CN211765936U

CN211765936U - Linear motion walking device of robot

Info

Publication number: CN211765936U
Application number: CN201922177589.3U
Authority: CN
Inventors: 王震; 周涛; 杜依诺; 赵寒; 李海松
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-12-09
Filing date: 2019-12-09
Publication date: 2020-10-27
Anticipated expiration: 2029-12-09

Abstract

The utility model discloses a linear motion running gear of robot, including casing, biax motor and cylinder, the right side internally mounted of casing has the biax motor, the surface connection of action wheel has the track, install the connecting rod from the top of driving wheel, the inside of leading wheel is run through by the connecting axle, the right side of bracing piece is connected with the gear, the below of gear is connected with the rack, and the right side of rack installs the cylinder, the left end of rack runs through from the inside of fixed block, and the fixed block passes through the middle part interconnect of the spring of top and bracing piece. This linear motion running gear of robot, the internally mounted of casing has the biax motor, drives the action wheel through the biax motor and rotates, provides strong rear wheel drive strength for the robot, and the surface mounting of action wheel has the track, utilizes the linkage of track to make from driving wheel and action wheel synchronous rotation, has increased the stability of robot linear motion walking removal in-process.

Description

Linear motion walking device of robot

Technical Field

The utility model relates to a relevant technical field of robot specifically is a linear motion running gear of robot.

Background

The robot is a machine device for automatically executing work, can receive human command work, can run a pre-arranged program, and can perform actions according to principles formulated by artificial intelligence technology.

The existing robot movement walking device is complex in structure and very complex in operation, a plurality of sensors are needed to be matched with one another, development of the robot is restricted, the existing robot is poor in climbing capacity, other paths need to be selected when the existing robot meets an obstacle, and certain limitation is achieved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a linear motion running gear of robot to it is comparatively complicated to put forward current robot motion running gear structure among the above-mentioned background art to solve, and the operation is very loaded down with trivial details, needs to mutually support between a plurality of sensors, and the climbing ability is relatively poor, needs the problem of selecting other routes when meetting the barrier.

In order to achieve the above object, the utility model provides a following technical scheme: a robot linear motion walking device comprises a shell, a double-shaft motor and a cylinder, wherein the double-shaft motor is arranged inside the right side of the shell, the front side and the rear side of the double-shaft motor are respectively provided with a driving wheel, the driving wheels are positioned on the front side and the rear side of the shell, the outer surface of the driving wheel is connected with a crawler, the left side of the crawler is connected with a driven wheel, the tail end of the driven wheel is connected with the outer surface of the left side of the shell, a connecting rod is arranged above the driven wheel, a guide wheel is arranged above the connecting rod, the outer surfaces of the guide wheel and the driven wheel are respectively connected with the inner surface of the crawler, the inside of the guide wheel is penetrated through by a connecting shaft, the right side of the connecting shaft is connected with a supporting rod, the supporting rod penetrates through the left surface of the shell, the right side, the below of gear is connected with the rack, and the cylinder is installed on the right side of rack to the right side of cylinder and the inner wall surface interconnect of casing, the left end of rack runs through from the inside of fixed block, and the fixed block passes through the middle part interconnect of the spring of top and bracing piece, and both ends all with the inner wall surface interconnect of casing around the fixed block.

Preferably, the driven wheel is rotatably connected with the shell, and the diameter of the driven wheel is the same as that of the driving wheel.

Preferably, the connecting rod and the driven wheel form a rotating structure, the connecting rod and the guide wheel form a rotating structure, and the diameter of the guide wheel is smaller than that of the driven wheel.

Preferably, the support rod is arranged in an inclined structure, the support rod is fixedly connected with the rotating shaft, and the rotating shaft is rotatably connected with the shell.

Preferably, the rack and the housing form a sliding structure, the rack and the gear are in meshed connection, and the gear is symmetrically provided with 2 groups about a central point of the rack.

Preferably, the fixed block and the rack form a sliding structure, and the fixed block and the support rod form a telescopic structure through a spring.

Compared with the prior art, the beneficial effects of the utility model are that: the robot linear motion walking device is provided with a walking mechanism,

1. the double-shaft motor is arranged in the shell, the driving wheel is driven to rotate through the double-shaft motor, powerful rear wheel driving force is provided for the robot, the crawler belt is arranged on the outer surface of the driving wheel, the driven wheel and the driving wheel synchronously rotate under the connecting action of the crawler belt, and the stability of the robot in the linear movement walking and moving process is improved;

2. the guide wheel is arranged above the driven wheel, the rack is pushed by the air cylinder to move left and right, the change of the inclination angle of the guide wheel is realized by utilizing the connecting action of the supporting rod, and the obstacle crossing capability of the robot is improved by crossing the obstacle in the walking process of the robot through the guide wheel;

3. the fixed block is installed in the place ahead of rack, slides in the fixed block through the rack, has increased the stability that the rack removed the in-process, and whole device has avoided mutually supporting between a plurality of sensors, and easy operation is favorable to promoting the development of robot.

