CN104139810A - Robot walking mechanism - Google Patents
Robot walking mechanism Download PDFInfo
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- CN104139810A CN104139810A CN201310173053.9A CN201310173053A CN104139810A CN 104139810 A CN104139810 A CN 104139810A CN 201310173053 A CN201310173053 A CN 201310173053A CN 104139810 A CN104139810 A CN 104139810A
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- belt wheel
- rotating
- stepping motor
- rolling
- connecting panel
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Abstract
The invention discloses a robot walking mechanism which comprises a chassis, wherein walking legs are arranged on the left side and the right side of the front part of the chassis and on the left side and the right side of the rear part of the chassis; two double-head stepping motors are fixed in the chassis, and four spindles of the double-head stepping motors are fixedly connected with four walking legs respectively; and a rotary stepping motor is arranged on each walking leg, a spindle of the rotary stepping motor is fixedly connected with a belt wheel connecting plate, a rolling stepping motor is arranged on each belt wheel connecting plate and sleeved with a driving belt wheel, a rotating shaft is arranged on the driving belt wheel and fixedly connected with a spindle of the rolling stepping motor, the rotary stepping motor is sleeved with a driven belt wheel, and a synchronous belt is arranged between the driven belt wheel and the driving belt wheel. The robot walking mechanism has the benefits as follows: multiple degrees of freedom are provided, the flexibility is good, the obstacle crossing ability is high, and the application range is wide.
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 to come out, but still the part that comes with some shortcomings, as, most mobile robots' obstacle climbing ability is not strong, and most of running gears can only be crossed not higher than the obstacle of oneself height, can not on muddy road, walk.How make it have more powerful walking function and obstacle climbing ability not increasing in robot oad situation, its ability of crossing trench, crossing muddy marshy area, even cross high bank particularly, this is very important to the expansion of mobile robot's applied environment.
Summary of the invention
The problem to be solved in the present invention is: the robot running gear that a kind of alerting ability is good, obstacle climbing ability is strong, applied widely is provided.
In order to address the above problem, robot running gear of the present invention, comprise chassis, the anterior left and right sides on described chassis and rear portion, chassis be each side provided with one walking leg, in described chassis, be fixed with two double end stepping motors, four main shafts of described double end stepping motor are fixedly linked with four walking legs respectively, on described every walking leg, be equipped with a rotating stepper motor, the main shaft of described rotating stepper motor is fixedly connected with a belt wheel connecting panel respectively, on described every belt wheel connecting panel, all there is a rolling stepping motor, the outer cover of described rolling stepping motor is connected to a driving pulley, described driving pulley is provided with rotating shaft, described rotating shaft is fixedly connected with the main shaft of rolling stepping motor, the outer race of described rotating stepper motor is connected to a driven pulley, between described driven pulley and driving pulley, be provided with Timing Belt.
Further, robot running gear of the present invention, is provided with a belt wheel swelling device between described driving pulley and belt wheel connecting panel.
Further, robot running gear of the present invention, described belt wheel swelling device comprises the chute being arranged on belt wheel connecting panel, be positioned over rotating shaft in chute and the screw rod along chute sway in order to drive shaft, described belt wheel connecting panel is provided with retaining nut, the end of described screw rod is provided with setting nut, and described screw rod is inserted in retaining nut, and described screw rod and retaining nut match.
Further, robot running gear of the present invention, on the main shaft of described double end stepping motor, be all connected with a First Transition axle, one end of described First Transition axle is connected with the main shaft of double end stepping motor by coupler, and other one end of described First Transition axle is fixedly connected with walking leg.
Further, robot running gear of the present invention, on described walking leg, be fixed with rotating machine sleeve, in described rotating machine sleeve, be fixed with rotating stepper motor, the main shaft of described rotating stepper motor is connected with second transition axis by coupler, the top of described the second transition axis is fixed with transition disc, described transition disc is fixed with the rotating driveshaft that is socketed in rotating machine sleeve outside of a hollow, described rotating driveshaft is fixedly connected with belt wheel connecting panel by reaction plate, described driven pulley is socketed in the outside of rotating driveshaft, between described driven pulley and rotating driveshaft, be provided with bearing.
