CN203237028U - Robot walking mechanism and robot using same - Google Patents
Robot walking mechanism and robot using same Download PDFInfo
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- CN203237028U CN203237028U CN 201320178052 CN201320178052U CN203237028U CN 203237028 U CN203237028 U CN 203237028U CN 201320178052 CN201320178052 CN 201320178052 CN 201320178052 U CN201320178052 U CN 201320178052U CN 203237028 U CN203237028 U CN 203237028U
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- timing belt
- belt pulleys
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Abstract
The utility model relates to a robot walking mechanism and a robot using the same. The robot waking mechanism comprises a drive motor, roller wheels and axles, wherein the roller wheels comprise front and back wheels. The walking mechanism also comprises a timing belt and timing belt pulleys, wherein the timing belt is arranged on the timing belt pulleys, wherein the front and back wheels are respectively connected with the timing belt pulleys, and the timing belt pulleys comprise front belt pulleys and back belt pulleys; and the front belt pulleys or back belt pulleys are coaxially connected with a motor assembly. The robot walking mechanism is more flexible to move and steer, and meanwhile, the wheel speed is reliably fed back, and the stability of course is ensured, and the accuracy of a robot positioning system is improved; and the motor assembly is coaxially connected with the timing belt pulleys, so that the structure is simplified, and the manufacturing cost is reduced.
Description
Technical field
The utility model relates to a kind of robot, particularly a kind of traveling gear of grass-removing robot.
Background technology
Mobile grass-removing robot is a kind of a kind of robot that can independently mow in the lawn motion, it generally includes position fixing system and traveling gear, position fixing system makes robot can know in real time own residing position, the robot self poisoning depends on the parameters such as the wheel speed feedback of machine own and course, then calculate by program and obtain self coordinate position, so the failure-free wheel speed is fed back and course stability can affect the accuracy that robot is judged self-position; Traveling gear can better move robot on the meadow, general wheel type traveling mechanism comprises driving wheel and follower, and driving wheel and drive motor connect, by being controlled by drive motor, follower does not directly connect with motor, and robot detects that wheel speed is fed back and driving wheel is generally all detected in the course.Traveling gear of the prior art generally has following several: Universal wheel structure, and robot the place ahead arranges cardan wheel as follower; Common four-wheel structure, robot is provided with four rolling, two drive wheels and two followers; Pedrail mechanism, the robot both sides arrange the track propulsion robot and move.In above-mentioned several mechanism, Universal wheel structure is subject to external force (for example being pressed onto rubble, pit in the meadow) owing to follower, and makes the cardan wheel off the course, and robot does not detect, and therefore can not feed back the stability in wheel speed or assurance course by failure-free.When common four-wheel structure and pedrail mechanism turn to and frictional ground force too large, cause turning to dumb, and crawler belt is easy to twine grass and rolls the meadow.
The utility model content
The utility model is in order to solve the defective of above-mentioned prior art, a kind of robot running gear is provided, robot is moved more flexible, make the signal of traveling gear feedback more accurate, described robot running gear, comprise drive motor, roller and wheel shaft, described roller is respectively front-wheel and trailing wheel, described traveling gear also comprises Timing Belt and synchronous pulley, Timing Belt is arranged on the synchronous pulley, described front-wheel is connected with synchronous pulley with trailing wheel and is connected, and described synchronous pulley comprises front belt wheel and rear belt wheel, and said front belt wheel or rear belt wheel link to each other with electric machine assembly is coaxial.
The below is attached technical scheme of the present utility model.
Described electric machine assembly comprises drive motor, and described front belt wheel or rear belt wheel and drive motor connect together by keyway.
Described drive motor, synchronous pulley and wheel shaft are on same axis.
Described robot also comprises body and position fixing system, and described Timing Belt is arranged on internal body.
Described robot also has a plurality of fixed mount assemblies.
Described fixed mount assembly comprises support and fixed mount.
Described Timing Belt and electric machine assembly place axis and body axis of symmetry approximate vertical.
The artificial a kind of grass-removing robot of described machine.
The beneficial effects of the utility model are: robot running gear motion and turn to more flexibly, can make the reliable stability that must feed back wheel speed and guarantee the course of traveling gear simultaneously, and improve robot positioning system's accuracy; Electric machine assembly is connected with synchronous pulley is coaxial, simplifies the structure, and has reduced manufacturing cost.
Description of drawings
Fig. 1 is the schematic diagram of the utility model embodiment robot.
Fig. 2 is the utility model embodiment robot running gear schematic diagram.
Fig. 3 is another schematic diagram of the utility model embodiment robot running gear.
Fig. 4 is the decomposing schematic representation of the utility model embodiment robot running gear.
Fig. 5 is the cutaway view of the utility model embodiment robot running gear.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is further elaborated.
As shown in Figure 1, the utility model embodiment grass-removing robot comprises body 1 and traveling gear, and body 1 top is provided with laser transceiver element, and robot can position by laser.Also be provided with battery 3 on the body 1, for robot provides energy.Body 1 below also is provided with the grass-mowing (not shown) and cuts the grass on a lawn.
Be depicted as the grass-removing robot traveling gear such as Fig. 2 to 5, it comprises roller, electric machine assembly, Timing Belt 14, wheel shaft 12, bearing 13 and synchronous pulley.Described roller has four, is respectively the front-wheel 10 that is arranged on body 1 front part sides and the trailing wheel 11 that is arranged on both sides, body 1 rear portion, and the roller of described body both sides is symmetrical about the axis of symmetry A of body 1.Described electric machine assembly comprises drive motor 16, and drive motor 16 can drive trailing wheel 11 and rotate, and described drive motor has two, and drive motor is dc brushless motor in the present embodiment.The axis of symmetry of described electric machine assembly is axis B, and the rotation axis of described trailing wheel 11 overlaps with described axis B, axis B and axis A approximate vertical.Be provided with Timing Belt 14 between described front-wheel 10 and the trailing wheel 11, Timing Belt 14 is roughly arranged along axis A direction, the trailing wheel 11 that rotates drives front-wheel 10 by Timing Belt 14 and rotates synchronously, therefore robot can come by drive motor 16 the roller motion of real time control machine body 1 both sides, for example when robot turns to, robot can be controlled the both sides roller and rotate with different speed or direction, thus make turn to more flexible.Described Timing Belt 14 is arranged on the synchronous pulley, described wheel shaft 12 1 ends and synchronous pulley connect, and described synchronous pulley is positioned at body 1, are divided into front belt wheel 19 and rear belt wheel 15 according to its position, front belt wheel 19 connects with front-wheel 10, and rear belt wheel 15 connects with trailing wheel 11 and electric machine assembly respectively.Described rear belt wheel 15 is provided with groove 151, and electric machine assembly is provided with key 161, cooperates by keyway electric machine assembly is connected with synchronous pulley 15, does not need to arrange other connection structures.Described rear belt wheel 15 is connected with electric machine assembly is coaxial, the rotation axis of belt wheel 15 overlaps with axis B or rear belt wheel 15 and electric machine assembly co-rotation namely, because rear belt wheel and electric machine assembly on same axis, do not need to be undertaken by gear cluster the conversion of outbound course so drive motor can directly drive rear belt wheel.Described traveling gear also comprises the fixed mount assembly, and it is arranged on the body 1, comprises support 17 and fixed mount 18, is respectively equipped with U-shaped recess on described support 17 and the fixed mount 18, and described fixed mount assembly can be used to fixed type bearing 13 and drive motor 16.
The utility model robot running gear can rotate front-wheel 10 and trailing wheel 11 by Timing Belt 14 synchronously, belt does not touch grass, can not twine grass, simultaneously so that motion and turn to more flexible, can make the reliable stability that must feed back wheel speed and guarantee the course of traveling gear, improve the accuracy of position fixing system; Secondly; drive motor and wheel shaft 12 are all in axis B direction; reduced the transmission device between synchronous pulley and the drive motor; so that the robot architecture is simpler; cost is lower to be it is to be noted; above-mentioned preferred embodiment only is explanation technical conceive of the present utility model and characteristics, and its purpose is to allow the personage who is familiar with technique can understand content of the present utility model and according to this enforcement, can not limit protection domain of the present utility model with this.All equivalences of doing according to the utility model Spirit Essence change or modify, and all should be encompassed within the protection domain of the present utility model.
