CN107486833B - Walking board and explosion-proof robot - Google Patents
Walking board and explosion-proof robot Download PDFInfo
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- CN107486833B CN107486833B CN201710946851.9A CN201710946851A CN107486833B CN 107486833 B CN107486833 B CN 107486833B CN 201710946851 A CN201710946851 A CN 201710946851A CN 107486833 B CN107486833 B CN 107486833B
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- 230000007246 mechanism Effects 0.000 claims abstract description 103
- 230000005540 biological transmission Effects 0.000 claims description 54
- 238000004880 explosion Methods 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 2
- 230000009467 reduction Effects 0.000 description 13
- 238000000034 method Methods 0.000 description 8
- 239000002360 explosive Substances 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical group C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 230000008030 elimination Effects 0.000 description 3
- 238000003379 elimination reaction Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000013022 venting Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention provides a walking table and an explosion-proof robot, and relates to the field of robots. The walking platform comprises a frame, a walking mechanism, a leg swinging mechanism and a bearing mechanism; the bearing mechanism comprises a shaft bracket bearing and a shaft bracket sleeve bearing sleeved on the shaft bracket bearing, the traveling mechanism comprises a traveling power mechanism and traveling wheels, the traveling power mechanism drives the traveling wheels through the shaft bracket bearing, and the swing leg mechanism comprises a swing leg power mechanism, an axle, a first swing leg part and a second swing leg part and can swing to cross an obstacle; the two ends of the axle penetrate out of the frame, the walking power mechanism and the swing leg power mechanism are arranged in the frame, and the walking wheel, the first swing leg part and the second swing leg part are positioned outside the frame; the front end on the frame is provided with an electric box and a front camera, and the rear end is provided with a battery box and a rear camera. The explosion-proof robot comprises the walking platform and a mechanical arm. The invention solves the technical problem that the explosion-proof robot spans the obstacle.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a walking table and an explosion-proof robot.
Background
At present, the explosive removing robot is a special device for removing explosive personnel to treat or destroy the suspicious explosive substances, so that unnecessary casualties are avoided. It can be used for various complex terrains to carry out explosion elimination. The device is mainly used for replacing explosive personnel to carry and transfer explosive suspicious articles and other harmful dangerous articles; the explosive destroying device is used for destroying the bomb instead of explosive removing personnel; the method replaces the on-site investigation of on-site security personnel, and transmits on-site images in real time; a shotgun can be equipped to attack criminals; the detection equipment can be used for detecting dangerous places and dangerous objects.
The explosive-handling robot often encounters various terrains in the working process and needs to climb over various barriers. However, the existing explosion-proof robot has the defects of difficult obstacle climbing and weak adaptability to the terrain.
Based on the above, the invention provides a walking table and an explosion-proof robot to solve the technical problems.
Disclosure of Invention
The invention aims to provide a walking platform for solving the technical problem that an explosion-proof robot spans obstacles.
The invention also aims to provide an explosion-proof robot which is used for solving the technical problems.
Based on the first object, the invention provides a walking platform, which comprises a frame, a rotary mounting mechanism, a walking mechanism, a leg swinging mechanism and a bearing mechanism;
the bearing mechanism comprises a shaft bracket bearing and a shaft bracket sleeve bearing sleeved on the shaft bracket bearing, the traveling mechanism comprises a traveling power mechanism and traveling wheels, the traveling power mechanism drives the traveling wheels through the shaft bracket bearing, the leg swinging mechanism comprises a leg swinging power mechanism, a first axle, a first leg swinging component and a second leg swinging component, the output end of the leg swinging power mechanism is in transmission connection with the first axle, the first leg swinging component and the second leg swinging component respectively comprise a first transmission wheel, a leg swinging supporting leg and a second transmission wheel, the first transmission wheels and the traveling wheels synchronously rotate, the first axle is connected with the leg swinging supporting legs through the first transmission wheels, the leg swinging supporting legs are in transmission connection with the second transmission wheels, and the first transmission wheels and the second transmission wheels are in transmission connection, so that the leg swinging supporting legs drive the second transmission wheels to swing across barriers;
the two ends of the first axle penetrate out of the frame, the walking power mechanism and the swing leg power mechanism are installed in the frame, and the walking wheel, the first swing leg part and the second swing leg part are positioned outside the frame;
the front end on the frame is provided with an electric box and a front camera, and the rear end is provided with a battery box and a rear camera.
Optionally, the running gear includes first running gear and second running gear, first running gear with second running gear all includes initiative walking wheel, driven walking wheel and one running power mechanism, running power mechanism's output with initiative walking wheel with second axle transmission is connected, the second axletree with driven walking wheel transmission is connected, first running gear driven walking wheel with second running gear's initiative walking wheel transmission is connected, first running gear initiative walking wheel with second running gear's driven walking wheel transmission is connected.
Optionally, the driven travelling wheel of the first travelling mechanism is in transmission connection with the driving travelling wheel of the second travelling mechanism through a first conveying crawler, and the driving travelling wheel of the first travelling mechanism is in transmission connection with the driven travelling wheel of the second travelling mechanism through a second conveying crawler.
Optionally, the axle bracket bearing comprises a driving wheel axle bracket and a driven wheel axle bracket, the output end of the walking power mechanism is in transmission connection with the driving walking wheel through the driving wheel axle bracket, and the second axle is in transmission connection with the driven walking wheel through the driven wheel axle bracket.
Optionally, the first driving wheel is in driving connection with the second driving wheel through a third conveying crawler belt.
Optionally, the first conveying track, the second conveying track and the third conveying track are trapezoidal tracks.
Optionally, the diameter of the first driving wheel is matched with the diameter of the travelling wheel, and the diameter of the first driving wheel is larger than the diameter of the second driving wheel.
Optionally, the diameter ratio of the first driving wheel to the second driving wheel is 1.5-2.5:1.
Optionally, the swing leg support leg, the first driving wheel, the driving travelling wheel and the driven travelling wheel are all provided with a plurality of lightening holes.
Based on the second object, the invention provides an explosion-proof robot, which comprises the walking platform and a mechanical arm, wherein the mechanical arm is arranged on a rotating platform, and the rotating platform is arranged on the walking platform.
The walking table provided by the invention has the advantages that the walking power mechanism drives the walking wheels to walk through the shaft bracket bearing, the swing leg power mechanism controls the first swing leg part and the second swing leg part to carry out speed adjustment, and the first driving wheels of the first swing leg part and the second swing leg part synchronously rotate with the walking wheels of the robot to play a role in assisting walking in the walking process, and the swing leg supporting legs drive the second driving wheels to swing to cross the obstacle. The robot can keep the car body stable and increase the grounding area in the walking process of the robot, and the car body is assisted to span stairs, climb slopes and descend slopes. The mechanical arm can be installed through the rotary installation mechanism, explosion venting work can be completed on various terrains, and the mechanical arm is safe and reliable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a structure of a walking board according to an embodiment of the present invention;
FIG. 2 is a schematic view of a portion of the travel mechanism of FIG. 1;
FIG. 3 is a schematic view of the second running gear of FIG. 1;
FIG. 4 is a first schematic illustration of the swing leg mechanism of FIG. 1;
FIG. 5 is a second schematic view of the swing leg mechanism of FIG. 1;
FIG. 6 is a schematic view of the first leg swing member of FIG. 4;
FIG. 7 is a first schematic view of the bearing mechanism of FIG. 1;
FIG. 8 is a cross-sectional view of the bearing mechanism of FIG. 1;
fig. 9 is a second schematic view of the bearing mechanism of fig. 1.
