CN102887181B

CN102887181B - Swinging arm drive device for tracked robot

Info

Publication number: CN102887181B
Application number: CN201210207854.8A
Authority: CN
Inventors: 朱爱斌; 牛婷
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2012-06-21
Filing date: 2012-06-21
Publication date: 2015-05-27
Anticipated expiration: 2032-06-21
Also published as: CN102887181A

Abstract

The invention discloses a swinging arm drive device for a tracked robot. The swinging arm drive device for the tracked robot comprises a swinging arm direct-current servo motor which is arranged in a walking hollow driven shaft of the tracked robot, wherein the inside of the walking hollow driven shaft of the tracked robot is fixed on a side plate of a vehicle body; the output rotating shaft of the swinging arm direct-current servo motor extends out from the outside of the walking hollow driven shaft of the tracked robot and is connected with a rotating shaft at the back end of a swinging arm plate by a key and a fastening bolt; and the front end of the swinging arm plate is connected with the shaft of a swinging arm driven wheel. Due to the adoption of the design that the swinging arm direct-current servo motor directly drives the swinging arm to rotate, the swinging arm drive device for the tracked robot has the advantages that a transmission mechanism is simplified, the transmission failure rate is reduced, the weight of the swinging arm device is lightened, and the energy consumption of the system is reduced when compared with the conventional transmission mechanism; the swinging arm direct-current motor is completely contained in the walking hollow driven shaft; the space utilization rate of a vehicle body is improved; and the miniaturization and the light weight of a ground mobile robot are realized.

Description

A kind of caterpillar robot swing arm drive device

Technical field

The invention belongs to robot field, relate to a kind of caterpillar robot device, especially a kind of caterpillar robot swing arm drive device.

Background technology

Along with the progress of science and technology and the social demand of the mankind, the different field that ground mobile robot has been widely used in living is as explosive etc. in military surveillance, safety.Caterpillar robot with swing arm can realize obstacle detouring, the function such as leap irrigation canals and ditches, speeling stairway etc. of ground mobile robot, but traditional swing arm driving mechanism is too complicated, add the weight of swing arm, increase the energy consumption of system, the miniaturization of ground mobile robot, lightness cannot be realized.

Summary of the invention

The object of the invention is to the shortcoming overcoming above-mentioned prior art, a kind of caterpillar robot swing arm drive device is provided, the design that this device adopts the swing arm of swing arm DC servo motor Direct driver to rotate, reduce drive failures rate, alleviate the weight of swinging arm device, improve the space availability ratio of car body.

The object of the invention is to solve by the following technical programs:

A kind of caterpillar robot swing arm drive device, comprise and be arranged on caterpillar robot and walk the swing arm DC servo motor of hollow driven shaft inside, the walk inner side of hollow driven shaft of described caterpillar robot is fixed on car body side plate, the output revolving shaft of swing arm DC servo motor stretches out from the walk outside of hollow driven shaft of caterpillar robot, is connected with holding screw by key with the rear end rotating shaft of swing arm plate; The outside axle head of described swing arm plate rear end rotating shaft is by connecting together with the axis hole on outside swing arm driving wheel and outside swing arm driving wheel; The axle of described swing arm front edge of board and swing arm flower wheel links together; Described caterpillar robot is walked on hollow driven shaft and is also provided with inner side swing arm driving wheel, and inner side swing arm driving wheel and outside swing arm driving wheel pass through swing arm crawler belt and drive swing arm flower wheel.

Above-mentioned caterpillar robot hollow driven shaft arranged outside of walking has walking passive gear, and walking passive gear is connected with inner side swing arm driving wheel by four pins be arranged symmetrically with around axle circumference.

Above-mentioned swing arm plate is that middle part offers trapezoidal or square opening, and rear end is than the trapezoidal flat board of leading portion money.

The design that the present invention adopts the swing arm of swing arm DC servo motor Direct driver to rotate, following advantage is had: swing arm DC servo motor Direct driver simplifies transmission device compared with traditional transmission device, reduce drive failures rate, alleviate the weight of swinging arm device, reduce the energy consumption of system; Swing arm DC servo motor is completely contained in the hollow driven shaft of walking, improves the space availability ratio of car body, achieves the miniaturization of ground mobile robot, lightness.

Accompanying drawing explanation

Fig. 1 is the cutaway view of swing arm on the right side of the present invention;

Fig. 2 is the block diagram that on the left of the present invention, crawler belt is unkitted in swing arm;

Fig. 3 is the block diagram on the left of the present invention after swing arm installation crawler belt;

Fig. 4 be on the left of the present invention swing arm be arranged on car body after block diagram.