Claims (8)
1. robot running gear, comprise drive motor, roller and wheel shaft, described roller is respectively front-wheel and trailing wheel, it is characterized in that: described traveling gear also comprises Timing Belt and synchronous pulley, Timing Belt is arranged on the synchronous pulley, described front-wheel is connected with synchronous pulley with trailing wheel and is connected, and described synchronous pulley comprises front belt wheel and rear belt wheel, and said front belt wheel or rear belt wheel link to each other with electric machine assembly is coaxial.
2. robot running gear as claimed in claim 1, it is characterized in that: described electric machine assembly comprises drive motor, described front belt wheel or rear belt wheel and drive motor connect together by keyway.
3. robot running gear as claimed in claim 2, it is characterized in that: described drive motor, synchronous pulley and wheel shaft are on same axis.
4. robot with described traveling gear of arbitrary claim in the claims 1 to 3, it is characterized in that: described robot also comprises body and position fixing system, described Timing Belt is arranged on internal body.
5. robot as claimed in claim 4, it is characterized in that: described robot also has a plurality of fixed mount assemblies.
6. robot as claimed in claim 5, it is characterized in that: described fixed mount assembly comprises support and fixed mount.
7. robot as claimed in claim 4 is characterized in that: described Timing Belt and electric machine assembly place axis and body axis of symmetry approximate vertical.
8. robot as claimed in claim 4 is characterized in that: it is a kind of grass-removing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320178052 CN203237028U (en) | 2013-04-11 | 2013-04-11 | Robot walking mechanism and robot using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320178052 CN203237028U (en) | 2013-04-11 | 2013-04-11 | Robot walking mechanism and robot using same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203237028U true CN203237028U (en) | 2013-10-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320178052 Expired - Fee Related CN203237028U (en) | 2013-04-11 | 2013-04-11 | Robot walking mechanism and robot using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203237028U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104097502A (en) * | 2013-04-11 | 2014-10-15 | 苏州科瓴精密机械科技有限公司 | Robot travelling mechanism |
| CN104641802A (en) * | 2013-11-21 | 2015-05-27 | 罗伯特·博世有限公司 | Chassis drive device of a garden working machine |
| CN105667620A (en) * | 2016-03-31 | 2016-06-15 | 西南大学 | Four-wheel sedan with same phase and different phase intervals at left and right |
| CN112293038A (en) * | 2020-09-28 | 2021-02-02 | 深圳拓邦股份有限公司 | Method for preventing lawn from being worn by fixed-point mowing and automatic mower |
-
2013
- 2013-04-11 CN CN 201320178052 patent/CN203237028U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104097502A (en) * | 2013-04-11 | 2014-10-15 | 苏州科瓴精密机械科技有限公司 | Robot travelling mechanism |
| CN104641802A (en) * | 2013-11-21 | 2015-05-27 | 罗伯特·博世有限公司 | Chassis drive device of a garden working machine |
| CN104641802B (en) * | 2013-11-21 | 2020-06-05 | 罗伯特·博世有限公司 | Driving device for travelling mechanism of gardening machine |
| CN105667620A (en) * | 2016-03-31 | 2016-06-15 | 西南大学 | Four-wheel sedan with same phase and different phase intervals at left and right |
| CN105667620B (en) * | 2016-03-31 | 2017-12-08 | 西南大学 | A kind of lorry in left and right same-phase out of phase section |
| CN112293038A (en) * | 2020-09-28 | 2021-02-02 | 深圳拓邦股份有限公司 | Method for preventing lawn from being worn by fixed-point mowing and automatic mower |
| CN112293038B (en) * | 2020-09-28 | 2021-09-10 | 深圳拓邦股份有限公司 | Method for preventing lawn from being worn by fixed-point mowing and automatic mower |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131016 |
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| CF01 | Termination of patent right due to non-payment of annual fee |