Further, robot running gear of the present invention, on described belt wheel connecting panel, be fixed with a rolling motor sleeve, in described rolling motor sleeve, be fixed with rolling stepping motor, the main shaft of described rolling stepping motor is connected with the 3rd transition axis by coupler, described the 3rd transition axis is fixedly connected with rotating shaft, between described rolling motor sleeve and driving pulley, is provided with bearing.
The beneficial effect that the present invention obtains is: whole mechanism comprises chassis, four walking legs, on every walking leg, be equipped with a belt wheel connecting panel, on each belt wheel connecting panel, be equipped with one group of driving pulley and driven pulley, between driving pulley and driven pulley, be provided with Timing Belt, and drive part is respectively two double end stepping motors, four rotating stepper motors and four rolling stepping motors, double end stepping motor can drive respectively four walking legs to rotate freely in 360 ° along base, and four rotating stepper motors drive respectively four belt wheel connecting panels to rotate, four rolling stepping motors drive respectively four driving pulleys to rotate, driving pulley drives driven pulley to rotate by Timing Belt again, thereby realize rolling forward or backward of driving pulley and driven pulley, and finally realize the motion of robot running gear, therefore, robot running gear of the present invention has a plurality of degree of freedom, thereby alerting ability is good, obstacle climbing ability is strong, applied widely.
Accompanying drawing explanation
Fig. 1 is front view of the present invention.
The partial enlarged drawing at A place in Fig. 2 Fig. 1.
Fig. 3 is birds-eye view of the present invention.
Fig. 4 is the partial enlarged drawing at B place in Fig. 3.
In figure: 1, chassis, 2, walking leg, 3, driven pulley, 4, Timing Belt, 5, driving pulley, 6, screw rod,
7, belt wheel connecting panel, 8, rotating shaft, 9, retaining nut, 10, setting nut, 11, double end stepping motor,
12, coupler, 13, First Transition axle, 14, rotating stepper motor, 15, rotating machine sleeve,
16, reaction plate, 17, transition disc, the 18, second transition axis, 19, bearing, the 20, the 3rd transition axis,
21, rolling stepping motor, 22, rolling motor sleeve.
The specific embodiment
As Figure 1-Figure 4, robot running gear of the present invention, comprise chassis 1, the anterior left and right sides on described chassis 1 and 1 rear portion, chassis be each side provided with one walking leg 2, in described chassis 1, be fixed with two double end stepping motors 11, four main shafts of described double end stepping motor 11 are fixedly linked with four walking legs 2 respectively, on described every walking leg 2, be equipped with a rotating stepper motor 14, the main shaft of described rotating stepper motor 14 is fixedly connected with a belt wheel connecting panel 7 respectively, on described every belt wheel connecting panel 7, all there is a rolling stepping motor 21, the outer cover of described rolling stepping motor 21 is connected to a driving pulley 5, described driving pulley 5 is provided with rotating shaft 8, described rotating shaft 8 is fixedly connected with the main shaft of rolling stepping motor 21, the outer race of described rotating stepper motor 14 is connected to a driven pulley 3, between described driven pulley 3 and driving pulley 5, be provided with Timing Belt 4, between described driving pulley 5 and belt wheel connecting panel 7, be provided with a belt wheel swelling device, described belt wheel swelling device comprises the chute being arranged on belt wheel connecting panel 7, be positioned over rotating shaft 8 in chute and the screw rod 6 along chute sway in order to drive shaft 8, described belt wheel connecting panel 7 is provided with retaining nut 9, the end of described screw rod 6 is provided with setting nut 10, described screw rod 6 is inserted in retaining nut 9, and described screw rod 6 matches with retaining nut 9, on the main shaft of described double end stepping motor 11, be all connected with a First Transition axle 13, one end of described First Transition axle 13 is connected with the main shaft of double end stepping motor 11 by coupler 12, and other one end of described First Transition axle 13 is