CN206813141U - A kind of walking mechanism of robot - Google Patents
A kind of walking mechanism of robot Download PDFInfo
- Publication number
- CN206813141U CN206813141U CN201720735896.7U CN201720735896U CN206813141U CN 206813141 U CN206813141 U CN 206813141U CN 201720735896 U CN201720735896 U CN 201720735896U CN 206813141 U CN206813141 U CN 206813141U
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- CN
- China
- Prior art keywords
- swing arm
- main
- sprocket wheel
- motor
- crawler belt
- Prior art date
- 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.)
- Expired - Fee Related
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Abstract
A kind of walking mechanism of robot, it is related to Industrial Robot Technology field；Main crawler belt motor is connected by the way that first gear is secondary with main caterpillar chain wheel drive, and two main crawler belt sprocket wheels pass through sleeve connection by main crawler haulage chain link, main crawler belt sprocket wheel with crawler driving whell；Described main motor passes through second gear pair and walking central shaft drive connection；Described swing arm motor is connected with worm drive, worm and wheel engagement, is connected with swing arm sprocket wheel on the axle of worm gear, swing arm driving-chain is connected with swing arm sprocket wheel；Described crawler driving whell is connected by sleeve with swing arm sprocket wheel.A kind of walking mechanism of robot described in the utility model, topology layout is compact, has certain symmetry, outer swing arm can be swung around swing arm central shaft can surround central axis with aiding overpass obstacle main body modules, with center-of-gravity regulating, strengthen the resistance to overturning during obstacle detouring.
Description
Technical field
It the utility model is related to Industrial Robot Technology field, and in particular to a kind of walking mechanism of robot.
Background technology
Industrial robot is the high-tech product that a kind of mechanical technique is combined with electronic technology.It is using industrial robot
Product quality and labor productivity are improved, Automation of Manufacturing Process is realized, improves working conditions, the one kind to reduce labor intensity has
Effect means.Though the history of the birth and development of industrial robot only more than 30 year, it has application to national economy, military technology
Etc. various fields, there is wide application and development prospect, show powerful vitality.
The position of centre of gravity regulatory function of robot plays vital in raising obstacle climbing ability and obstacle detouring process stationarity
Effect, the stationarity during obstacle detouring of robot have much room for improvement.
Utility model content
The defects of the purpose of this utility model is to be directed to prior art and deficiency, there is provided a kind of simple in construction, design is closed
Reason, the walking mechanism of robot easy to use.
To achieve the above object, the technical solution adopted in the utility model is：It includes main crawler belt motor, first gear
Secondary, main crawler belt sprocket wheel, main track drive chain, sleeve, crawler driving whell, main motor, second gear pair, swing arm motor, worm screw, snail
Wheel, swing arm sprocket wheel, swing arm driving-chain, walking central shaft；Described main crawler belt motor is secondary with main crawler belt sprocket wheel by first gear
Drive connection, two main crawler belt sprocket wheels are connected by main crawler haulage chain link, main crawler belt sprocket wheel with crawler driving whell by sleeve
Connect；Described main motor passes through second gear pair and walking central shaft drive connection；Described swing arm motor connects with worm drive
Connect, worm and wheel engagement, be connected with swing arm sprocket wheel on the axle of worm gear, swing arm driving-chain is connected with swing arm sprocket wheel；Described
Crawler driving whell is connected by sleeve with swing arm sprocket wheel.
Preferably, described first gear pair is bevel gear pair.
Preferably, described second gear pair is spur gear pair.
Preferably, described swing arm sprocket wheel passes through key connection with swing arm central shaft.
Preferably, described sleeve is set with swing arm central axis.
Operation principle of the present utility model is：Main crawler belt motor drives the interior transmission of outer swing arm module short by bevel gear pair
Axle rotates, and is delivered to by main crawler belt sprocket wheel and main track drive chain on sleeve, so, sleeve can drive crawler driving whell to make
Crawler belt is obtained to be rotated；Swing arm motor drives worm screw to be rotated first, so as to which worm gear wheel, the interior transmission of interior swing arm module are short
Rotating effect is delivered on swing arm sprocket wheel and swing arm driving-chain by axle, and driven sprocket and swing arm central shaft are key connections, and are put
Arm central shaft is fixed with outer swing arm baffle plate by flange, so as to which swing arm motor can cause the swing of outer swing arm.
After said structure, had the beneficial effect that caused by the utility model：A kind of robot described in the utility model
Walking mechanism, topology layout is compact, has certain symmetry, and outer swing arm can be swung with aiding overpass obstacle around swing arm central shaft
Main body module can surround central axis, with center-of-gravity regulating, strengthen the resistance to overturning during obstacle detouring, the utility model has
It is simple in construction, set rationally, low manufacture cost the advantages that.
Brief description of the drawings
Fig. 1 is structure chart of the present utility model.
Description of reference numerals：
Main crawler belt motor 1, first gear pair 2, main crawler belt sprocket wheel 3, main track drive chain 4, sleeve 5, crawler driving whell 6,
Main motor 7, second gear pair 8, swing arm motor 9, worm screw 10, worm gear 11, swing arm sprocket wheel 12, swing arm driving-chain 13, walking center
Axle 14, swing arm central shaft 15, outer swing arm module 16, interior swing arm module 17.
