CN100395161C - Grip-hook planetary detecting robot wheel - Google Patents
Grip-hook planetary detecting robot wheel Download PDFInfo
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- CN100395161C CN100395161C CNB2006100113931A CN200610011393A CN100395161C CN 100395161 C CN100395161 C CN 100395161C CN B2006100113931 A CNB2006100113931 A CN B2006100113931A CN 200610011393 A CN200610011393 A CN 200610011393A CN 100395161 C CN100395161 C CN 100395161C
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Abstract
A wheel for the wheel-jaw type planet prospecting robot is composed of a drive and walk unit and a steering unit. A method for linking said two units with each other is also disclosed. Its advantage is high power to grasp ground and cross over the obstacles.
Description
(1) technical field:
The invention provides a kind of tire formula planetary detecting robot wheel, belong to the planetary detecting robot wheel equipment of field of space technology.
(2) background technology:
Along with the develop rapidly of space science technology, many spacefaring nations have been formulated the planetary detection plan of oneself, and planetary detecting robot is requisite link in the planetary detection process, has become the research focus of various countries.
Current planetary detecting robot is based on wheeled, and the structure of its wheel mainly contains three kinds of forms:
1. typical circular wheel:
The wheel of Marsokhod that it is represented as " courage number ", as shown in Figure 1.This wheel application is the most extensive, and its profile is common circle, wheel well-distributed laterally (or oblique) striped or pyramidal projections circumferentially arranged, grab the ground ability with enhancing.The robot motion that this wheel is housed is stable, turn to flexibly, but its fatal shortcoming is the step that can not cross above radius of wheel, can not cross over the trench above wheel diameter.
2. spring-piece type wheel:
It is represented as the wheel of certain model Marsokhod, as shown in Figure 2.This wheel also is circular, and different is, and its traveling gear is the thin shell fragment of circumferential well-distributed.This wheel is compared with first kind has increased certain pooling feature, but its fatal shortcoming is the step that can not cross above radius of wheel equally, can not cross over the trench above wheel diameter.
3. planet gear type wheel
It is represented as the satellite gear lunar roving vehicle wheel of Harbin Institute of Technology, as shown in Figure 3.Each wheel is made of three asteroid wheels, when on flat road surface, walking, steamboat 1 and steamboat 2 land, and when running into bigger obstacle or step, trigger mechanism is started working, three steamboats can (be similar to the planet revolution around its convenience center rotation, so gain the name), steamboat 3 just can crossing over blockage like this, behind the successful clear an obstacle, become steamboat 2 and steamboat 3 lands, robot moves in this state.This wheel has overcome the shortcoming of preceding two kinds of wheels, can cross the step contour with little wheel diameter, but it and crawler type wheel have same shortcoming: turn to very difficult.
(3) summary of the invention:
Shortcoming in view of above three kinds of wheels existence, the purpose of this invention is to provide a kind of tire formula planetary detecting robot wheel, this wheel can make the robot motion stable, turns to flexibly, can allow robot cross step again, also can cross over trench above wheel diameter above radius of wheel.
The present invention has designed, and a kind of " tire formula planetary detecting robot wheel " realizes purpose of the present invention.To divide three technical schemes that go on foot detailed place of matchmakers to take below: the first step is introduced its overall structure, and second step was introduced its detailed structure, and the 3rd step was introduced its principle of work, function and advantage.
1. a kind of tire formula of the present invention planetary detecting robot wheel, its overall structure is as follows:
It is made up of the two large divisions: driving and traveling gear, steering hardware." drive and traveling gear " power of being responsible for producing wheel revolutions, advance to promote robot; " steering hardware " is responsible for turning to of wheel.
Connecting relation between " driving and traveling gear " and " steering hardware " is as follows:
Drive motor cover on " driving and traveling gear " inserts " steering hardware " and goes up in the drive motor cover mounting hole of steering base, then the steering base mounting screw is passed the straight hole on the steering base, again the steering base mounting screw is screwed in the tapped bore that drive motor puts.Using the same method packs into has altogether just finished connection between " driving and traveling gear " and " steering hardware " behind a plurality of steering base mounting screws.