Icon: 1-a frame; 2-an electrical box; 100 a-leg swing mechanism; 100 b-a travelling mechanism; 100 c-bearing mechanism; 10-a walking power mechanism; 20-a swing leg power mechanism; 151-a first drive wheel; 152-a first swing leg member; 153-swing leg; 154-a second leg swing member; 155-a second drive wheel; 156-a third conveyor track; 157-lightening holes; 161-a walking motor; 162-first travel mechanism; 163-clutch; 164-a second running gear; 165-reduction gearbox; 166-second axle; 167-active road wheels; 168-driven travelling wheels; 172-a first conveyor track; 174—a second conveyor track; 110-leg swinging motor; 120-speed reducer; 130-a reduction gearbox; 140-a first axle; 182-a drive axle bracket; 184-a driving wheel shaft bracket sleeve; 186-driven wheel axle rack; 188-driven wheel axle housing.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Walking board embodiment 1
As shown in fig. 1 to 9, in the present embodiment, there is provided a traveling platform including a frame 1, a swing leg mechanism 100a, a traveling mechanism 100b, and a bearing mechanism 100c, the bearing mechanism 100c including a pedestal bearing and a pedestal sleeve bearing (not shown) sleeved on the pedestal bearing. Referring to fig. 2 and 3, the traveling mechanism 100b includes a traveling power mechanism 10 and traveling wheels, and the traveling power mechanism 10 drives the traveling wheels through a pedestal bearing. Referring to fig. 4-6, the swing leg mechanism 100a includes a swing leg power mechanism 20, a first axle 140, a first swing leg member 152 and a second swing leg member 154, wherein an output end of the swing leg power mechanism 20 is in transmission connection with the first axle 140, the first swing leg member 152 and the second swing leg member 154 each include a first driving wheel 151, a swing leg support 153 and a second driving wheel 155, the first axle 140 is connected with the swing leg support 153 through the first driving wheel 151 to drive the first driving wheel 151 to rotate, one end of the swing leg support 153 away from the first driving wheel 151 is connected with the second driving wheel 155, and the first driving wheel 151 and the second driving wheel 155 are in transmission connection, so that the swing leg support 153 drives the second driving wheel 155 to swing across an obstacle;
the two ends of the first axle 140 penetrate out of the frame 1, the walking power mechanism 10 and the swing leg power mechanism 20 are installed in the frame 1, and the walking wheel, the first swing leg member 152 and the second swing leg member 154 are positioned outside the frame 1;
the front end on the frame 1 is provided with an electric box 2 and a front camera, and the rear end is provided with a battery box and a rear camera. A control circuit for installing a motor and the like are arranged in the electric appliance box 2, and a battery box is used for installing a battery for providing power for electric appliances such as the motor and the like.
According to the walking platform provided by the invention, the walking power mechanism drives the walking wheels to walk through the bearing of the shaft bracket bearing 10, the swing leg power mechanism 20 controls the first swing leg part 152 and the second swing leg part 154 to carry out speed adjustment, and in the walking process, the first transmission wheels 152 of the first swing leg part 152 and the second swing leg part 154 synchronously rotate with the walking wheels of the robot to play a role in assisting in walking, and the swing leg support 153 drives the second transmission wheels 155 to swing to cross the obstacle. The robot can keep the car body stable and increase the grounding area in the walking process of the robot, and the car body is assisted to span stairs, climb slopes and descend slopes. The mechanical arm can be installed through the rotary installation mechanism, explosion venting work can be completed on various terrains, and the mechanical arm is safe and reliable. The front camera 4 and the rear camera can complete the survey of the road environment.
It should be noted that, the swing leg mechanism 100a provides power for the first swing leg member 152 and the second swing leg member 154 through the swing leg motor 110, and controls the first swing leg member 152 and the second swing leg member 154 to perform speed adjustment in cooperation with the reduction gear box 130, and the first driving wheel 151 of the first swing leg member 152 and the second swing leg member 154 plays a role in assisting in walking in the travelling process, so that the whole robot 100 body travels more stably, the first axle 140 drives the swing leg support 153 to swing and drives the second driving wheel 155 to rotate, so that the swing leg support 153 drives the second driving wheel 155 to swing up and down to span an obstacle.
