CN109203842A - Three planetary gear mechanisms of one kind, robot chassis and robot - Google Patents
Three planetary gear mechanisms of one kind, robot chassis and robot Download PDFInfo
- Publication number
- CN109203842A CN109203842A CN201710513305.6A CN201710513305A CN109203842A CN 109203842 A CN109203842 A CN 109203842A CN 201710513305 A CN201710513305 A CN 201710513305A CN 109203842 A CN109203842 A CN 109203842A
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- Prior art keywords
- gear
- driving
- robot
- planetary gear
- bracket
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
- B60K17/046—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of three planetary gear mechanisms.Three planetary gear mechanism includes: driving gear, transition gear, the first transmission shaft, second driving shaft, central gear and bracket；Match with central gear and merge empty set on the bracket in one end of first transmission shaft；Transition gear setting between the central gear and driving gear, and respectively with the central gear and drive gear external toothing；Described second driving shaft one end is fixedly connected with the bracket；First transmission shaft and the mutual empty set of the second driving shaft；The transition gear and the sliding tooth wheel empty set are on the bracket；The driving gear, transition gear are respectively three, and the driving gear, and transition gear is distributed around the axis of the central gear in isogonism.The present invention also provides a kind of robot chassis and robots.
Description
Technical field
The present invention relates to machinery fields, and in particular to three planetary gear mechanisms of one kind, robot chassis and robot.
Background technique
Mobile robot kinetic characteristic in non-structure environment is always the hot issue of robot technology research.And stair
It is that mobile robot is most common at work, is most difficult to one of the obstacle crossed over, so to be that mobile robot adapts to non-for speeling stairway
One of function essential to structured environment.The limited dimension that current existing stair climbing robot surmounts obstacles, and it is motor-driven
Property, stability and reliability cannot meet more complicated topographic structure requirement well.
Summary of the invention
The present invention is directed to overcome defect of the existing technology, the invention adopts the following technical scheme:
The present invention provides a kind of three planetary gear mechanisms, three planetary gear mechanism includes: driving gear, transition gear,
First transmission shaft, second driving shaft, central gear and bracket；Match with central gear and merge in one end of first transmission shaft
Empty set is on the bracket；Transition gear setting between the central gear and driving gear, and respectively with it is described in
Heart gear and driving gear external toothing；Described second driving shaft one end is fixedly connected with the bracket；First transmission shaft with
The mutual empty set of second driving shaft；The transition gear and the sliding tooth wheel empty set are on the bracket；The sliding tooth
Wheel, transition gear is respectively three, and the driving gear and the transition gear are in isogonism around the axis of the central gear
Distribution.
In some embodiments, the bracket is wheel stand.
In some embodiments, second driving shaft described in first transmission shaft passes through the mutual empty set of bearing.
In some embodiments, the second driving shaft is fixedly connected by bolt with the bracket.
In some embodiments, first transmission shaft passes through bearing empty set on the bracket.
In some embodiments, the transition gear, driving gear pass through bearing empty set on wheel stand respectively.
The present invention also provides a kind of robot chassis.The robot chassis includes: chassis body, and wheel, first drives
Dynamic motor, belt, belt wheel, the second driving motor detect judgment module and foregoing three planetary gear mechanism；Three row
Star-wheel mechanism is arranged in the chassis body, and the driving gear of three planetary gear mechanism is fixed with the wheel connect respectively
It connects；Match with central gear and merge empty set on the bracket in one end of first transmission shaft of three planetary gear mechanism；Described three
The other end of first transmission shaft of planetary gear mechanism and the second driving motor cooperate；Second transmission of three planetary gear mechanism
Axis one end is fixedly connected with the bracket；The other end and the belt wheel, which are realized, to be cooperated, and the belt wheel passes through belt and the first driving
Motor connection；The detection judgment module is arranged in the chassis body, and for judging whether robot is in stair climbing
State, if should turn.
In some embodiments, the detection judgment module includes ultrasonic wave module and gyroscope；The gyroscope is used for
Judge whether robot is in stair climbing state；The ultrasonic wave module is for judging whether robot should turn.
In some embodiments, first driving motor and the second driving motor are all DC brushless motor.
The present invention also provides a kind of robots.The robot includes foregoing robot chassis.
Technical effect of the invention: three planetary gear mechanisms stable structure provided by the invention, high reliablity；Robot chassis
The design of two motors is set using each star-wheel, so that the ability of bearing a heavy burden on robot chassis increases, movement is flexible, belt pulley
Design robot chassis is continuously moved, it is not easy to cause bobbin movement discontinuous because choosing needle；The present invention provides
Three planetary gear mechanisms, robot chassis and robot can be very good to realize that the difficulties of stair, hoisting machine are crossed by robot
Locomitivity of the people under complicated landform.
Detailed description of the invention
Fig. 1 is the three planetary gear mechanism structural schematic diagrams according to one embodiment of the invention；
Fig. 2 is the robot chassis structure schematic diagram according to one embodiment of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and specific implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this hair
It is bright, but not to limit the present invention.
Three planetary gear mechanism provided by the invention, robot chassis and robot are carried out below with reference to specific embodiment
Explanation.
Refering to what is shown in Fig. 1, being a kind of three planetary gear mechanism 15 provided by the invention.
Three planetary gear mechanism 15 includes: to drive gear 2, transition gear 3, the first transmission shaft 4, second driving shaft 5, in
Heart gear 6 and bracket 7；Match with central gear 6 and merge empty set on the bracket 7 in one end of first transmission shaft 4；Institute
State transition gear 3 setting the central gear 6 and driving gear 2 between, and respectively with the central gear 6 and drive gear
2 external toothings；Described 5 one end of second driving shaft is fixedly connected with the bracket 7；First transmission shaft 4 and second transmission
The mutual empty set of axis 5；The transition gear 3 is with 2 empty set of driving gear on the bracket 7；The driving gear 2, transition
Gear 3 is respectively three, and the driving gear 2 and the transition gear 3 divide around the axis of the central gear 6 in isogonism
Cloth.
In some embodiments, the bracket 7 is wheel stand.
In some embodiments, second driving shaft 5 described in first transmission shaft 4 passes through the mutual empty set of bearing.
In some embodiments, the second driving shaft 5 is fixedly connected by bolt with the bracket 7.
In some embodiments, first transmission shaft 4 is by bearing empty set on the bracket 7.
In some embodiments, the transition gear 3, driving gear 2 is respectively by bearing empty set on wheel stand 7.
Refering to what is shown in Fig. 2, being a kind of robot chassis provided by the invention.The robot chassis includes: chassis body
11, wheel 1, the first driving motor 12, belt 13, belt wheel 14, the second driving motor 16, detect judgment module and as previously described
Three planetary gear mechanisms 15；Three planetary gear mechanism 15 is arranged in the chassis body 11, and three planetary gear mechanism
15 driving gear 2 is fixedly connected with the wheel 1 respectively；One end of first transmission shaft 4 of three planetary gear mechanism 15 with
Central gear 6 is with merging empty set on the bracket 7；The other end of first transmission shaft 4 of three planetary gear mechanism 15 with
The cooperation of second driving motor 16；5 one end of second driving shaft of three planetary gear mechanism 15 is fixedly connected with the bracket 7；Separately
One end and the belt wheel 14, which are realized, to be cooperated, and the belt wheel 14 is connect by belt 13 with the first driving motor 12；The detection is sentenced
Disconnected module is arranged in the chassis body 11, and for judging whether robot is in stair climbing state, if should turn.
In some embodiments, the detection judgment module includes ultrasonic wave module and gyroscope 18；Robot chassis is logical
Gyroscope 18 and ultrasonic wave module crossed as auxiliary judgment module realize the autonomous climbing on robot chassis.Robot chassis row
When sailing, the gyroscope 18 is for judging whether robot is in stair climbing state；The ultrasonic wave module is for judging machine
Whether people should turn, to realize that robot chassis is independently gone upstairs.
Specifically, when robot chassis is in horizontal plane (not going upstairs), gyroscope 18 judges current robot chassis
Angle information (being assumed to be 0 °) and keep in for compare below, can be generated when robot chassis starts to go upstairs bright
Aobvious angular deviation (being assumed to be 45 °), can be denoted as robot chassis at this time and start to go upstairs.With should be on robot chassis
When to plane location between stair, robot chassis angle can become horizontal plane angle (0 °) again again, bright with (45 °) before generations
Aobvious differential seat angle (45 ° of difference), being denoted as robot chassis arrived plane location between two sections of stair.
In one embodiment of the present of invention, respectively dispose four high-precision ultrasonic wave modules before robot (2),
Left and right end.When robot chassis is climbed to stair, system starts ultrasound examination, arrives (stair) plane on robot chassis
Afterwards, the speed of travel is reduced, and judge robot chassis and left and right abutment wall wall and front wall by 3 ultrasonic waves simultaneously
Distance realizes that robot chassis is independently turned；During the turn, whether the data for judging that the ultrasound of front two arrives are big
Cause it is identical, if data difference very little, then it is assumed that robot chassis does not need to turn again, and otherwise robot chassis continues to turn,
Until data difference is sufficiently small.Robot chassis has arrived at the bottom of stair after completing two turnings, closes ultrasound at this time
Speeling stairway is continued on wave detection, robot chassis.
In some embodiments, first driving motor 12 and the second driving motor 16 are all DC brushless motor.
In some embodiments, the chassis body is integrally in rectangle, and three planetary gear mechanism 15 is 4, and respectively
It is distributed in 4 ends of the chassis body 11.
The present invention also provides a kind of robots.The robot includes foregoing robot chassis.
Due to vehicle frame, transition gear, driving gear (including wheel) is all empty set on corresponding axis, therefore drive train
Comprising three completely identical in structure differential gear trains, these three differential gear train common center wheels and vehicle frame, and it is circumferentially symmetrical
Distribution, adds transition gear, it is ensured that while two wheels to land have rotation direction identical with central gear, towards same side
Advance to rolling.Robot mainly realizes the autonomous of robot as auxiliary judgment module by gyroscope and ultrasonic wave module
Climbing.
Three planetary gear mechanisms stable structure provided by the invention, high reliablity；Robot chassis is arranged using each star-wheel
Two motors, so that the ability of bearing a heavy burden on robot chassis increases, movement is flexible, the design of belt pulley is so that robot chassis can
Continuously to move, it is not easy to cause bobbin movement discontinuous because choosing needle；Three planetary gear mechanism provided by the invention, robot bottom
Disk and robot can be very good to realize the difficulty that stair are crossed by robot, movement energy of the hoisting machine people under complicated landform
Power.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
The above described specific embodiments of the present invention are not intended to limit the scope of the present invention..Any basis
Any other various changes and modifications made by technical concept of the invention should be included in the guarantor of the claims in the present invention
It protects in range.
Claims (10)
1. a kind of three planetary gear mechanisms characterized by comprising driving gear, transition gear,
First transmission shaft, second driving shaft, central gear and bracket；
Match with the central gear and merge empty set on the bracket in one end of first transmission shaft；
Transition gear setting between the central gear and driving gear, and respectively with the central gear and sliding tooth
Take turns external toothing；
Described second driving shaft one end is fixedly connected with the bracket；
First transmission shaft and the mutual empty set of the second driving shaft；
The transition gear and the sliding tooth wheel empty set are on the bracket；
The driving gear, transition gear are respectively three, and the driving gear and the transition gear are around the centre tooth
The axis of wheel is distributed in isogonism.
2. three planetary gear mechanism according to claim 1, which is characterized in that the bracket is wheel stand.
3. three planetary gear mechanism according to claim 1, which is characterized in that second driving shaft described in first transmission shaft
Pass through the mutual empty set of bearing.
4. three planetary gear mechanism according to claim 1, which is characterized in that the second driving shaft by bolt with it is described
Bracket is fixedly connected.
5. three planetary gear mechanism according to claim 1, which is characterized in that first transmission shaft is existed by bearing empty set
On the bracket.
6. three planetary gear mechanism according to claim 1, which is characterized in that the transition gear, driving gear lead to respectively
Bearing empty set is crossed on wheel stand.
7. a kind of robot chassis, which is characterized in that including chassis body, wheel, the first driving motor, belt, belt wheel, second
Driving motor, detection judgment module and three planetary gear mechanism as claimed in any one of claims 1 to 6；
Three planetary gear mechanism is arranged in the chassis body, and the driving gear of three planetary gear mechanism respectively with institute
Wheel is stated to be fixedly connected；
One end of first transmission shaft of three planetary gear mechanism and central gear are with empty set is merged on the bracket, and in addition one
End cooperates with the second driving motor；
Second driving shaft one end of three planetary gear mechanism is fixedly connected with the bracket, and the other end is matched with belt wheel realization
It closes, the belt wheel is connect by belt with the first driving motor；
The detection judgment module is arranged in the chassis body, and for judging whether robot is in stair climbing state,
Whether should turn.
8. robot chassis according to claim 7, which is characterized in that the detection judgment module includes ultrasonic wave module
And gyroscope；
The gyroscope is for judging whether robot is in stair climbing state；
The ultrasonic wave module is for judging whether robot should turn；
Robot chassis controls the fortune of three planetary gear mechanism according to the judgement of the gyroscope and the ultrasonic wave module
It is dynamic.
9. robot chassis according to claim 8, which is characterized in that first driving motor and the second driving motor
It is all DC brushless motor.
10. a kind of robot, which is characterized in that including the described in any item robot chassis such as claim 7-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710513305.6A CN109203842A (en) | 2017-06-29 | 2017-06-29 | Three planetary gear mechanisms of one kind, robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710513305.6A CN109203842A (en) | 2017-06-29 | 2017-06-29 | Three planetary gear mechanisms of one kind, robot chassis and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109203842A true CN109203842A (en) | 2019-01-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710513305.6A Pending CN109203842A (en) | 2017-06-29 | 2017-06-29 | Three planetary gear mechanisms of one kind, robot chassis and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109203842A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110386200A (en) * | 2019-06-28 | 2019-10-29 | 广西电网有限责任公司电力科学研究院 | A kind of insulator chain climbing mechanism |
| CN111055941A (en) * | 2020-01-02 | 2020-04-24 | 徐工集团工程机械股份有限公司 | Running gear, robot and vehicle |
| WO2021072829A1 (en) * | 2019-10-17 | 2021-04-22 | 唐山维数科技有限公司 | Execution device for stair climbing robot |
| WO2021072830A1 (en) * | 2019-10-17 | 2021-04-22 | 唐山维数科技有限公司 | Robot capable of climbing stairs |
| CN112874648A (en) * | 2020-12-31 | 2021-06-01 | 洛阳尚奇机器人科技有限公司 | Wall crack detection robot based on ducted fan adsorption type |
| CN113184071A (en) * | 2021-04-29 | 2021-07-30 | 徐工集团工程机械股份有限公司 | Running gear, robot and vehicle |
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| CN205632713U (en) * | 2016-04-02 | 2016-10-12 | 上海大学 | Active planetary gear train hinders robot chassis more |
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| JP2901949B1 (en) * | 1998-02-02 | 1999-06-07 | 中特建機株式会社 | Planetary traveling device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110386200A (en) * | 2019-06-28 | 2019-10-29 | 广西电网有限责任公司电力科学研究院 | A kind of insulator chain climbing mechanism |
| WO2021072829A1 (en) * | 2019-10-17 | 2021-04-22 | 唐山维数科技有限公司 | Execution device for stair climbing robot |
| WO2021072830A1 (en) * | 2019-10-17 | 2021-04-22 | 唐山维数科技有限公司 | Robot capable of climbing stairs |
| CN111055941A (en) * | 2020-01-02 | 2020-04-24 | 徐工集团工程机械股份有限公司 | Running gear, robot and vehicle |
| CN112874648A (en) * | 2020-12-31 | 2021-06-01 | 洛阳尚奇机器人科技有限公司 | Wall crack detection robot based on ducted fan adsorption type |
| CN113184071A (en) * | 2021-04-29 | 2021-07-30 | 徐工集团工程机械股份有限公司 | Running gear, robot and vehicle |
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