2. a kind of tire formula of the present invention planetary detecting robot wheel, its detailed structure is as follows:
(1) a kind of tire formula of the present invention planetary detecting robot wheel, it " drives and traveling gear " is made up of following parts, that is: tire, the tire bearing, the tire end ring, the tire screw, the tire nut, wheel top cover, top cover screw, top cover nut, the end cap screw, driving bearing baffle ring one, the wheel end cap, drive snap ring, holding screw one, the drive motor mounting screw, driving bearing, left side foreign steamer, wheel in the left side, driving bearing baffle ring two, the drive motor cover, drive retarder, drive motor, drive coder, the tire stop screw, the tire stop nut, the drive motor lid, the wheel latch spring, drive motor lid screw.
Connecting relation between each parts and act on as follows:
A kind of tire formula of the present invention planetary detecting robot wheel is provided with a plurality of tires, along the circumferential rectangular distribution of wheel.When robot is walked on the rugged ground of complexity, always having at least one tire contacts with ground, this tire that contacts with ground can change the pendulum angle of oneself passively according to change of topography, to improve the ground ability of grabbing of wheel, if run into step or obstacle, it can also catch wheel fwd step or obstacle, makes robot cross it smoothly.When robot moves on, originally grabbed the tire on ground and can under the wheel gravity effect, pack up to inside wheel, reduced the robot that the hexagon effect because of wheel causes greatly and pitched.And those tires that do not contact with ground 1 open-shaped attitude under the tension of wheel latch spring 27 prepares to catch obstacle at any time;
The tire bearing installation is on the tire screw, matches with tire in the outer ring of this tire bearing, is responsible for supporting tire, and tire is rotated flexibly;
The tire end ring also is installed on the tire screw, and the interior ring that these tire end ring two ends are withstood wheel inboard and tire bearing respectively plays the effect of location to the tire bearing;
The tire screw passes the endoporus of tire bearing, with together support tire behind the tire nut screwing clamping and tire bearing;
Wheel top cover is installed in the top and overlaps on the screw, the inboard that the interior wheel of a left foreign steamer and a left side is withstood at these cover two ends, wheel top respectively, and nut locking is overlapped by the top after passing top cover screw again in the centre, has so just fixed the relative position of wheel in a left foreign steamer and the left side.One end of all right tight pulley latch spring of circular groove in the middle of the cover of wheel top;
The end cap screw is responsible for the wheel end cap is fixed on the left foreign steamer, and the transmission of power that the wheel end cap is transmitted is to left foreign steamer.
Driving bearing baffle ring one is installed in the bearing mounting hole of left foreign steamer, and the outer shroud of wheel end cap and driving bearing is withstood at its two ends respectively, is used for the axial restraint driving bearing;
The wheel end cap links with left foreign steamer and the output shaft that drives drop-gear box respectively, and the transmission of power of being responsible for driving drop-gear box and plays and prevents dust and protective effect to left foreign steamer;
The driving snap ring is clamped in the positioning groove of drive motor cover, realizes the axial location of drive motor cover and driving bearing;
Holding screw one is screwed in the tapped bore of wheel end cap, withstands the output shaft that drives retarder, makes wheel end cap and the output shaft relative fixed that drives drop-gear box;
The drive motor mounting screw is responsible for the driving retarder is fixed in the drive motor cover;
The outer ring of driving bearing cooperates with the bearing mounting hole of left foreign steamer, and the inner ring of this driving bearing cooperates with the drive motor cover, plays the effect of carries left foreign steamer, and left foreign steamer is rotated flexibly;
The common main body that constitutes wheel of wheel in a left side foreign steamer and the left side, wheel is installed on the left foreign steamer in the left side, between the two by wheel top cover Mi Dingwei.When wheel rolled forward, they were responsible for contacting with ground, and individual well-distributed transverse groove is circumferentially arranged, and can play certain anti-skidding effect, and tire is equipped with in both centres;
Driving bearing baffle ring two is installed in drive motor and puts, and the interior ring of two driving bearings is withstood at its two ends respectively, realizes the axial location of two driving bearings;
The drive motor cover drives retarder, drive motor and driving coder in order to install, cooperate with the interior ring of driving bearing again, responsible support whole " driving and traveling gear ", it also links with steering hardware simultaneously, plays the effect of " driving and traveling gear " and " steering hardware ";