Specifically, referring to fig. 2 and 3, the traveling power mechanism 10 includes a traveling motor 161, a clutch 163, and a reduction gear box 165, wherein the traveling motor 161 is in transmission connection with the reduction gear box 165 and controls the clutch state thereof through the clutch 163, the output end of the traveling motor 161 is connected with the reduction gear box 165, and the output end of the reduction gear box 165 is in transmission connection with the active traveling wheel 167 and the second axle 166. The traveling motor 161, the clutch 163 and the reduction gear box 165 are identical to the structure and operation principle of the existing power supply motor and reduction gear, and will not be described in detail herein.
Further, the travelling mechanism 100b includes a first travelling mechanism 162 and a second travelling mechanism 164, the first travelling mechanism 162 and the second travelling mechanism 164 each include a driving travelling wheel 167, a driven travelling wheel 168 and a travelling power mechanism 10, an output end of the travelling power mechanism 10 is in transmission connection with the driving travelling wheel 167 and a second axle 166, the second axle 166 is in transmission connection with the driven travelling wheel 168, the driven travelling wheel 168 of the first travelling mechanism 162 is in transmission connection with the driving travelling wheel 167 of the second travelling mechanism 164, and the driving travelling wheel 167 of the first travelling mechanism 162 is in transmission connection with the driven travelling wheel 168 of the second travelling mechanism 164. Compact structure, stable running in the walking process and strong adaptability to the terrain.
Further, referring to fig. 1-3, the driven road wheels 168 of the first running gear 162 are in driving connection with the driving road wheels 167 of the second running gear 164 via a first conveyor track 172, and the driving road wheels 167 of the first running gear 162 are in driving connection with the driven road wheels 168 of the second running gear 164 via a second conveyor track 174.
Specifically, the first conveyor belt 172 and the second conveyor belt 174 are both trapezoidal-shaped tracks. The adoption of the transmission form of the caterpillar band can enable the transmission process of the driving travelling wheel 167 and the driven travelling wheel 168 to be more stable, and the trapezoidal caterpillar band is used for various terrains, such as jungle, grasslands, deserts, soft muddy road surfaces and hillsides with small gradient, and the auxiliary effect is enhanced according to the characteristics of the trapezoidal caterpillar band when the caterpillar band passes over the obstacle, so that the contact area is large and the friction force is large.
Specifically, referring to fig. 4-6 again, the swing leg power mechanism 20 includes a swing leg motor 110, a reducer 120 matched with the swing leg motor 110, and a reduction gear box 130, wherein an output end of the swing leg motor 110 is connected with the reduction gear box 130, and an output gear of the reduction gear box 130 is in transmission connection with a first axle 140. The leg swing motor 110, the decelerator 120 and the deceleration gear box 130 have the same structure and operation principle as those of the conventional power supply motor and deceleration device, and will not be described in detail herein.
Specifically, the output gear of the reduction gear box 130 is spline-connected to the first axle 140, and the first axle 140 is spline-connected to the swing leg 153. The spline connection mode can enable the whole leg swinging mechanism 100a to have stable transmission torque, and the precision is high and the guiding performance is good. The reduction gear box 130 is a three-stage gear, and the three-stage gears are coaxially assembled, so that the structure is more compact.
Further, the first driving wheel 151 is drivingly connected with the second driving wheel 155 through a third conveyor track 156. By adopting the transmission form of the caterpillar, the transmission process of the first transmission wheel 151 and the second transmission wheel 155 can be more stable. In particular, the third conveyor belt 156 is a trapezoidal-shaped belt, for advantages, see above.
Further, the diameter of the first driving wheel 151 is adapted to the diameter of the traveling wheel of the robot 100, and the diameter of the first driving wheel 151 is larger than the diameter of the second driving wheel 155. The road wheels are the driving road wheels 167 or the driven road wheels 168 in the above description, and are adapted to have substantially equal diameters.