fixedly connected with walking leg 2, on described walking leg 2, be fixed with rotating machine sleeve 15, in described rotating machine sleeve 15, be fixed with rotating stepper motor 14, the main shaft of described rotating stepper motor 14 is connected with second transition axis 18 by coupler 12, the top of described the second transition axis 18 is fixed with transition disc 17, described transition disc 17 is fixed with the rotating driveshaft 23 that is socketed in rotating machine sleeve 15 outsides of a hollow, described rotating driveshaft 23 is fixedly connected with belt wheel connecting panel 7 by reaction plate 16, described driven pulley 3 is socketed in the outside of rotating driveshaft 23, between described driven pulley 3 and rotating driveshaft 23, be provided with bearing 19, on described belt wheel connecting panel 7, be fixed with a rolling motor sleeve 22, in described rolling motor sleeve 22, be fixed with rolling stepping motor 21, the main shaft of described rolling stepping motor 21 is connected with the 3rd transition axis 20 by coupler 12, described the 3rd transition axis 20 is fixedly connected with rotating shaft 8, between described rolling motor sleeve 22 and driving pulley 5, is provided with bearing 19.
The beneficial effect that the present invention obtains is: whole mechanism comprises chassis 1, four walking legs 2, on every walking leg 2, be equipped with a belt wheel connecting panel 7, on each belt wheel connecting panel 7, be equipped with one group of driving pulley 5 and driven pulley 3, between driving pulley 5 and driven pulley 3, be provided with Timing Belt 4, and drive part is respectively two double end stepping motors 11, four rotating stepper motors 14 and four rolling stepping motors 21, double end stepping motor 11 can drive respectively four walking legs 2 to rotate freely in 360 ° along base, and four rotating stepper motors 14 drive respectively four belt wheel connecting panels 7 to rotate, four rolling stepping motors 21 drive respectively four driving pulleys 5 to rotate, driving pulley 5 drives driven pulley 3 to rotate by Timing Belt 4 again, thereby realize rolling forward or backward of driving pulley 5 and driven pulley 3, and finally realize the motion of robot running gear, therefore, robot running gear of the present invention has a plurality of degree of freedom, thereby alerting ability is good, obstacle climbing ability is strong, applied widely.
Claims (6)
1. a robot running gear, it is characterized in that: comprise chassis (1), the anterior left and right sides on described chassis (1) and rear portion, chassis (1) be each side provided with one walking leg (2), in described chassis (1), be fixed with two double end stepping motors (11), four main shafts of described double end stepping motor (11) are fixedly linked with four walking legs (2) respectively, on described every walking leg (2), be equipped with a rotating stepper motor (14), the main shaft of described rotating stepper motor (14) is fixedly connected with a belt wheel connecting panel (7) respectively, on described every belt wheel connecting panel (7), all there is a rolling stepping motor (21), the outer cover of described rolling stepping motor (21) is connected to a driving pulley (5), described driving pulley (5) is provided with rotating shaft (8), described rotating shaft (8) is fixedly connected with the main shaft of rolling stepping motor (21), the outer race of described rotating stepper motor (14) is connected to a driven pulley (3), between described driven pulley (3) and driving pulley (5), be provided with Timing Belt (4).
2. robot running gear according to claim 1, is characterized in that: between described driving pulley (5) and belt wheel connecting panel (7), be provided with a belt wheel swelling device.
3. robot running gear according to claim 2, it is characterized in that: described belt wheel swelling device comprises the chute being arranged on belt wheel connecting panel (7), be positioned over rotating shaft (8) in chute and the screw rod (6) along chute sway in order to drive shaft (8), described belt wheel connecting panel (7) is provided with retaining nut (9), the end of described screw rod (6) is provided with setting nut (10), described screw rod (6) is inserted in retaining nut (9), and described screw rod (6) matches with retaining nut (9).
