (17) is fixed with a hollow rotation for being socketed in electric rotating machine sleeve (15) outside
Turn drive shaft (23), the rotation driving axle (23) is fixedly connected by fixed disk (16) with belt wheel connecting plate (7), described driven
Belt wheel (3) is socketed in the outside of rotation driving axle (23), and bearing is provided between the driven pulley (3) and rotation driving axle (23)
(19)；One is fixed with the belt wheel connecting plate (7) and rolls motor sleeve (22), described roll in motor sleeve (22) is fixed
There is rolling stepper motor (21), the main shaft for rolling stepper motor (21) is connected with the 3rd transition by shaft coupling (12)
Axle (20), the 3rd transition axis (20) is fixedly connected with rotating shaft (8), the rolling motor sleeve (22) and driving pulley (5)
Between be provided with bearing (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310173053.9A CN104139810B (en) | 2013-05-11 | 2013-05-11 | A kind of robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310173053.9A CN104139810B (en) | 2013-05-11 | 2013-05-11 | A kind of robot running gear |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104139810A CN104139810A (en) | 2014-11-12 |
| CN104139810B true CN104139810B (en) | 2017-09-29 |
Family
ID=51849183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310173053.9A Expired - Fee Related CN104139810B (en) | 2013-05-11 | 2013-05-11 | A kind of robot running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104139810B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106135102B (en) * | 2016-06-23 | 2019-03-22 | 广东海盟海洋生物科技有限公司 | A kind of fishery cultivating automatic charging machine people's running gear |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5515934A (en) * | 1994-10-17 | 1996-05-14 | Davis; Stuart D. | Agile versatile mobile robot body |
| CN100434331C (en) * | 2007-01-29 | 2008-11-19 | 北京理工大学 | Driving device for small four-track mobile robot |
| CN100443351C (en) * | 2007-06-22 | 2008-12-17 | 北京理工大学 | Small six-track all-terrain mobile robot |
| TWI370796B (en) * | 2009-10-29 | 2012-08-21 | Univ Nat Taiwan | Leg-wheel hybrid mobile platform |
| CN203255281U (en) * | 2013-05-11 | 2013-10-30 | 焦浩 | Robot traveling mechanism |
-
2013
- 2013-05-11 CN CN201310173053.9A patent/CN104139810B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN104139810A (en) | 2014-11-12 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170929 Termination date: 20180511 |