Driving retarder, drive motor and driving coder three are fixed together when dispatching from the factory, and they are installed in the drive motor cover together.Drive retarder and be responsible for reducing rotating speed of motor and increase its torque, drive motor is responsible for providing the power of wheel, drives the effect that coder plays angular transducer;
Tire stop screw and tire stop nut are fixed in a left foreign steamer and the left side on the wheel together, and the swing of tire is played the role of positioning;
The drive motor lid is installed in drive motor and puts, and plays sealing and protective effect to driving retarder, drive motor and driving coder three;
The tire both ends of the spring hooks tire and wheel top cover respectively, makes tire open-shaped attitude when not contacting with ground;
Drive motor lid screw is responsible for that the drive motor lid is fixed on drive motor and is put;
(2) a kind of tire formula of the present invention planetary detecting robot wheel, its " steering hardware " is made up of following parts, that is: steering base mounting screw, steer motor mounting screw, holding screw two, steering base, turn to snap ring, steering bearing, steering bearing baffle ring one, steering bearing baffle ring two, steering base end cap screw, steering base end cap, steer motor cover, turn to retarder, steer motor, turn to coder, steer motor lid, steer motor lid screw.
Connecting relation between each parts and act on as follows:
The steering base mounting screw is responsible for the drive motor cover is fixed on the steering base;
The steer motor mounting screw is responsible for and will is turned to retarder to be fixed in the steer motor cover;
Holding screw two is screwed in the tapped bore of steering base, withstands the output shaft that turns to retarder, makes steering base and the output shaft relative fixed that turns to retarder;
Steering base and drive motor cover are installed together, and the bearing mounting hole of this steering base cooperates with the outer shroud of steering bearing, can support steer motor etc.;
Turn to snap ring to be clamped in the positioning groove of steer motor cover, realize the axial location of steer motor cover and steering base;
The outer ring of steering bearing cooperates with the bearing mounting hole of steering base, and the inner ring of this steering bearing cooperates with the steer motor cover, plays the effect of supporting the steer motor cover, makes wheel steering flexible simultaneously;
Steering bearing baffle ring one is installed in steer motor and puts, and the interior ring of two steering bearings is withstood at its two ends respectively, realizes the axial location of two steering bearings;
Steering bearing baffle ring two has two, all be installed in the bearing hole of steering base, the outer shroud and the steering base end cap of steering bearing withstood at one of them two ends respectively, and the outer shroud of two steering bearings is withstood at another two ends respectively, and two bearing baffle rings two all are used for the axial restraint steering bearing;
Steering base end cap screw is responsible for the steering base end cap is fixed on the steering base;
The steering base end cap is installed on the steering base, is responsible for axial restraint steer motor cover, plays certain dustproof and protective effect simultaneously;
The steer motor cover turns to retarder, steer motor and turns to coder in order to installation, cooperate with the interior ring of steering bearing again, be responsible for supporting and be somebody's turn to do " tire formula planetary detecting robot wheel ", it also links with robot body simultaneously, plays the effect that connects wheel and robot body;
Be fixed together when turning to retarder, steer motor and turning to the coder three to dispatch from the factory, they are installed in the steer motor cover together; Turn to retarder to be responsible for reducing rotating speed of motor and increase moment, steer motor is responsible for providing the power of wheel steering, turns to coder to play the effect of angular transducer;
The steer motor lid is installed in steer motor and puts, to turning to retarder, steer motor and turning to the coder three to play sealing and protective effect;
Steer motor lid screw is responsible for that the steer motor lid is fixed on steer motor and is put.
A kind of tire formula of the present invention planetary detecting robot wheel, its principle of work, function and advantage are as follows:
A kind of tire formula of the present invention planetary detecting robot wheel, its innovative point are mainly at tire, and each wheel has six tires, along the circumferential rectangular distribution of wheel.When robot is walked on the rugged ground of complexity, always having at least one tire contacts with ground, this tire that contacts with ground can change the pendulum angle of oneself according to change of topography, to improve the ground ability of grabbing of wheel, if run into step or obstacle, it can also catch wheel fwd step or obstacle, makes robot cross it smoothly.When robot moves on, originally grabbed the tire on ground and can under the wheel gravity effect, pack up to inside wheel, eliminated the robot that the hexagon effect of wheel causes and pitched.And those tires that do not contact with ground open-shaped attitude under the tension of wheel latch spring prepares to go to catch obstacle at any time.The limiting altitude that this wheel is crossed step is 1.5 times of radius of wheel.
