CN2808471Y - Robot walking device - Google Patents
Robot walking device Download PDFInfo
- Publication number
- CN2808471Y CN2808471Y CN 200520096784 CN200520096784U CN2808471Y CN 2808471 Y CN2808471 Y CN 2808471Y CN 200520096784 CN200520096784 CN 200520096784 CN 200520096784 U CN200520096784 U CN 200520096784U CN 2808471 Y CN2808471 Y CN 2808471Y
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- motors
- utility
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- robot
- running gear
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- Expired - Fee Related
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Abstract
The utility model relates to a robot walking device, which comprises motors and walking wheels driven via a drive mechanism by the motors. The utility model is characterized in that the two motors are respectively engaged with gears of two walking wheel shafts on one end of a carriage by gears of reducer output shafts; the two walking wheel shafts on one end of a carriage are respectively connected with second walking wheels of corresponding edges in belt drive. The utility model has the advantage that as the two motors are respectively connected with the walking wheels by the drive mechanism, the robot walking device can instruct the motors to simultaneously rotate at the same direction or reversely rotate, or the two motors mutually and reversely rotate, or one motor is stopped to rotating, and the utility model can walk flexibly; the utility model can freely advance and retreat to realize advance, retreat, left and right steering and steering in place, and the climbing capacity is not less than 45 DEG.
Description
Technical field
The utility model relates to a kind of running gear of robot, is mainly used in the driving and the transmission mechanism of robot walking device.
Background technology
Often relate to thin space passage, pipeline, valve cavity, steam generator water pipe or tracheae at nuclear power station and relevant industries thereof, also have important safety means inner chamber, reactor pressure vessel has radioactivity, dangerous cavity volume.Robot will detect or get the thing operation in narrow cavity volume, at first must walk neatly in narrow cavity volume, and the existing robots running gear is difficult to satisfy the requirement of above-mentioned working environment.
The utility model content
The purpose of this utility model is to provide a kind of running gear of robot, and it not only has stronger driving force, and can walking neatly in complex-shaped or narrow passage or cavity volume.
The technical scheme that realizes the utility model purpose is: a kind of running gear of robot, comprise motor and the road wheel that drives through transmission mechanism by motor, it is characterized in that: 2 motors are meshed through the gear of reducer output shaft gear with dolly one end 2 live axles respectively, and 2 road wheels of this end link with second road wheel of band transmission and corresponding sides respectively.
And second road wheel links with the third line travelling wheel of band transmission and corresponding sides respectively again.
And the band transmission is the tooth form synchronous belt transmission.
And the bearing of live axle is the self sealss bearing, and wheel shaft is provided with the combined sealing structure that is made of O RunddichtringO and magnetic current clearance sealing device outward.
The utility model has the advantages that: 1. owing to adopt 2 motors to link through transmission mechanism and road wheel respectively, this robot walking device can instruct motor simultaneously in the same way or reverse rotation, the perhaps reciprocal rotation of two motors or one of them motor stall and can walk flexibly, can realize advancing free to advance or retreatly, retreat, about turn to and pivot stud, its climbing capacity is not less than 45 degree.2. two or three bilateral driven in synchronism that constitute had therefrom both had bigger driving force, were convenient to again turn to flexibly, suited to work in particular surroundings such as narrow space.3. volume is little, in light weight, can walk in being not less than the passage of 130mm, and car body weight is not more than 8kg.4. compact overall structure, the reliability height.
Description of drawings
Fig. 1 is a schematic diagram of the present utility model.
Fig. 2 is the cutaway view of another embodiment of the utility model.
Fig. 3 is the amplification view at Fig. 2 A place.
The specific embodiment
With reference to Fig. 1～Fig. 3, the running gear of robot described in the utility model, it comprises motor 3 and the road wheel 1,6 that is driven through transmission mechanism by motor 3, it is characterized in that: 2 motors 3 are meshed through the gear 8 of decelerator 5 output shaft gears 7 with dolly 2 one ends 2 live axles 6.2 respectively, and 2 road wheels 6 of this end link with second road wheel 1 of band transmission 4 with corresponding sides respectively.
Further technical scheme can be:, second road wheel 1 links with the third line travelling wheel 9 of band transmission 4 with corresponding sides respectively again.Suggestion: rubber rectangular teeth structures are adopted in the outer ring 10 of each road wheel 6,1,9, to strengthen its frictional force and the ability by obstacle.
Linking with the band transmission between the described driving wheel 6,1,9, can be to link by belt pulley 6.1,1.1,9.1 fixing on the live axle 6.2,1.2,9.2.