4. robot running gear according to claim 3, it is characterized in that: on the main shaft of described double end stepping motor (11), be all connected with a First Transition axle (13), one end of described First Transition axle (13) is connected with the main shaft of double end stepping motor (11) by coupler (12), and other one end of described First Transition axle (13) is fixedly connected with walking leg (2).
5. robot running gear according to claim 4, it is characterized in that: on described walking leg (2), be fixed with rotating machine sleeve (15), in described rotating machine sleeve (15), be fixed with rotating stepper motor (14), the main shaft of described rotating stepper motor (14) is connected with second transition axis (18) by coupler (12), the top of described the second transition axis (18) is fixed with transition disc (17), described transition disc (17) is fixed with the rotating driveshaft (23) that is socketed in rotating machine sleeve (15) outside of a hollow, described rotating driveshaft (23) is fixedly connected with belt wheel connecting panel (7) by reaction plate (16), described driven pulley (3) is socketed in the outside of rotating driveshaft (23), between described driven pulley (3) and rotating driveshaft (23), be provided with bearing (19).
6. robot running gear according to claim 4, it is characterized in that: on described belt wheel connecting panel (7), be fixed with a rolling motor sleeve (22), in described rolling motor sleeve (22), be fixed with rolling stepping motor (21), the main shaft of described rolling stepping motor (21) is connected with the 3rd transition axis (20) by coupler (12), described the 3rd transition axis (20) is fixedly connected with rotating shaft (8), between described rolling motor sleeve (22) and driving pulley (5), is 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 true CN104139810A (en) | 2014-11-12 |
| CN104139810B CN104139810B (en) | 2017-09-29 |
Family
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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 |
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| CN (1) | CN104139810B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109699555A (en) * | 2016-06-23 | 2019-05-03 | 郑州莱兹电子科技有限公司 | A kind of fishery cultivating automatic charging machine people's running gear |
Citations (5)
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| US5515934A (en) * | 1994-10-17 | 1996-05-14 | Davis; Stuart D. | Agile versatile mobile robot body |
| CN101007548A (en) * | 2007-01-29 | 2007-08-01 | 北京理工大学 | Small-sized four-peddrail mobile robot driving device |
| CN101077717A (en) * | 2007-06-22 | 2007-11-28 | 北京理工大学 | Small-sized 6-track whole topographic form mobile robot |
| US20110100733A1 (en) * | 2009-10-29 | 2011-05-05 | National Taiwan University | 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
Patent Citations (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 |
| CN101007548A (en) * | 2007-01-29 | 2007-08-01 | 北京理工大学 | Small-sized four-peddrail mobile robot driving device |
| CN101077717A (en) * | 2007-06-22 | 2007-11-28 | 北京理工大学 | Small-sized 6-track whole topographic form mobile robot |
| US20110100733A1 (en) * | 2009-10-29 | 2011-05-05 | National Taiwan University | Mobile platform |
| CN203255281U (en) * | 2013-05-11 | 2013-10-30 | 焦浩 | Robot traveling mechanism |
Non-Patent Citations (3)
| Title |
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| 张卫锋,樊炳辉: "基于UG和ADAMS的变形移动机器人的动力学仿真分析", 《机床与液压》 * |
| 张卫锋,樊炳辉: "新型变形移动机器人结构设计和分析", 《现代机械》 * |
| 樊炳辉,曾庆良,车翠莲,江浩: "基于ADAMS的移动机器人仿真", 《中国制造业信息化》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109699555A (en) * | 2016-06-23 | 2019-05-03 | 郑州莱兹电子科技有限公司 | A kind of fishery cultivating automatic charging machine people's running gear |
| CN109699555B (en) * | 2016-06-23 | 2021-08-10 | 王璐炳 | Walking device for automatic feeding robot for fishery breeding |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104139810B (en) | 2017-09-29 |
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Granted publication date: 20170929 Termination date: 20180511 |