CN100572177C - Four-wheel driving caterpillar type robot walking drive device - Google Patents
Four-wheel driving caterpillar type robot walking drive device Download PDFInfo
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- CN100572177C CN100572177C CNB2008100155276A CN200810015527A CN100572177C CN 100572177 C CN100572177 C CN 100572177C CN B2008100155276 A CNB2008100155276 A CN B2008100155276A CN 200810015527 A CN200810015527 A CN 200810015527A CN 100572177 C CN100572177 C CN 100572177C
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- retarder
- drive wheel
- escapement
- wheel
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Abstract
The present invention relates to a kind of four-wheel driving caterpillar type robot walking drive device, comprise drive wheel, retarder, DC servo motor, traveling crawler, overriding clutch, the bi-directional electromagnetic power-transfer clutch, swing arm, escapement and escapement crawler belt, drive wheel, retarder, DC servo motor comprises main drive wheel respectively, auxilliary drive wheel, retarder A, retarder B, main DC servo motor and the auxilliary DC servo motor that drives of driving, the main DC servo motor that drives is connected with retarder A, main drive wheel is installed on the output shaft A of retarder A, traveling crawler respectively with main drive wheel, auxilliary drive wheel engagement; The auxilliary DC servo motor that drives is connected with retarder B, and auxilliary drive wheel, overriding clutch, bi-directional electromagnetic power-transfer clutch, swing arm and escapement are installed on the output shaft B of retarder B successively; Escapement outer rim and the engagement of escapement crawler belt, the bi-directional electromagnetic power-transfer clutch is connected with auxilliary drive wheel, swing arm, escapement respectively.It has in light weight, and volume is little, walking driving power advantages of higher.
Description
Technical field
The present invention relates to a kind of robot ambulation actuating device, specifically is a kind of level land walk at a high speed, ascend four-wheel driving caterpillar type robot walking drive device of domatic, leaping over obstacles trench and various complex road surface carrying capacitys that has.
Background technology
The traveling gear of robot is divided into crawler type, wheeled, sufficient formula now, but the walking on ascend domatic, leaping over obstacles trench and various complex road surface of the robot of wheeled and sufficient formula is subjected to certain restriction, and caterpillar type robot has certain superiority in this respect.The caterpillar type robot walking driver train of present domestic research and development adopts motor-reducer structure output torque more, advances and control turns to two motor-driven; And other function increases corresponding motor again.For the ability that makes robot have big load-carrying capacity and on various complex road surfaces, walk, often adopt heavy-duty motor, the volume that causes robot thus is big, quality is heavier, expenditure of energy is very fast, has limited its application.
Summary of the invention
The present invention is for overcoming above-mentioned the deficiencies in the prior art, a kind of four-wheel driving caterpillar type robot walking drive device is provided, quantity and parameter that can the reasonable disposition motor, given play to the ability of all motors, cut down the consumption of energy effectively, the once charging of the extension robot ability that continues enlarges the application of robot.
The objective of the invention is to adopt following technical proposals to realize: a kind of four-wheel driving caterpillar type robot walking drive device, comprise drive wheel, retarder, DC servo motor, traveling crawler, overriding clutch, the bi-directional electromagnetic power-transfer clutch, swing arm, escapement and escapement crawler belt, described drive wheel, retarder, DC servo motor comprises main drive wheel respectively, auxilliary drive wheel, retarder A, retarder B, main DC servo motor and the auxilliary DC servo motor that drives of driving, the main DC servo motor that drives is connected with retarder A, main drive wheel is installed on the output shaft A of retarder A, traveling crawler respectively with main drive wheel, auxilliary drive wheel engagement; The auxilliary DC servo motor that drives is connected with retarder B, and auxilliary drive wheel, overriding clutch, bi-directional electromagnetic power-transfer clutch, swing arm and escapement are installed on the output shaft B of retarder B successively; Escapement outer rim and the engagement of escapement crawler belt, the bi-directional electromagnetic power-transfer clutch is connected with auxilliary drive wheel, swing arm, escapement respectively.