Further technical scheme can also be:, band transmission 4 is the tooth form synchronous belt transmission.
For the ease of underwater operation, the bearing 11 of described live axle 6.2,1.2,9.2 is self sealss bearing (standard component), and wheel shaft is provided with the combined sealing structure (see figure 3) that is made of O RunddichtringO 12 and magnetic current clearance sealing device 13 (its structure and principle can be consulted " mechanical engineering manual ") outward.Meanwhile, if be used for the detection of nuclear power station, each rubber ring, pad should be able to anti-nuclear radiation, for example, can adopt the phenyl room temperature vulcanized silicone rubber, each attachment screw, bolt, nut and connect the composition surface and should smear waterproof radiation hardness fluid sealant.This robot walking device can be at≤underwater operation that 30m is dark.
In addition, described motor 3 can be selected servomotor, and decelerator 5 is preferably the planetary reduction gear than the big retarding ratio, because motor 3 and decelerator 5 can be commercially available standard components, specifically can and consult " mechanical engineering manual " apolegamy according to actual condition.
Claims (4)
1. the running gear of a robot, comprise motor and the road wheel that drives through transmission mechanism by motor, it is characterized in that: 2 motors are meshed through the gear of reducer output shaft gear with dolly one end 2 live axles respectively, and 2 road wheels of this end link with second road wheel of band transmission and corresponding sides respectively.
2. the running gear of robot according to claim 1 is characterized in that: second road wheel links with the third line travelling wheel of band transmission and corresponding sides respectively again.
3. the running gear of robot according to claim 1 and 2 is characterized in that: the band transmission is the tooth form synchronous belt transmission.
4. the running gear of robot according to claim 3, it is characterized in that: the bearing of live axle is the self sealss bearing, wheel shaft is provided with the combined sealing structure that is made of O RunddichtringO and magnetic current clearance sealing device outward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520096784 CN2808471Y (en) | 2005-06-16 | 2005-06-16 | Robot walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520096784 CN2808471Y (en) | 2005-06-16 | 2005-06-16 | Robot walking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2808471Y true CN2808471Y (en) | 2006-08-23 |
Family
ID=36924652
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520096784 Expired - Fee Related CN2808471Y (en) | 2005-06-16 | 2005-06-16 | Robot walking device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2808471Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850727A (en) * | 2010-02-26 | 2010-10-06 | 湖南山河智能机械股份有限公司 | Remote control wheel type mobile robot platform |
| CN103465779A (en) * | 2013-09-17 | 2013-12-25 | 哈尔滨工程大学 | Double-engine type omni-directional four-wheel drive traveling mechanism |
| CN110281245A (en) * | 2019-05-24 | 2019-09-27 | 山东新海软件股份有限公司 | A kind of desktop small scale robot and its control method based on movable pedestal |
| CN110328650A (en) * | 2019-05-24 | 2019-10-15 | 北京深醒科技有限公司 | A kind of lower-mobility mobile robot with folding turnover bracket |
| CN110583329A (en) * | 2019-10-30 | 2019-12-20 | 济南华庆农业机械科技有限公司 | Garlic film laminating machine |
| CN110977944A (en) * | 2019-12-10 | 2020-04-10 | 东莞市蓝企信息科技有限公司 | Walking and turning base of robot |
-
2005
- 2005-06-16 CN CN 200520096784 patent/CN2808471Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850727A (en) * | 2010-02-26 | 2010-10-06 | 湖南山河智能机械股份有限公司 | Remote control wheel type mobile robot platform |
| CN103465779A (en) * | 2013-09-17 | 2013-12-25 | 哈尔滨工程大学 | Double-engine type omni-directional four-wheel drive traveling mechanism |
| CN103465779B (en) * | 2013-09-17 | 2015-12-09 | 哈尔滨工程大学 | Omnidirectional with double engines 4 wheel driven walking mechanism |
| CN110281245A (en) * | 2019-05-24 | 2019-09-27 | 山东新海软件股份有限公司 | A kind of desktop small scale robot and its control method based on movable pedestal |
| CN110328650A (en) * | 2019-05-24 | 2019-10-15 | 北京深醒科技有限公司 | A kind of lower-mobility mobile robot with folding turnover bracket |
| CN110583329A (en) * | 2019-10-30 | 2019-12-20 | 济南华庆农业机械科技有限公司 | Garlic film laminating machine |
| CN110977944A (en) * | 2019-12-10 | 2020-04-10 | 东莞市蓝企信息科技有限公司 | Walking and turning base of robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |