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A kind of sliding gear mechanism and mobile robot

A technology of mobile robots and sliding gears, applied in the field of robots, can solve the problems of reducing the degree of freedom and lowering of robots, and achieve the effect of improving adaptability

Inactive Publication Date: 2018-01-30
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Passive self-adaptation reduces the number of motors in the entire robot, reduces the requirements for the control system but does not reduce the degree of freedom of the robot

Method used

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  • A kind of sliding gear mechanism and mobile robot
  • A kind of sliding gear mechanism and mobile robot
  • A kind of sliding gear mechanism and mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0025] Such as figure 1 As shown, a type of sliding gear mechanism includes a first gear 2 fixed on a first shaft 1 and a tooth-missing gear 3. The first gear 2 is powered by a driving mechanism 4, and the first gear 2 drives the first shaft 1 to rotate. The sliding gear mechanism also includes a sliding mechanism, the sliding mechanism includes a cam 5 and a push rod 6, the cam 5 is provided with gear teeth 7, and the cam 5 can mesh with the tooth-missing gear 3, when the gear teeth 7 on the cam 5 When meshing with the toothed part of the toothless gear 3, the cam 5 also rotates with the rotation of the first shaft 1, and when it reaches the toothless part of the toothless gear 3, the cam 5 does not rotate any more, and is controlled by an automatic control mechanism The push rod 6 can push the cam 5, so that the cam 5 meshes with or separates from the tooth-less gear 3, and can automatically control whether the cam 5 rotates.

[0026] Preferably, the push rod 6 pushes the c...

Embodiment 2

[0030] The structure of this embodiment is basically the same as that of the sliding gear mechanism in Embodiment 1, including the first gear 2 and the tooth-missing gear 3 fixed on the first shaft 1, the first gear 2 is powered by the driving mechanism 4, the first The gear 2 drives the first shaft 1 to rotate; the sliding gear mechanism also includes a sliding mechanism, the sliding mechanism includes a cam 5 and a push rod 6, the cam 5 is provided with gear teeth 7, and the cam 5 can mesh with the tooth-missing gear 3, The push rod 6 can push the cam 5 so that the cam 5 engages or separates from the tooth-less gear 3 .

[0031] The difference is that the specific structure of the driving mechanism 4 is not limited, the specific structure of the push rod 6 is not limited, and the specific structure of the tooth-missing gear 3 is not limited. The toothed gear 3 can drive the cam 5 to rotate intermittently.

Embodiment 3

[0033] Such as figure 2 and 3 As shown, a mobile robot with the slip-like gear mechanism of embodiment 1 or 2 includes a body 9 and a driving wheel 10 installed on the body 9, the driving wheel 10 provides power for the body 9, and the slip-like gear mechanism Installed on the body 9, the driving wheel 10 is installed at the end of the first shaft 1, and the driving mechanism 4 provides power for the driving wheel 10, thereby making the mobile robot move.

[0034] A second shaft 11 is installed on the end of the cam 5 away from the gear teeth 7, and a driven wheel 12 is installed on the second shaft 11. By controlling a sliding mechanism, the movement of the second shaft 11 and the driven wheel 12 can be controlled.

[0035] The sliding gear mechanism is installed in the body 9, the body 9 is provided with a guide groove 13, the second shaft 11 passes through the guide groove 13, the shape of the axis of the guide groove 13 is consistent with the trajectory of the second sha...

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Abstract

The invention discloses a sliding gear mechanism and a mobile robot, which relate to the technical field of robots. The sliding gear mechanism of the present invention includes a first gear fixed on a first shaft and a tooth-missing gear, the first gear is powered by a driving mechanism, and the first gear drives the first shaft to rotate; The sliding gear mechanism also includes a sliding mechanism, the sliding mechanism includes a cam and a push rod, the cam is provided with gear teeth, the cam can mesh with the tooth-less gear, and the push rod can push the The cam enables the cam to engage or separate from the tooth-missing gear; the mobile robot of the present invention is equipped with the above-mentioned slipping gear mechanism, and is also provided with a body and a driving wheel. A sliding gear mechanism and a mobile robot proposed by the present invention can be adjusted according to its own structure to adapt to changes in the external environment or the ground environment, and the structure is simple.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a sliding gear mechanism and a mobile robot. Background technique [0002] The ground environment has a great influence on mobile robots, which restricts the development of mobile robots to a large extent. Therefore, improving the robot's adaptive ability to the ground environment is one of the most important issues in the robot's current development process. Passive self-adaptation means that the robot can completely rely on its own structure to overcome obstacles under under-actuated conditions. This has extremely important applications in some special applications, such as space, disaster areas, and mine bottoms. Passive self-adaptation reduces the number of motors of the entire robot, reduces the requirements for the control system but does not reduce the degree of freedom of the robot. Contents of the invention [0003] The purpose of the present invention is to propose a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 张建华李辉史英明关少亚张明路张小俊
Owner HEBEI UNIV OF TECH