Specifically, the diameter ratio of the first driving wheel 151 to the second driving wheel 155 is 1.5-2.5:1, preferably 2:1. In this ratio range, the structure of the whole robot 100 can be made more reasonable, and the power consumption can be reduced to some extent.
Specifically, the first driving wheel 151 rotates synchronously with the travelling wheels of the robot 100, so that the first swing leg member 152 and the second swing leg member 154 can play a role in assisting walking while assisting in crossing obstacles, adapting to various terrains of an uphill and a downhill, and improving the stability of the operation of the robot 100.
Further, referring to fig. 3 and 6, the swing leg 153, the first driving wheel 151, the driving road wheel 167 and the driven road wheel 168 are provided with a plurality of weight-reducing holes 157. The weight reducing holes 157 can play an obvious role in reducing weight on the premise of not affecting the strength, and have important roles in saving energy consumption and improving working efficiency.
Further, referring to fig. 7-9, the axle bracket bearing includes a driving axle bracket 182 and a driven axle bracket 186, the output end of the running power mechanism 10 is in driving connection with the driving running wheel 167 via the driving axle bracket 182, and the second axle 166 is in driving connection with the driven running wheel 168 via the driven axle bracket 186.
The structure of the bearing mechanism 100c is generally described, as shown in fig. 7-9, using two types of bearings, a pedestal bearing and a pedestal sleeve bearing, which divide the overall structure into three layers: the second axle 166 positioned at the innermost layer of the structure independently rotates and is responsible for driving the supporting legs to act; the second layer is a shaft bracket layer, and is divided into a driving wheel shaft bracket 182 and a driven wheel shaft bracket 186, and the driving wheel shaft bracket is used for driving wheels to move, and the actions are independent of the second axle 166 and have no interference with each other; the outermost layer is a shaft bracket sleeve, and is divided into a driving wheel shaft bracket sleeve 184 and a driven wheel shaft bracket sleeve 188, so as to play a role in fixing.
Explosion-proof robot embodiment
This embodiment provides an explosion proof robot, the walking platform of explosion proof robot as described above, further includes a mechanical arm, the mechanical arm is installed on the revolving stage, the revolving stage is installed on the walking platform.
The mechanical arm is used for carrying out explosion elimination, and the walking table is used for driving the mechanical arm to walk so as to complete the explosion elimination of the multi-terrain crossing obstacle.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. The walking platform is characterized by comprising a frame, a walking mechanism, a leg swinging mechanism and a bearing mechanism;
the bearing mechanism comprises a shaft bracket bearing and a shaft bracket sleeve bearing sleeved on the shaft bracket bearing, the traveling mechanism comprises a traveling power mechanism and traveling wheels, the traveling power mechanism drives the traveling wheels through the shaft bracket bearing, the leg swinging mechanism comprises a leg swinging power mechanism, a first axle, a first leg swinging component and a second leg swinging component, the output end of the leg swinging power mechanism is in transmission connection with the first axle, the first leg swinging component and the second leg swinging component respectively comprise a first transmission wheel, a leg swinging supporting leg and a second transmission wheel, the first transmission wheels and the traveling wheels synchronously rotate, the first axle is connected with the leg swinging supporting legs through the first transmission wheels, the leg swinging supporting legs are in transmission connection with the second transmission wheels, and the first transmission wheels and the second transmission wheels are in transmission connection, so that the leg swinging supporting legs drive the second transmission wheels to swing across barriers;
the two ends of the first axle penetrate out of the frame, the walking power mechanism and the swing leg power mechanism are installed in the frame, and the walking wheel, the first swing leg part and the second swing leg part are positioned outside the frame;
the front end of the frame is provided with an electric box and a front camera, and the rear end of the frame is provided with a battery box and a rear camera;