Described main drive wheel connects with the output shaft A of retarder A by key, and the circle centre position of main drive wheel is respectively equipped with inside and outside baffle plate, cylindrical along on be respectively equipped with the inside and outside rib of main drive wheel; Internal baffle and retarder A are fixedly connected, and outer baffle is located at the end of the output shaft A of retarder A by bearing.
Described auxilliary drive wheel (being flower wheel) by overriding clutch and bearing installation on the output shaft B of retarder B, the one side of auxilliary drive wheel and a clutch plate (yoke) fixed connection of bi-directional electromagnetic power-transfer clutch, the cylindrical of auxilliary drive wheel along on be respectively equipped with inside and outside rib B.
The interior ring of described overriding clutch connects with the output shaft B of retarder B by key.
The driving disc spacing pressing of described bi-directional electromagnetic power-transfer clutch (armature) connects by the output shaft B of key and retarder B, and a clutch plate (yoke) links to each other with auxilliary drive wheel, and another clutch plate and swing arm unite two into one, i.e. swing arm becomes a clutch plate of bi-directional electromagnetic power-transfer clutch.
Wheel and foreign steamer in described escapement comprises, a clutch plate (yoke) fixed connection of wheel and bi-directional electromagnetic power-transfer clutch in the escapement, the escapement foreign steamer is contained in by bearing carrier ring on the output shaft B of retarder B, in the escapement cylindrical of wheel and foreign steamer along on be respectively equipped with and take turns rib and escapement foreign steamer rib in the escapement.
Described swing arm by bearing installation on the output shaft B of retarder B.
The main DC servo motor that drives of the present invention drives the main drive wheel rotation by retarder, drives traveling crawler; Auxilliary drive wheel (being flower wheel) is followed traveling crawler and is rotated.The interior wheel of escapement links to each other with auxilliary drive wheel by the bi-directional electromagnetic power-transfer clutch, follows auxilliary drive wheel and rotates synchronously, drives the work of escapement crawler belt simultaneously.The auxilliary DC servo motor that drives connects a major axis by retarder, and auxilliary drive wheel is installed on the major axis by overriding clutch and bearing combination, and ring connects with key and major axis in the overriding clutch.On major axis, its driving disc spacing pressing (armature) connects by key and major axis the bi-directional electromagnetic power-transfer clutch by bearing installation, and a clutch plate (yoke) links to each other with auxilliary drive wheel, and another clutch plate and swing arm unite two into one.Swing arm, can rotate freely on major axis by bearing installation.The foreign steamer of escapement also is contained on the major axis by bearing carrier ring, and under the traction of escapement crawler belt, the interior wheel of following escapement rotates together.
It is single that the present invention adopts bi-directional electromagnetic power-transfer clutch and overriding clutch to solve caterpillar type robot swing arm electric motors function effectively, and the problem of failing to make full use of has been expanded the function of swing arm motor simultaneously.The promptly auxilliary drive motor of swing arm motor can play the effect same with main drive motor, and under same power, the realization of four wheel drive has also improved the ability that robot is walked greatly on ascend domatic, leaping over obstacles trench and various complex road surface; In other words, satisfy same locomotor activity, the realization of four wheel drive can reduce the power and the moment of torsion of main drive motor effectively, thereby alleviate weight, has reduced volume, has reduced cost, has improved the walking driving power.The present invention has simultaneously satisfied fully in technical application, the governing principle that the equipment of important place and key equipment or parts " are equipped with ", and the standby motor that auxilliary drive motor can be used as main drive motor fully uses.The travel driving unit of four wheel drive of the present invention not only can be used on the caterpillar type robot, can also be widely used on the robot of various walking manners, especially running on wheels robot, the drive wheel of wheeled walking robot in the time of can solving two wheel drive effectively is because a variety of causes such as skid causes the difficult problem that robot can't normal operation.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Wherein 1, traveling crawler, 2, the outer rib of main drive wheel, 3, main drive wheel, 5, outer baffle, 6, bearing A, 7, the escapement crawler belt, 8, wheel in the escapement, 9, escapement foreign steamer rib, 10, wheel rib in the escapement, 11, the bi-directional electromagnetic power-transfer clutch, 12, the escapement foreign steamer, 13, output shaft B, 14, bearing B, 15, key, 17, swing arm, 18, the bi-directional electromagnetic clutch driving case, 19, coil, 20, the outer rib of auxilliary drive wheel, 21, auxilliary drive wheel, 22, auxilliary drive wheel inner retaining side, 24, overriding clutch, 25, bearing C, 26, retarder B, 27, the auxilliary DC servo motor that drives, 28, Internal baffle, 29, the main drive wheel inner retaining side, 30. retarder A, 31. the main drive wheel DC servo motor, 32. output shaft A.
The specific embodiment
The present invention is further described below in conjunction with drawings and Examples.
Among Fig. 1, main drive wheel 3 is installed on the output shaft A of retarder A30, and connects with the axle of retarder A30 by key.The main DC servo motor 31 that drives drives main drive wheel 3 rotations by retarder A30 output torque, drives traveling crawler 1 walking.Main drive wheel inner retaining side 29 and outer rib 2 have guaranteed the engagement of traveling crawler 1 with main drive wheel 3, and can not take off zoning.Retarder A30 and Internal baffle 28 are fixedly connected, and the other end of the output shaft A32 of retarder A30 is supported on the outer baffle 5 by bearing A6.Auxilliary drive wheel 23 (being flower wheel) is installed in by overriding clutch 24 and bearing C25 on the output shaft B13 of retarder B26, and overriding clutch 24 connects with the output shaft B13 of retarder B26 by key.The one side of auxilliary drive wheel 23 and a clutch plate (yoke) fixed connection of bi-directional electromagnetic power-transfer clutch 11.Bi-directional electromagnetic power-transfer clutch 11 is installed on the output shaft B13, its driving disc spacing pressing 18 (armature) connects by key and output shaft B13, one clutch plate (yoke) links to each other with auxilliary drive wheel 21, and another clutch plate and swing arm 17 unite two into one, i.e. swing arm 17 is clutch plates of bi-directional electromagnetic power-transfer clutch 11.The yoke fixed connection of wheel 8 and bi-directional electromagnetic power-transfer clutch 11 in the escapement, escapement foreign steamer 12 is sleeved on the output shaft B13 by bearing B14, follows the interior wheel 8 of escapement and rotates together.Swing arm 17 is installed on the axle 13 by bearing 14, can rotate freely.Auxilliary drive wheel inner retaining side 22 and outer rib 20 have guaranteed the engagement of traveling crawler 1 with auxilliary drive wheel 21, and wheel rib 10 and escapement foreign steamer rib 9 have guaranteed the engagement of escapement crawler belt 7 with inside and outside escapement in the escapement, in case the anti-avulsion band.
At ordinary times, the walking of caterpillar type robot is by retarder A30 output torque by the main DC servo motor 31 that drives, drive main drive wheel 3 rotations, drive traveling crawler 1 walking, traveling crawler 1 drives auxilliary drive wheel (flower wheel) 21 rotations, (bi-directional electromagnetic power-transfer clutch 11 is in off-position at this moment by bi-directional electromagnetic power-transfer clutch 11, under the effect of its disk spring, bi-directional electromagnetic clutch driving case 18 presses together with swing arm 17, the clutch plate yoke is free movable) connection, drive the rotation of wheel 8 in the escapement, thereby drive the walking of escapement crawler belt 7.The auxilliary DC servo motor 27 that drives is by retarder B26 output torque, drive driving disc spacing pressing 18 rotations of bi-directional electromagnetic power-transfer clutch 11 by key 15, drive swing arm 17 swings, realize the varied angle motion of swing arm 17, to adapt to the requirement of walking on ascend domatic, leaping over obstacles trench and the various complex road surface.This moment, interior ring the rotating speed same and overriding clutch 24 that key 15 connects was lower than the outer shroud rotating speed because the velocity of rotation of swing arm 17 is slow, and the auxilliary output that drives DC servo motor 27 does not constitute influence to the rotation of auxilliary drive wheel (flower wheel) 21.
When robot will be ascended bigger domatic, leaping over obstacles trench of the gradient and various complex road surface, if the output deficiency of main drive motor so that robot security when walking, can adopt the four wheel drive mode this moment.Promptly connect the coil 19 of bi-directional electromagnetic power-transfer clutch 11, under the effect of electromagnetic force, the driving disc spacing pressing 18 and swing arm 17 jump out of meshs of bi-directional electromagnetic power-transfer clutch 11, be installed in driving disc spacing pressing 18 idle running of the key 15 driving bi-directional electromagnetic power-transfer clutchs 11 on the output shaft B13, the key that is installed in the overriding clutch 24 on the output shaft B13 drives the interior ring rotation of overriding clutch 24, when its rotating speed and auxilliary drive wheel 21 quite the time, overriding clutch 24 is had an effect, the moving outer shroud rotation of endless belt in it, the torsional interaction of auxilliary drive motor output has been realized the walking movement of four wheel drive caterpillar type robot on auxilliary drive wheel 21.
Claims (7)
1. four-wheel driving caterpillar type robot walking drive device, comprise drive wheel, retarder, DC servo motor, traveling crawler, overriding clutch, the bi-directional electromagnetic power-transfer clutch, swing arm, escapement and escapement crawler belt, it is characterized in that: described drive wheel, retarder, DC servo motor comprises main drive wheel respectively, auxilliary drive wheel, retarder A, retarder B, main DC servo motor and the auxilliary DC servo motor that drives of driving, the main DC servo motor that drives is connected with retarder A, main drive wheel is installed on the output shaft A of retarder A, traveling crawler respectively with main drive wheel, auxilliary drive wheel engagement; The auxilliary DC servo motor that drives is connected with retarder B, and auxilliary drive wheel, overriding clutch, bi-directional electromagnetic power-transfer clutch, swing arm and escapement are installed on the output shaft B of retarder B successively; Escapement outer rim and the engagement of escapement crawler belt, the bi-directional electromagnetic power-transfer clutch is connected with auxilliary drive wheel, swing arm, escapement respectively.
2. four-wheel driving caterpillar type robot walking drive device according to claim 1, it is characterized in that: described main drive wheel connects with the output shaft A of retarder A by key, the circle centre position of main drive wheel is respectively equipped with inside and outside baffle plate, cylindrical along on be respectively equipped with inside and outside rib A; Internal baffle and retarder A are fixedly connected, and outer baffle is located at the end of the output shaft A of retarder A.
3. four-wheel driving caterpillar type robot walking drive device according to claim 1, it is characterized in that: described auxilliary drive wheel is installed on the output shaft B of retarder B by bearing and described overriding clutch, an one side of auxilliary drive wheel and a clutch plate fixed connection of bi-directional electromagnetic power-transfer clutch, the cylindrical of auxilliary drive wheel along on be respectively equipped with inside and outside rib B.
4. four-wheel driving caterpillar type robot walking drive device according to claim 1 is characterized in that: the interior ring of described overriding clutch connects with the output shaft B of retarder B by key.
5. four-wheel driving caterpillar type robot walking drive device according to claim 1, it is characterized in that: the driving disc spacing pressing of described bi-directional electromagnetic power-transfer clutch connects by the output shaft B of key and retarder B, one clutch plate links to each other with auxilliary drive wheel, another clutch plate and swing arm unite two into one, i.e. swing arm becomes a clutch plate of bi-directional electromagnetic power-transfer clutch.