Embodiment
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, before creative labor is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Referring to as shown in figure 1, present embodiment adopts the following technical scheme that：It includes main crawler belt motor 1, the first tooth
Wheel set 2, main crawler belt sprocket wheel 3, main track drive chain 4, sleeve 5, crawler driving whell 6, main motor 7, second gear pair 8, swing arm electricity
Machine 9, worm screw 10, worm gear 11, swing arm sprocket wheel 12, swing arm driving-chain 13, walking central shaft 14；Described main crawler belt motor 1 passes through
First gear pair 2 is connected with the main drive connection of crawler belt sprocket wheel 3, two main crawler belt sprocket wheels 3 by main track drive chain 4, main crawler belt
Sprocket wheel 3 is connected with crawler driving whell 6 by sleeve 5；Described main motor 7 is driven by second gear pair 8 and walking central shaft 14
Dynamic connection；Described swing arm motor 9 and the drive connection of worm screw 10, worm screw 10 engage with worm gear 11, are connected with the axle of worm gear 11
Swing arm sprocket wheel 12, swing arm driving-chain 13 is connected with swing arm sprocket wheel 12；Described crawler driving whell 6 passes through sleeve 5 and swing arm chain
The connection of wheel 12.
Preferably, described first gear pair 2 is bevel gear pair.
Preferably, described second gear pair 8 is spur gear pair.
Preferably, described swing arm sprocket wheel 12 passes through key connection with swing arm central shaft 15.
Preferably, described sleeve 5 is coaxially disposed with swing arm central shaft 15.
The operation principle of present embodiment is：Main crawler belt motor 1 drives outer swing arm module 16 by bevel gear pair 2
Interior transmission short axle rotates, and is delivered to by main crawler belt sprocket wheel 3 and main track drive chain 4 on sleeve 5, so, sleeve can drive
Crawler driving whell 6 make it that crawler belt is rotated；Swing arm motor 9 drives worm screw 10 to be rotated first, interior so as to which worm gear 11 rotates
Rotating effect is delivered on swing arm sprocket wheel 12 and swing arm driving-chain 13 by the interior transmission short axle of swing arm module 17, driven sprocket and pendulum
Arm central shaft 15 is key connection, and swing arm central shaft 15 is fixed with outer swing arm baffle plate by flange, so as to which swing arm motor 9 can
Cause the swing of outer swing arm.
After said structure, had the beneficial effect that caused by present embodiment：One described in present embodiment
The walking mechanism of kind robot, topology layout is compact, has certain symmetry, and outer swing arm can be swung with auxiliary around swing arm central shaft
Help obstacle detouring main body modules to surround central axis, with center-of-gravity regulating, strengthen the resistance to overturning during obstacle detouring, this is specific
Embodiment has the advantages that simple in construction, setting is reasonable, low manufacture cost.
The advantages of general principle and principal character of the present utility model and the utility model has been shown and described above.This
The technical staff of industry is retouched in above-described embodiment and specification it should be appreciated that the utility model is not restricted to the described embodiments
That states simply illustrates principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model
Various changes and modifications are also had, these changes and improvements are both fallen within claimed the scope of the utility model.This practicality is new
Scope is claimed by appended claims and its equivalent thereof in type.
Claims (5)
- A kind of 1. walking mechanism of robot, it is characterised in that：It include secondary main crawler belt motor, first gear, main crawler belt sprocket wheel, Main track drive chain, sleeve, crawler driving whell, main motor, second gear pair, swing arm motor, worm screw, worm gear, swing arm sprocket wheel, pendulum Arm driving-chain, walking central shaft；Described main crawler belt motor is connected by the way that first gear is secondary with main caterpillar chain wheel drive, two masters Crawler belt sprocket wheel passes through sleeve connection by main crawler haulage chain link, main crawler belt sprocket wheel with crawler driving whell；Described main motor Pass through second gear pair and walking central shaft drive connection；Described swing arm motor is connected with worm drive, and worm and wheel is nibbled Close, be connected with swing arm sprocket wheel on the axle of worm gear, swing arm driving-chain is connected with swing arm sprocket wheel；Described crawler driving whell passes through set Cylinder is connected with swing arm sprocket wheel.
- A kind of 2. walking mechanism of robot according to claim 1, it is characterised in that：Described first gear is secondary for cone Gear pair.
- A kind of 3. walking mechanism of robot according to claim 1, it is characterised in that：Described second gear pair is straight Gear pair.
- A kind of 4. walking mechanism of robot according to claim 1, it is characterised in that：Described swing arm sprocket wheel and swing arm Central shaft passes through key connection.
- A kind of 5. walking mechanism of robot according to claim 1, it is characterised in that：Described sleeve and swing arm center Axle is coaxially disposed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720735896.7U CN206813141U (en) | 2017-06-23 | 2017-06-23 | A kind of walking mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720735896.7U CN206813141U (en) | 2017-06-23 | 2017-06-23 | A kind of walking mechanism of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206813141U true CN206813141U (en) | 2017-12-29 |
Family
ID=60761354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720735896.7U Expired - Fee Related CN206813141U (en) | 2017-06-23 | 2017-06-23 | A kind of walking mechanism of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206813141U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515538A (en) * | 2018-12-29 | 2019-03-26 | 中国科学院沈阳自动化研究所 | Reconfigurable type multiple joint crawler belt composite mobile robot |
| CN109606487A (en) * | 2018-12-07 | 2019-04-12 | 航天科工智能机器人有限责任公司 | Wheel carries out compound allosteric humanoid robot |
-
2017
- 2017-06-23 CN CN201720735896.7U patent/CN206813141U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109606487A (en) * | 2018-12-07 | 2019-04-12 | 航天科工智能机器人有限责任公司 | Wheel carries out compound allosteric humanoid robot |
| CN109515538A (en) * | 2018-12-29 | 2019-03-26 | 中国科学院沈阳自动化研究所 | Reconfigurable type multiple joint crawler belt composite mobile robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171229 Termination date: 20180623 |