Drawings

FIG. 1 is a schematic front sectional view of the present invention;

FIG. 2 is a schematic view of the three-dimensional structure of the connecting shaft and the supporting rod of the present invention;

FIG. 3 is a structural diagram of the double-shaft motor and the driving wheel as seen from the right side;

fig. 4 is the left view structure diagram of the fixing block and the rack.

In the figure: 1. a housing; 2. a double-shaft motor; 3. a driving wheel; 4. a crawler belt; 5. a driven wheel; 6. a connecting rod; 7. a guide wheel; 8. a connecting shaft; 9. a support bar; 10. a gear; 11. a rotating shaft; 12. a rack; 13. a cylinder; 14. a fixed block; 15. a spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: a robot linear motion walking device comprises a shell 1, a double-shaft motor 2, a driving wheel 3, a crawler 4, a driven wheel 5, a connecting rod 6, a guide wheel 7, a connecting shaft 8, a supporting rod 9, a gear 10, a rotating shaft 11, a rack 12, a cylinder 13, a fixing block 14 and a spring 15, wherein the double-shaft motor 2 is installed inside the right side of the shell 1, the driving wheel 3 is installed on the front side and the rear side of the double-shaft motor 2, the driving wheel 3 is located on the front side and the rear side of the shell 1, the crawler 4 is connected to the outer surface of the driving wheel 3, the driven wheel 5 is connected to the left side of the crawler 4, the tail end of the driven wheel 5 is connected with the outer surface of the left side of the shell 1, the connecting rod 6 is installed above the driven wheel 5, the guide wheel 7 is arranged above the connecting rod 6, the outer surfaces, a support rod 9 is connected to the right side of the connecting shaft 8, the support rod 9 penetrates through the left side surface of the shell 1, a gear 10 is connected to the right side of the support rod 9, the inside of the gear 10 is penetrated through by a rotating shaft 11, the front end and the rear end of the rotating shaft 11 are connected with the inner wall surface of the shell 1, a rack 12 is connected to the lower portion of the gear 10, an air cylinder 13 is installed on the right side of the rack 12, the right side of the air cylinder 13 is connected with the inner wall surface of the shell 1, the left end of the rack 12 penetrates through a fixing block 14, the fixing block 14 is connected with the middle portion of the support rod 9 through an upper spring 15, and the front end and the rear end of the fixing block;

the driven wheel 5 is rotatably connected with the shell 1, the diameter of the driven wheel 5 is the same as that of the driving wheel 3, the driving wheel 3 is driven to rotate on two sides of the shell 1 through the double-shaft motor 2, powerful rear wheel driving force is provided for the robot, the driven wheel 5 and the driving wheel 3 synchronously rotate by utilizing the connecting action of the crawler 4, and the stability of the robot in the linear movement walking and moving process is improved;

the connecting rod 6 and the driven wheel 5 form a rotating structure, the connecting rod 6 and the guide wheel 7 form a rotating structure, the diameter of the guide wheel 7 is smaller than that of the driven wheel 5, the crossing of the robot on the barrier is realized through the guide wheel 7, the robot can walk in a linear motion manner, the motion direction does not need to be changed, and the limitation of the robot in the motion process is reduced;

the support rod 9 is arranged to be an inclined structure, the support rod 9 is fixedly connected with the rotating shaft 11, the rotating shaft 11 is rotatably connected with the shell 1, the rack 12 and the shell 1 form a sliding structure, the rack 12 is in meshed connection with the

gear

10, 2 groups of gears 10 are symmetrically arranged about the central point of the rack 12, when the rack 12 is pushed to move left and right in the shell 1 through the air cylinder 13, the inclination angle of the guide wheel 7 is changed by utilizing the mutual meshing effect of the rack 12 and the gear 10, the obstacle crossing capability of the robot is improved by utilizing the guide wheel 7, and the stability of the guide wheel 7 in steering is improved by the symmetrically arranged racks 12;

fixed block 14 and rack 12 constitute sliding construction, and fixed block 14 passes through spring 15 and constitutes extending structure with bracing piece 9, slides in fixed block 14 inside through rack 12, has increased the stability of rack 12 removal in-process, avoids rigid contact between bracing piece 9 and the fixed block 14 through spring 15, provides effectual buffering protection for the removal of bracing piece 9.