the travelling mechanism comprises a first travelling mechanism and a second travelling mechanism, and the first travelling mechanism and the second travelling mechanism comprise a driving travelling wheel, a driven travelling wheel and one travelling power mechanism;
the bearing mechanism further includes a second axle;
the axle bracket bearing comprises a driving wheel axle bracket and a driven wheel axle bracket, the output end of the walking power mechanism is in transmission connection with the driving walking wheel through the driving wheel axle bracket, and the second vehicle axle is in transmission connection with the driven walking wheel through the driven wheel axle bracket;
the shaft bracket sleeve bearing comprises a driving wheel shaft bracket sleeve and a driven wheel shaft bracket sleeve;
the shaft bracket bearing, the shaft bracket sleeve bearing and the second vehicle shaft form a three-layer integral structure together;
the second axle is positioned at the innermost layer structure of the integral structure, and the second axle independently rotates and drives the leg swinging support leg to move;
the second layer structure of the integral structure is a shaft bracket layer and comprises a driving wheel shaft bracket and a driven wheel shaft bracket, wherein the driving wheel shaft bracket and the driven wheel shaft bracket are used for driving the travelling wheels to move, and the action of the shaft bracket layer is independent of the second vehicle shaft;
the outermost layer structure positioned in the integral structure is a shaft bracket sleeve layer, and the shaft bracket sleeve layer comprises the driving wheel shaft bracket sleeve and the driven wheel shaft bracket sleeve;
the output end of the traveling power mechanism is in transmission connection with the driving traveling wheel and the second vehicle shaft, the second vehicle shaft is in transmission connection with the driven traveling wheel, the driven traveling wheel of the first traveling mechanism is in transmission connection with the driving traveling wheel of the second traveling mechanism, and the driving traveling wheel of the first traveling mechanism is in transmission connection with the driven traveling wheel of the second traveling mechanism.
2. The walker of claim 1 wherein said driven road wheels of said first walker are drivingly connected to said driven road wheels of said second walker by a first conveyor track and said driven road wheels of said first walker are drivingly connected to said driven road wheels of said second walker by a second conveyor track.
3. The walker of claim 1 wherein the first drive wheel is drivingly connected to the second drive wheel by a third conveyor track.
4. A walking board according to claim 3, wherein the first, second and third transfer tracks are trapezoidal tracks.
5. The walker of claim 1 wherein the diameter of said first drive wheel is compatible with the diameter of said walker and wherein the diameter of said first drive wheel is greater than the diameter of said second drive wheel.
6. The walker of claim 5 wherein the ratio of the diameters of the first drive wheel to the second drive wheel is 1.5-2.5:1.
7. The walker of claim 1 wherein said swing leg, said first drive wheel, said driving road wheel and said driven road wheel are each provided with a plurality of weight-reducing apertures.
8. An explosion proof robot comprising the walking table according to any one of claims 1 to 7, further comprising a robot arm mounted on a rotary table mounted on the walking table.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710946851.9A CN107486833B (en) | 2017-10-12 | 2017-10-12 | Walking board and explosion-proof robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710946851.9A CN107486833B (en) | 2017-10-12 | 2017-10-12 | Walking board and explosion-proof robot |
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| Publication Number | Publication Date |
|---|---|
| CN107486833A CN107486833A (en) | 2017-12-19 |
| CN107486833B true CN107486833B (en) | 2023-10-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710946851.9A Active CN107486833B (en) | 2017-10-12 | 2017-10-12 | Walking board and explosion-proof robot |
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| CN108145689A (en) * | 2018-02-08 | 2018-06-12 | 盐城工业职业技术学院 | A kind of robot walking device and multi-function robot |
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| CN110435785A (en) * | 2019-07-31 | 2019-11-12 | 山东科技大学 | A kind of gear type running gear |
| CN110842948A (en) * | 2019-12-14 | 2020-02-28 | 梁静 | Explosive-handling robot |
| CN111775134A (en) * | 2020-07-30 | 2020-10-16 | 嘉兴学院 | Inspection robot with obstacle crossing climbing mechanism and use method thereof |
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