Wherein: 1 is outside swing arm driving wheel; 2 is inner side swing arm driving wheel; 3 is walking passive gear; 4 is key; 5 is swing arm plate; 6 is swing arm DC servo motor; 7 to walk hollow driven shaft for caterpillar robot; 8 is car body side plate; 9 is swing arm crawler belt; 10 is swing arm flower wheel.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is described in further detail:

See Fig. 1-3, this caterpillar robot swing arm drive device, comprise and be arranged on caterpillar robot and walk the swing arm DC servo motor 6 of hollow driven shaft 7 inside, the walk inner side of hollow driven shaft 7 of described caterpillar robot is fixed on car body side plate 8, the output revolving shaft of swing arm DC servo motor 6 stretches out from the walk outside of hollow driven shaft 7 of caterpillar robot, is connected with holding screw by key 4 with swing arm plate 5 rear end rotating shaft; The outside axle head of described swing arm plate 5 rear end rotating shaft is by connecting together with the axis hole on outside swing arm driving wheel 1 and outside swing arm driving wheel 1; The axle of described swing arm plate 5 front end and swing arm flower wheel 10 links together; Described caterpillar robot is walked on hollow driven shaft 7 and is also provided with inner side swing arm driving wheel 2, and inner side swing arm driving wheel 2 and outside swing arm driving wheel 1 drive swing arm flower wheel 10 by swing arm crawler belt 9.Caterpillar robot hollow driven shaft 7 arranged outside of walking has walking passive gear 3, and walking passive gear 3 is connected with inner side swing arm driving wheel 2 by four pins be arranged symmetrically with around axle circumference.Swing arm plate 5 is trapezoidal or square opening for middle part offers, and the trapezoidal flat board that rear end is wider than leading portion.

With reference to Fig. 1-3, principle of work of the present invention, run when surface conditions is good, swing arm DC servo motor 6 is in closed condition, so the swing arm of whole device remains static, car body traveling crawler drives walking passive gear 3 to rotate, walking passive gear drives inner side swing arm driving wheel 2 to rotate, and drive swing arm flower wheel 10 to rotate by swing arm crawler belt 9, the swing arm in the process of advancing of whole device is not rotated simultaneously, crawler belt is rotating always, for advancing of car body provides power.

When surface conditions is bad, swing arm DC servo motor 6 is in opening, before the rotating manner of swing arm crawler belt 9 is logical, situation is identical, all driven by car body traveling crawler, output revolving shaft unlike swing arm DC servo motor 6 drives swing arm plate 5 to do 360 ° of rotations, when running into obstacle, by the swing arm of car body both sides, car body is raised, the swing arm crawler belt 9 rotated provides power to car body again simultaneously, make car body more light when across obstacle, because swing arm driving mechanism design of the present invention is simple, decrease the weight of swing arm, reduce energy consumption simultaneously, achieve the miniaturization of ground mobile robot, lightness.

Claims

1. a caterpillar robot swing arm drive device, it is characterized in that: comprise and be arranged on caterpillar robot and walk the inner swing arm DC servo motor (6) of hollow driven shaft (7), the walk inner side of hollow driven shaft (7) of described caterpillar robot is fixed on car body side plate (8), the output revolving shaft of swing arm DC servo motor (6) stretches out from the walk outside of hollow driven shaft (7) of caterpillar robot, is connected with holding screw by key (4) with swing arm plate (5) rear end rotating shaft; The outside axle head of described swing arm plate (5) rear end rotating shaft is by connecting together with the axis hole on outside swing arm driving wheel (1) and outside swing arm driving wheel (1); The axle of described swing arm plate (5) front end and swing arm flower wheel (10) links together; Described caterpillar robot is walked on hollow driven shaft (7) and is also provided with inner side swing arm driving wheel (2), and inner side swing arm driving wheel (2) and outside swing arm driving wheel (1) drive swing arm flower wheel (10) by swing arm crawler belt (9); Described caterpillar robot hollow driven shaft (7) arranged outside of walking has walking passive gear (3), and walking passive gear (3) is connected with inner side swing arm driving wheel (2) by four pins be arranged symmetrically with around axle circumference;

Run when surface conditions is good, swing arm DC servo motor (6) is in closed condition, so the swing arm of whole device remains static, car body traveling crawler drives walking passive gear (3) to rotate, walking passive gear drives inner side swing arm driving wheel (2) to rotate, drive swing arm flower wheel (10) to rotate by swing arm crawler belt (9) simultaneously, the swing arm in the process of advancing of whole device is not rotated, crawler belt is rotating always, for advancing of car body provides power;

When surface conditions is bad, swing arm DC servo motor (6) is in opening, before the rotating manner of swing arm crawler belt (9) is logical, situation is identical, all driven by car body traveling crawler, output revolving shaft unlike swing arm DC servo motor (6) drives swing arm plate (5) to do 360 ° of rotations, when running into obstacle, by the swing arm of car body both sides, car body is raised, the swing arm crawler belt (9) rotated provides power to car body again simultaneously, makes car body more light when across obstacle.

2. a kind of caterpillar robot swing arm drive device according to claim 1, is characterized in that: described swing arm plate (5) is trapezoidal or square opening for middle part offers, and the trapezoidal flat board that rear end is wider than leading portion.