CN202357792U - Traveling mechanism of wheel and jaw combined type robot - Google Patents
Traveling mechanism of wheel and jaw combined type robot Download PDFInfo
- Publication number
- CN202357792U CN202357792U CN2011204597827U CN201120459782U CN202357792U CN 202357792 U CN202357792 U CN 202357792U CN 2011204597827 U CN2011204597827 U CN 2011204597827U CN 201120459782 U CN201120459782 U CN 201120459782U CN 202357792 U CN202357792 U CN 202357792U
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- wheel
- jaw
- pawl
- hinge
- connecting rod
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Abstract
A traveling mechanism of a wheel and jaw combined type robot relates to a traveling mechanism of a paddy field transportation or planting machine and comprises a wheel and a driving mechanism for driving the wheel to move. A plurality of jaw blades are circumferentially and symmetrically arranged on the outer side of the wheel along an axle as a center line, each two jaw blades which are symmetrically disposed are connected onto a jaw blade telescoping mechanism, each jaw blade telescoping mechanism mainly consists of a wheel jaw shaft, a slide sleeve and connecting rods, one end of each wheel jaw shaft is connected with the axle by a connecting sleeve and fixed by a positioning pin, the other end of each wheel jaw shaft is suspended, each slide sleeve is sleeved on the corresponding wheel jaw shaft, one end of each jaw blade is connected with the corresponding wheel jaw shaft by a hinge, the middle of each jaw blade is connected with one end of each corresponding connecting rod by a hinge, and the other end of each connecting rod is connected with the corresponding slide sleeve by a hinge. On one hand, compaction of the wheel to soil of a paddy field is reduced, on the other hand, the traveling mechanism can travel fast in the paddy field, and a service effect is good.
Description
Technical field
The utility model relates to the traveling gear of transportation of a kind of paddy field or planting machinery, especially relates to a kind of traveling gear of tire combined type robot.
Background technology
Occur as yet at present can operation in rice terrace robot, with reference to paddy field machine, the chassis of in the paddy field, walking nothing more than there being four kinds, the one, wheeled, the 2nd, crawler type, the 3rd, boat form, the 4th, the special-purpose iron tyre that utilizes steel plate to be welded.The running on wheels chassis is to repack the wheel of on the road surface, walking into special road wheel, as the decorative pattern on the wheel is done a little improvement, deepens the degree of depth of decorative pattern, can improve tire like this to ground-surface extracting ability, makes road wheel be not easy to sink and skid.But this kind method can be brought another kind of problem, comes to this can accelerate Tyte Wear and can make the base portion of decorative pattern accelerate to produce some endurance cracks, thereby has shortened the service life of tire.The crawler-type traveling chassis is that traditional road wheel is changed to crawler belt; At present the crawler belt on crawler-type traveling chassis has two kinds of metallic pin hinge type and rubber belt tracks; This paddy field running gear has strengthened walking chassis and ground-surface area of contact with respect to running gear system, thereby has reduced the chassis to soil packing.But crawler belt is unfavorable for the fast running of chassis on road, and the injury of metal track road pavement when travels down is bigger, though the injury of rubber belt track road pavement is less, road is comparatively serious to the wearing and tearing of rubber belt track when on hard surfacing, walking.Boat form paddy field running gear has the miniature belt wheel walking of design-calculated farming ships such as Li Houzhi; The belly of this kind farming ship is that the boat form both sides are walking belt wheels; Drive complete machine through belt wheel and advance, there is a steamboat complete machine front portion, can control the direct of travel of complete machine through steamboat.But because the belly of this running gear receives bigger buoyancy, actv. has prevented sinking of road wheel although it is so, but buoyancy of water has also reduced road wheel to ground-surface adhesion value simultaneously, skidding can occur so in the process of walking.What use was more at present is helicallobe drive-type boat form running gear, and the driveability of the more preceding kind of this running gear increases, but the propulsive effort deficiency remains the key factor of restriction boat form running gear development.Therefore, the drive vane of boat form running gear is constantly being improved raising.The special-purpose iron tyre in paddy field is welded with steel plate, on the iron tyre wheel rim, evenly welds the thick steel plate of about 3mm, when advancing, produces propelling thrust forward by plate grab ground.Walking chassis, this special-purpose iron wheel type paddy field and face of land area of contact are less, complete machine is sunk, thereby influence operation quality.
The utility model content
The purpose of the utility model is to be the deficiency that solves the problems of the technologies described above, and a kind of traveling gear of tire combined type robot is provided, and reduces the compacting of wheel to water paddy soil on the one hand, can in rice terrace, walk fast on the other hand, and result of use is better.
The utility model is the deficiency that solves the problems of the technologies described above, and the technical scheme that is adopted is: the traveling gear of tire combined type robot comprises wheel and the driver train that drives the wheel walking; In the outside of wheel is that line of centers along the circumferential direction is arranged with many group pawl leaves with the wheel shaft; Per two symmetrically arranged pawl leaves all are connected on the pawl leaf telescoping mechanism, and described pawl leaf telescoping mechanism mainly is made up of tire axle, sliding sleeve and connecting rod, and an end of tire axle is connected with wheel shaft through coupling bush; And fix with locating dowel pin; The tire axle other end is unsettled, on the tire axle, is arranged with sliding sleeve, and an end of pawl leaf is connected with hinge with the tire axle; The middle part of pawl leaf is hinge with an end of connecting rod and is connected, and the other end of connecting rod is connected with hinge with sliding sleeve.
Described sliding sleeve is provided with bolt of rear end plate.
The beneficial effect of the utility model is: the utility model is provided with pawl leaf and pawl leaf telescoping mechanism respectively through the outside at two wheels, and the pawl leaf on sleeve can be realized flexible through particular organization.The pawl leaf was packed up, in rice terrace, the pawl leaf is opened during operation when robot was walked by land; After the pawl leaf opened, length that the pawl leaf of any two symmetries constitutes and wheel diameter were equal, at this moment; In traveling process; Take turns tyre cavity on the other hand and be filled with a large amount of air, the water in the paddy field can produce bigger buoyancy to running gear like this, can reduce machine to soil packing simultaneously.The pawl leaf can produce the bigger thrust that moves ahead on the other hand, and when the shape of pawl leaf adopted the shape of bionical thing limbs, result of use was better.
Description of drawings
Fig. 1 is the front view of the utility model.
Fig. 2 is the structural representation of the utility model running condition.
Reference numeral: 1, wheel, 2, wheel shaft, 3, the pawl leaf, 4, pawl leaf telescoping mechanism, 5, coupling bush, 401, the tire axle, 402, sliding sleeve, 403, connecting rod, 404, locating dowel pin, 405, bolt of rear end plate.
The specific embodiment
As shown in the figure, the traveling gear of tire combined type robot comprises wheel 1 and the driver train that drives the wheel walking; Is that line of centers along the circumferential direction is arranged with many group pawl leaves 3 in the outside of wheel 1 with wheel shaft 2, and per two symmetrically arranged pawl leaves 3 all are connected on the pawl leaf telescoping mechanism 4, opens or packs up through pawl leaf telescoping mechanism 4 adjustment pawl leaves 3; In general the pawl leaves of three groups of symmetries are set in the outside of wheel at least, and the pawl leaf was packed up, in rice terrace, the pawl leaf is opened during operation, after the pawl leaf opens when robot was walked by land; Length that the pawl leaf of any two symmetries constitutes and wheel diameter equate; At this moment, in traveling process, take turns tyre cavity on the other hand and be filled with a large amount of air; Water in the paddy field can produce bigger buoyancy to running gear like this, can reduce machine to soil packing simultaneously.The pawl leaf can produce the bigger thrust that moves ahead on the other hand; When the shape of pawl leaf adopts the shape of bionical thing limbs; Result of use is better; For example: the blade of other halobiontic limbs such as imitative tortoise pawl blade, imitative duck's foot blade, imitative fin blade, can certainly adopt rectangular paddle, triangular vane, polygon blade, roundleaf sheet, oval blade, crescent blade or the like.
Described pawl leaf telescoping mechanism 4 mainly is made up of tire axle 401, sliding sleeve 402 and connecting rod 403, and an end of tire axle 401 is connected with the wheel shaft 2 of wheel through coupling bush 5, and fixing with locating dowel pin 404; Tire axle 401 other ends are unsettled, on tire axle 401, are arranged with sliding sleeve 402, and can to limit the position of sliding sleeve at any time no longer mobile through bolt of rear end plate 405 is set on sliding sleeve 402; One end of pawl leaf 3 and tire axle 401 are connected with hinge, and the middle part of pawl leaf 3 is hinge with an end of connecting rod 403 and is connected, and the other end of connecting rod 403 is connected with hinge with the outer wall of sliding sleeve 402; Position through moving sliding sleeve is opened and is packed up adjustment pawl leaf, corresponding two connecting rods of each group pawl leaf, therefore; Confirm the quantity of connecting rod according to the group number that the pawl leaf is set; Casehistory: when being symmetrical set three groups of pawl leaves at lateral wheel, on sliding sleeve, be symmetrical set three groups of connecting rods equally, in the time of moving sliding sleeve; Three groups of connecting rods move simultaneously and drive three groups of pawl leaves and open or pack up, and realize the purpose of tire adjustment.
Claims (2)
1. the traveling gear of tire combined type robot; Comprise wheel (1) and drive the driver train that wheel is walked; It is characterized in that: the outside at wheel (1) is that line of centers along the circumferential direction is arranged with many group pawl leaves (3) with wheel shaft (2); Per two symmetrically arranged pawl leaves (3) all are connected on the pawl leaf telescoping mechanism (4), and described pawl leaf telescoping mechanism (4) mainly is made up of tire axle (401), sliding sleeve (402) and connecting rod (403), and an end of tire axle (401) is connected with wheel shaft (2) through coupling bush (5); And it is fixing with locating dowel pin (404); Tire axle (401) other end is unsettled, on tire axle (401), is arranged with sliding sleeve (402), and an end of pawl leaf (3) is connected with hinge with tire axle (401); The middle part of pawl leaf (3) is hinge with an end of connecting rod (403) and is connected, and the other end of connecting rod (403) is connected with hinge with sliding sleeve (402).
2. the traveling gear of a kind of tire combined type robot according to claim 1 is characterized in that: described sliding sleeve (402) is provided with bolt of rear end plate (405).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204597827U CN202357792U (en) | 2011-11-18 | 2011-11-18 | Traveling mechanism of wheel and jaw combined type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204597827U CN202357792U (en) | 2011-11-18 | 2011-11-18 | Traveling mechanism of wheel and jaw combined type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202357792U true CN202357792U (en) | 2012-08-01 |
Family
ID=46569002
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204597827U Withdrawn - After Issue CN202357792U (en) | 2011-11-18 | 2011-11-18 | Traveling mechanism of wheel and jaw combined type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202357792U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424076A (en) * | 2011-11-18 | 2012-04-25 | 河南科技大学 | Traveling mechanism of wheel-claw composite type robot |
| CN110393076A (en) * | 2019-07-15 | 2019-11-01 | 广西农业职业技术学院 | A kind of self-propelled combine |
-
2011
- 2011-11-18 CN CN2011204597827U patent/CN202357792U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424076A (en) * | 2011-11-18 | 2012-04-25 | 河南科技大学 | Traveling mechanism of wheel-claw composite type robot |
| CN102424076B (en) * | 2011-11-18 | 2013-06-19 | 河南科技大学 | Traveling mechanism of wheel-claw composite type robot |
| CN110393076A (en) * | 2019-07-15 | 2019-11-01 | 广西农业职业技术学院 | A kind of self-propelled combine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120801 Effective date of abandoning: 20130619 |
|
| RGAV | Abandon patent right to avoid regrant |