The working principle is as follows: when the robot linear motion walking device is used, as shown in figures 1-4, firstly, a shell 1 is arranged below the robot, then a double-shaft motor 2 is started, a driving wheel 3 is driven by the double-shaft motor 2 to rotate on two sides of the shell 1, powerful rear wheel driving force is provided for the robot, a crawler 4 is arranged on the outer surface of the driving wheel 3, a driven wheel 5 and the driving wheel 3 synchronously rotate by utilizing the connecting action of the crawler 4, the stability of the robot in the linear motion walking movement process is improved, when an obstacle needs to be crossed, a cylinder 13 is started, a rack 12 is pushed by the cylinder 13 to move leftwards, a gear 10 which is meshed with the rack 12 starts to rotate clockwise, a support rod 9 is driven by a rotating shaft 11 to upwards stretch a spring 15, and a connecting shaft 8 and a guide wheel 7 are driven to rotate clockwise by taking the driven wheel 5 as the center of a circle by utilizing the connecting action, the outer surfaces of the driven wheel 5 and the guide wheel 7 are both connected with the crawler 4, when the crawler 4 on the outer surface of the guide wheel 7 is in contact with an obstacle, the driven wheel 5 and the driving wheel 3 climb above the obstacle together by utilizing the transmission action of the connecting rod 6, the crossing of the robot on the obstacle is realized in the whole process, the robot can walk in a linear motion manner, the motion direction does not need to be changed, and the limitation in the motion process of the robot is reduced;

when cylinder 13 pulling rack 12 moved to the right, as above the same reason, leading wheel 7 begins to do and uses the anticlockwise rotation of following driving wheel 5 as the centre of a circle, bracing piece 9 extrudees spring 15 shrink downwards, be convenient for stride across the lower barrier of height this moment, fixed block 14 is installed in the place ahead of rack 12, slide in fixed block 14 through rack 12, rack 12 has increased the stability of moving in-process, avoid rigid contact between bracing piece 9 and the fixed block 14 through spring 15, the removal of bracing piece 9 provides effectual buffering protection, whole device has avoided mutually supporting between a plurality of sensors, moreover, the operation is simple, utilize leading wheel 7 to promote the barrier crossing capability of robot, be favorable to promoting the development of robot, whole practicality has been increased.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a linear motion running gear of robot, includes casing (1), biax motor (2) and cylinder (13), its characterized in that: the double-shaft motor (2) is installed inside the right side of the shell (1), the driving wheels (3) are installed on the front side and the rear side of the double-shaft motor (2), the driving wheels (3) are located on the front side and the rear side of the shell (1), the outer surface of the driving wheels (3) is connected with the crawler belts (4), the left sides of the crawler belts (4) are connected with the driven wheels (5), the tail ends of the driven wheels (5) are connected with the outer surface of the left side of the shell (1), the connecting rods (6) are installed above the driven wheels (5), the guide wheels (7) are arranged above the connecting rods (6), the outer surfaces of the guide wheels (7) and the driven wheels (5) are connected with the inner surface of the crawler belts (4), the guide wheels (7) are penetrated through by the connecting shafts (8), the right sides of the connecting shafts (8) are connected with the supporting rods (9), and, the right side of bracing piece (9) is connected with gear (10), and the inside of gear (10) is run through by axis of rotation (11) to both ends all with the inner wall surface interconnect of casing (1) around axis of rotation (11), the below of gear (10) is connected with rack (12), and cylinder (13) are installed on the right side of rack (12) to the right side of cylinder (13) and the inner wall surface interconnect of casing (1), the left end of rack (12) runs through from the inside of fixed block (14), and fixed block (14) through the middle part interconnect of spring (15) and bracing piece (9) of top to the front and back both ends of fixed block (14) all with the inner wall surface interconnect of casing (1).

2. A robotic linear motion walking device as claimed in claim 1, wherein: the driven wheel (5) is rotatably connected with the shell (1), and the diameter of the driven wheel (5) is the same as that of the driving wheel (3).

3. A robotic linear motion walking device as claimed in claim 1, wherein: the connecting rod (6) and the driven wheel (5) form a rotating structure, the connecting rod (6) and the guide wheel (7) form a rotating structure, and the diameter of the guide wheel (7) is smaller than that of the driven wheel (5).

4. A robotic linear motion walking device as claimed in claim 1, wherein: the support rod (9) is arranged to be of an inclined structure, the support rod (9) is fixedly connected with the rotating shaft (11), and the rotating shaft (11) is rotatably connected with the shell (1).

5. A robotic linear motion walking device as claimed in claim 1, wherein: the rack (12) and the shell (1) form a sliding structure, the rack (12) is in meshed connection with the gear (10), and 2 groups of gears (10) are symmetrically arranged around the center point of the rack (12).

6. A robotic linear motion walking device as claimed in claim 1, wherein: the fixed block (14) and the rack (12) form a sliding structure, and the fixed block (14) and the support rod (9) form a telescopic structure through a spring (15).