6. four-wheel driving caterpillar type robot walking drive device according to claim 1, it is characterized in that: wheel and foreign steamer in described escapement comprises, a clutch plate fixed connection of wheel and bi-directional electromagnetic power-transfer clutch in the escapement, the escapement foreign steamer is contained in by bearing carrier ring on the output shaft B of retarder B, in the escapement cylindrical of wheel and foreign steamer along on be respectively equipped with and take turns rib and escapement foreign steamer rib in the escapement.
7. four-wheel driving caterpillar type robot walking drive device according to claim 1 is characterized in that: described swing arm by bearing installation on the output shaft B of retarder B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100155276A CN100572177C (en) | 2008-04-15 | 2008-04-15 | Four-wheel driving caterpillar type robot walking drive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2008100155276A CN100572177C (en) | 2008-04-15 | 2008-04-15 | Four-wheel driving caterpillar type robot walking drive device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101259854A CN101259854A (en) | 2008-09-10 |
| CN100572177C true CN100572177C (en) | 2009-12-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2008100155276A Expired - Fee Related CN100572177C (en) | 2008-04-15 | 2008-04-15 | Four-wheel driving caterpillar type robot walking drive device |
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| Country | Link |
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| CN (1) | CN100572177C (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335078B (en) * | 2016-10-26 | 2018-12-18 | 北京机械设备研究所 | A kind of joint of robot driving device |
| CN108995730B (en) * | 2018-07-25 | 2023-10-20 | 浙江工业大学 | Magnetic adsorption type transverse obstacle-surmounting wall-climbing robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4574900A (en) * | 1984-02-01 | 1986-03-11 | Kabushiki Kaisha Komatsu Seisakusho | Drive mechanism for track-type vehicle |
| FR2663285A1 (en) * | 1990-06-18 | 1991-12-20 | Lombardo Guillaume | Retractable caterpillar tracks for four-wheeled vehicles, intended for getting around on snow, sand, mud, and application to the production of a vehicle with caterpillar tracks and skids (skis) |
| CN1775608A (en) * | 2005-12-05 | 2006-05-24 | 中国科学技术大学 | Multiple obstacle environment-adaptive combined mechanism robot device |
| CN2850850Y (en) * | 2005-11-23 | 2006-12-27 | 沈阳新松机器人自动化股份有限公司 | Plane multiple-joint robot |
| CN201186681Y (en) * | 2008-04-15 | 2009-01-28 | 山东省科学院自动化研究所 | Four-wheel drive track-mounted robot walking driving device |
-
2008
- 2008-04-15 CN CNB2008100155276A patent/CN100572177C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4574900A (en) * | 1984-02-01 | 1986-03-11 | Kabushiki Kaisha Komatsu Seisakusho | Drive mechanism for track-type vehicle |
| FR2663285A1 (en) * | 1990-06-18 | 1991-12-20 | Lombardo Guillaume | Retractable caterpillar tracks for four-wheeled vehicles, intended for getting around on snow, sand, mud, and application to the production of a vehicle with caterpillar tracks and skids (skis) |
| CN2850850Y (en) * | 2005-11-23 | 2006-12-27 | 沈阳新松机器人自动化股份有限公司 | Plane multiple-joint robot |
| CN1775608A (en) * | 2005-12-05 | 2006-05-24 | 中国科学技术大学 | Multiple obstacle environment-adaptive combined mechanism robot device |
| CN201186681Y (en) * | 2008-04-15 | 2009-01-28 | 山东省科学院自动化研究所 | Four-wheel drive track-mounted robot walking driving device |
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| Publication number | Publication date |
|---|---|
| CN101259854A (en) | 2008-09-10 |
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Granted publication date: 20091223 Termination date: 20120415 |