When robot was walked on flat road surface, the better effects if of wheel retrograde rotation was because can make the motion of robot lighter like this.
(4) description of drawings:
Fig. 1 " courage number " Marsokhod figure
Fig. 2 model Marsokhod figure
The satellite gear lunar rover vehicle figure of Fig. 3 Harbin Institute of Technology
Fig. 4 three-dimensional model diagram of the present invention
Fig. 5 " drive and traveling gear " of the present invention cutaway view (be among Fig. 6 A-A to cutaway view)
The left view of Fig. 6 Fig. 5
Fig. 7 " steering hardware " cutaway view
The right elevation of Fig. 8 Fig. 7
Fig. 9 integral structure cutaway view of the present invention
The C-C cross sectional view of Figure 10 Fig. 9
The A of Figure 11 Fig. 9 is to partial view
B part partial enlarged view among Figure 12 Fig. 9
Figure 13 the present invention is installed in the three-dimensional model diagram on the robot body
Number in the figure is described as follows:
(1) digit sequence:
1. tire; 2. tire bearing; 3. tire end ring; 4. tire screw; 5. tire nut; 6. the wheel top is overlapped; 7. screw is overlapped on the top; 8. nut is overlapped on the top; 9. end cap screw; 10. the driving bearing baffle ring one; 11. wheel end cap; 12. driving snap ring; 13. holding screw one; 14. drive motor mounting screw; 15. driving bearing; 16. left foreign steamer; 17. wheel in the left side; 18. driving bearing baffle ring two; 19. drive motor cover; 20. driving retarder; 21. drive motor; 22. steering base mounting screw; 23. driving coder; 24. tire stop screw; 25. tire stop nut; 26. drive motor lid; 27. wheel latch spring; 28. drive motor lid screw; 29. steer motor mounting screw; 30. holding screw two; 31. steering base; 32. turn to snap ring; 33. steering bearing; 34. steering bearing baffle ring one; 35. steering bearing baffle ring two; 36. steering base end cap screw; 37. steering base end cap; 38. steer motor cover; 39. turn to retarder; 40. steer motor; 41. turn to coder; 42. steer motor lid; 43. steer motor lid screw.
(2) letter series:
A. drive motor overlaps the tapped bore on 19; B. the straight hole of steering base 31; C. the drive motor of steering base 31 overlaps mounting hole; D. wheel inboard; The bearing mounting hole of e. left foreign steamer 16; F. the transverse groove on the wheel; G. the tapped bore of steering base 31; H. the bearing mounting hole of steering base 31.
(5) specific embodiment:
The present invention has designed, and a kind of " tire formula planetary detecting robot wheel " realizes purpose of the present invention.To divide three technical schemes that go on foot detailed place of matchmakers to take below: the first step is introduced its overall structure, and second step was introduced its detailed structure, and the 3rd step was introduced its principle of work and function.
1. a kind of tire formula of the present invention planetary detecting robot wheel, its overall structure is as follows:
3D modelling of the present invention as shown in Figure 4, it is made up of the two large divisions: driving and traveling gear, steering hardware.The structure of " drive and traveling gear " as shown in Figure 5 and Figure 6, this mechanism is responsible for producing the power of wheel revolutions, advances to promote robot; The structure of " steering hardware " as shown in Figure 7 and Figure 8, this mechanism is responsible for turning to of wheel.
As follows in conjunction with the connecting relation between Fig. 5-Fig. 8 explanation " driving and traveling gear " and " steering hardware ":
Drive motor cover 19 (shown in Figure 5) on " driving and traveling gear " are inserted " steering hardware " and are gone up among the drive motor cover mounting hole c (Fig. 8) of steering base 31, then steering base mounting screw 22 is passed the straight hole b (shown in Figure 7) on the steering base 31, again steering base mounting screw 22 is screwed among the tapped bore a on the drive motor cover 19.Using the same method packs into has altogether just finished connection between " driving and traveling gear " and " steering hardware " behind 6 steering base mounting screws 22, as shown in figure 11.
2. a kind of tire formula of the present invention planetary detecting robot wheel, its detailed structure is as follows:
Assembly drowing of the present invention such as Fig. 9-shown in Figure 12, introduce the structure of wheel and the connecting relation between each parts in detail below in conjunction with Fig. 9-Figure 12.
(1) driving and traveling gear
" drive and traveling gear " and form, that is: by following 27 kinds of parts
Below in conjunction with Fig. 9-Figure 12 connecting relation and effect between each parts are described.
A kind of tire formula of the present invention planetary detecting robot wheel has six tires 1, along the circumferential rectangular distribution of wheel.When robot is walked on the rugged ground of complexity, always having at least one tire 1 contacts with ground, this tire that contacts with ground 1 can change the pendulum angle of oneself passively according to change of topography, to improve the ground ability of grabbing of wheel, if run into step or obstacle, it can also catch wheel fwd step or obstacle, makes robot cross it smoothly.When robot moves on, originally grabbed the tire 1 on ground and can under the wheel gravity effect, pack up to inside wheel, reduced the robot that the hexagon effect because of wheel causes greatly and pitched.And those tires that do not contact with ground 1 open-shaped attitude under the tension of wheel latch spring 27 prepares to catch obstacle at any time.
Tire bearing 2 is installed on the tire screw 4, and the outer ring of this tire bearing 2 cooperates with tire 1, is responsible for supporting tire 1, and tire 1 is rotated flexibly.
Tire screw 4 passes the endoporus of tire bearing 2, with 5 together support tires 1 and tire bearing 2 behind the tire nut screwing clamping.
Wheel top cover 6 is installed on the cover screw 7 of top, and the inboard d of wheel 17 in a left foreign steamer 16 and the left side is withstood at these cover 6 two ends, wheel top respectively, and the centre is passed behind the cover screw 7 of top again by top cover nut 8 lockings, has so just fixed and has taken turns 17 relative position in a left foreign steamer 16 and the left side.One end of all right tight pulley latch spring 27 of circular groove in the middle of the wheel top cover 6.
End cap screw 9 is responsible for wheel end cap 11 is fixed on the left foreign steamer 16, and the transmission of power that wheel end cap 11 is transmitted is to left foreign steamer 16.
Driving bearing baffle ring 1 is installed in the bearing mounting hole e of left foreign steamer 16, and the outer shroud of wheel end cap 11 and driving bearing 15 is withstood at its two ends respectively, is used for axial restraint driving bearing 15.
Wheel end cap 11 links with left foreign steamer 16 and the output shaft that drives drop-gear box 20 respectively, and the transmission of power of being responsible for driving drop-gear box 20 and plays and prevents dust and protective effect to left foreign steamer 16.
Driving snap ring 12 is clamped in the positioning groove of drive motor cover 19, realizes the axial location of drive motor cover 19 and driving bearing 15.
Holding screw 1 is screwed in the tapped bore of wheel end cap 11, withstands the output shaft that drives retarder 20, makes wheel end cap 11 and the output shaft relative fixed that drives drop-gear box 20.
Drive motor mounting screw 14 is responsible for driving retarder 20 and is fixed in the drive motor cover 19.
The outer ring of driving bearing 15 cooperates with the bearing mounting hole e of left foreign steamer 16, and the inner ring of this driving bearing 15 cooperates with drive motor cover 19, plays the effect of carries left foreign steamer 16, and left foreign steamer 16 is rotated flexibly.
The wheel 17 common main bodys that constitute wheel in a left side foreign steamer 16 and the left side, wheel 17 is installed on the left foreign steamer 16 in the left side, is located by wheel top cover 6 between the two.When wheel rolled forward, they were responsible for contacting with ground, and 36 well-distributed transverse groove f are circumferentially arranged, and can play certain anti-skidding effect.Tire 1 is equipped with in both centres.
Driving bearing baffle ring 2 18 is installed on the drive motor cover 19, and the interior ring of two driving bearings 15 is withstood at its two ends respectively, realizes the axial location of two driving bearings 15.
Drive motor cover 19 drives retarder 20, drive motor 21 and drives coder 23 in order to install, cooperate with the interior ring of driving bearing 15 again, be responsible for supporting whole " driving and traveling gear ", it also links with steering hardware simultaneously, plays the effect of " driving and traveling gear " and " steering hardware ".
Driving retarder 20, drive motor 21 and driving coder 23 threes are fixed together when dispatching from the factory, and they are installed in the drive motor cover 19 together.Drive retarder 20 and be responsible for reducing rotating speed of motor and increasing its torque, drive motor 21 is responsible for providing the power of wheel, drives the effect that coder 23 plays angular transducer.
Drive motor lid 26 is installed on the drive motor cover 19, plays sealing and protective effect to driving retarder 20, drive motor 21 and driving coder 23 threes.
Drive motor lid screw 28 is responsible for drive motor lid 26 is fixed on the drive motor cover 19.
(2) steering hardware
This steering hardware is made up of following 16 kinds of parts, that is:
Steering base mounting screw 22, steer motor mounting screw 29, holding screw 2 30, steering base 31, turn to snap ring 32, steering bearing 33, steering bearing baffle ring 1, steering bearing baffle ring 2 35, steering base end cap screw 36, steering base end cap 37, steer motor cover 38, turn to retarder 39, steer motor 40, turn to coder 41, steer motor lid 42, steer motor lid screw 43.
Below in conjunction with Fig. 9-Figure 12 connecting relation and effect between each parts are described.
Steering base mounting screw 22 is responsible for drive motor cover 19 is fixed on the steering base 31.
Steer motor mounting screw 29 is responsible for turning to retarder 39 to be fixed in the steer motor cover 38.
Holding screw 2 30 is screwed in the tapped bore g of steering base 31, withstands the output shaft that turns to retarder 39, makes steering base 31 and the output shaft relative fixed that turns to retarder 39.
Turn to snap ring 32 to be clamped in the positioning groove of steer motor cover 38, realize the axial location of steer motor cover 38 and steering base 31.
The outer ring of steering bearing 33 cooperates with the bearing mounting hole h of steering base 31, and the inner ring of this steering bearing 33 cooperates with steer motor cover 38, plays the effect of supporting steer motor cover 38, makes wheel steering flexible simultaneously.
Steering bearing baffle ring 1 is installed on the steer motor cover 38, and the interior ring of two steering bearings 33 is withstood at its two ends respectively, realizes the axial location of two steering bearings 33.
Steering bearing baffle ring 2 35 has two, all is installed in the bearing hole of steering base 31, and the outer shroud and the steering base end cap 37 of steering bearing 33 withstood at one of them two ends respectively, and the outer shroud of two steering bearings 33 is withstood at another two ends respectively.Two bearing baffle rings 2 35 all are used for axial restraint steering bearing 33.
Steering base end cap screw 36 is responsible for steering base end cap 37 is fixed on the steering base 31.
Steering base end cap 37 is installed on the steering base 31, is responsible for axial restraint steer motor cover 38, plays certain dustproof and protective effect simultaneously.
Steer motor cover 38 turns to retarder 39, steer motor 40 and turns to coder 41 in order to installation, cooperate with the interior ring of steering bearing 33 again, be responsible for support and be somebody's turn to do " tire formula planetary detecting robot wheel ", it also links with robot body (shown in Figure 13) simultaneously, plays the effect that connects wheel and robot body.
Be fixed together when turning to retarder 39, steer motor 40 and turning to coder 41 threes to dispatch from the factory, they are installed in steer motor cover 38 together.Turn to retarder 39 to be responsible for reducing rotating speed of motor and increasing moment, steer motor 40 is responsible for providing the power of wheel steering, turns to coder 41 to play the effect of angular transducer.
Steer motor lid 42 is installed on the steer motor cover 38, to turning to retarder 39, steer motor 40 and turning to coder 41 threes to play sealing and protective effect.
Steer motor lid screw 43 is responsible for steer motor lid 42 is fixed on the steer motor cover 38.
Claims (1)
1. tire formula planetary detecting robot wheel, it is made up of driving and traveling gear, steering hardware two large divisions, it is characterized in that: the drive motor cover on this driving and the traveling gear inserts in the drive motor cover mounting hole of the steering base on the steering hardware, then the steering base mounting screw is passed the straight hole on the steering base, again the steering base mounting screw is screwed in the tapped bore that drive motor puts; Using the same method packs into has altogether just finished connection between " driving and traveling gear " and " steering hardware " behind the steering base mounting screw of predetermined number; Wherein, this driving and traveling gear are made up of following parts, that is: tire, the tire bearing, the tire end ring, the tire screw, the tire nut, wheel top cover, top cover screw, top cover nut, the end cap screw, driving bearing baffle ring one, the wheel end cap, drive snap ring, holding screw one, the drive motor mounting screw, driving bearing, left side foreign steamer, wheel in the left side, driving bearing baffle ring two, the drive motor cover, drive retarder, drive motor, drive coder, the tire stop screw, the tire stop nut, the drive motor lid, the wheel latch spring, drive motor lid screw; Wherein, a plurality of tires are along the circumferential rectangular distribution of wheel; The tire bearing installation is on the tire screw, matches with tire in the outer ring of this tire bearing; The tire end ring also is installed on the tire screw, and the interior ring of wheel inboard and tire bearing is withstood at these tire end ring two ends respectively; The tire screw passes the endoporus of tire bearing, with together support tire behind the tire nut screwing clamping and tire bearing; Wheel top cover is installed in the top and overlaps on the screw, the inboard that the interior wheel of a left foreign steamer and a left side is withstood at these cover two ends, wheel top respectively, and nut locking is overlapped by the top after passing top cover screw again in the centre, with the relative position of taking turns in a fixing left foreign steamer and the left side; One end of the circular groove tight pulley latch spring in the middle of the cover of wheel top; The end cap screw is fixed on the wheel end cap on the left foreign steamer; Driving bearing baffle ring one is installed in the bearing mounting hole of left foreign steamer, and the outer shroud of wheel end cap and driving bearing is withstood at its two ends respectively, is used for the axial restraint driving bearing; The wheel end cap links with left foreign steamer and the output shaft that drives drop-gear box respectively; The driving snap ring is clamped in the positioning groove of drive motor cover, realizes the axial location of drive motor cover and driving bearing; Holding screw one is screwed in the tapped bore of wheel end cap, withstands the output shaft that drives retarder, makes wheel end cap and the output shaft relative fixed that drives drop-gear box; The drive motor mounting screw is responsible for the driving retarder is fixed in the drive motor cover; Match with the bearing mounting hole of left foreign steamer in the outer ring of driving bearing, the inner ring of this driving bearing matches with the drive motor cover; The common main body that constitutes wheel of wheel in a left side foreign steamer and the left side, wheel is installed on the left foreign steamer in the left side, is located by wheel top cover between the two; Tire is equipped with in both centres; Driving bearing baffle ring two is installed in drive motor and puts, and the interior ring of two driving bearings is withstood at its two ends respectively, realizes the axial location of two driving bearings; The drive motor cover drives retarder, drive motor and driving coder in order to install, and cooperates with the interior ring of driving bearing again, is responsible for supporting this driving and traveling gear, and it also links with steering hardware simultaneously; Driving retarder, drive motor and driving coder three are fixed together and are installed in the drive motor cover; Tire stop screw and tire stop nut are fixed in a left foreign steamer and the left side on the wheel together, and the swing of tire is played the role of positioning; The drive motor lid is installed in drive motor and puts; The tire both ends of the spring hooks tire and wheel top cover respectively, makes tire open-shaped attitude when not contacting with ground; Drive motor lid screw is responsible for that the drive motor lid is fixed on drive motor and is put; Wherein, this steering hardware is made up of following parts, that is: steering base mounting screw, steer motor mounting screw, holding screw two, steering base, turn to snap ring, steering bearing, steering bearing baffle ring one, steering bearing baffle ring two, steering base end cap screw, steering base end cap, steer motor cover, turn to retarder, steer motor, turn to coder, steer motor lid, steer motor lid screw;
Connecting relation between each part and act on as follows: the steering base mounting screw is responsible for the drive motor cover is fixed on the steering base; The steer motor mounting screw is responsible for and will is turned to retarder to be fixed in the steer motor cover; Holding screw two is screwed in the tapped bore of steering base, withstands the output shaft that turns to retarder, makes steering base and the output shaft relative fixed that turns to retarder; Steering base and drive motor cover are installed together, and the bearing mounting hole of this steering base cooperates with the outer shroud of steering bearing, can support steer motor; Turn to snap ring to be clamped in the positioning groove of steer motor cover; The outer ring of steering bearing cooperates with the bearing mounting hole of steering base, and the inner ring of this steering bearing cooperates with the steer motor cover; Steering bearing baffle ring one is installed in steer motor and puts, and the interior ring of two steering bearings is withstood at its two ends respectively; Steering bearing baffle ring two has two, all be installed in the bearing hole of steering base, the outer shroud and the steering base end cap of steering bearing withstood at one of them two ends respectively, and the outer shroud of two steering bearings is withstood at another two ends respectively, and two bearing baffle rings two all are used for the axial restraint steering bearing; Steering base end cap screw is responsible for the steering base end cap is fixed on the steering base; The steering base end cap is installed on the steering base, is responsible for axial restraint steer motor cover; The steer motor cover turns to retarder, steer motor and turns to coder in order to installation, cooperate with the interior ring of steering bearing again, be responsible for supporting this tire formula planetary detecting robot wheel, it also links with robot body simultaneously, plays the effect that connects wheel and robot body; Turn to retarder, steer motor and turn to the coder three to be fixed together, they are installed in the steer motor cover together; The steer motor lid is installed in steer motor and puts; Steer motor lid screw is responsible for that the steer motor lid is fixed on steer motor and is put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100113931A CN100395161C (en) | 2006-03-01 | 2006-03-01 | Grip-hook planetary detecting robot wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100113931A CN100395161C (en) | 2006-03-01 | 2006-03-01 | Grip-hook planetary detecting robot wheel |
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| Publication Number | Publication Date |
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| CN101028871A CN101028871A (en) | 2007-09-05 |
| CN100395161C true CN100395161C (en) | 2008-06-18 |
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| CNB2006100113931A Expired - Fee Related CN100395161C (en) | 2006-03-01 | 2006-03-01 | Grip-hook planetary detecting robot wheel |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101628527B (en) * | 2009-08-05 | 2011-11-30 | 哈尔滨工程大学 | Wheels of mobile robot with non-contact transverse sensory ability |
| CN101844483B (en) * | 2010-05-17 | 2011-07-27 | 北京航空航天大学 | Variable-diameter wheel leg combined wheel structure |
| CN102267504A (en) * | 2011-06-29 | 2011-12-07 | 北京工业大学 | Omnidirectional wheel type mobile robot |
| CN102328704B (en) * | 2011-07-27 | 2013-04-10 | 中国科学院深圳先进技术研究院 | Extendable wheeled mobile robot |
| CN102588718B (en) * | 2012-01-12 | 2014-06-04 | 佛山科学技术学院 | Electric panoramic tripod head with Bluetooth control function and control method |
| US9340065B2 (en) * | 2014-03-05 | 2016-05-17 | GM Global Technology Operations LLC | Turn limited wheel lug nut and nut cap |
| CN105890443A (en) * | 2014-12-15 | 2016-08-24 | 广西大学 | Universal drive device |
| CN105128973A (en) * | 2015-07-27 | 2015-12-09 | 徐金鹏 | Mars detection vehicle chassis |
| CN108343801B (en) * | 2017-01-24 | 2020-01-10 | 中国石油化工股份有限公司 | Pipeline crawling robot |
| CN108116154B (en) * | 2018-02-06 | 2023-08-01 | 吉林大学 | Mars elastic wheel |
| CN111114829A (en) * | 2019-10-31 | 2020-05-08 | 山东科技大学 | Jumping lunar mobile robot and motion mode thereof |
| CN112046190B (en) * | 2020-09-11 | 2021-09-07 | 广东博智林机器人有限公司 | Running gear and motion chassis |
| CN115866364B (en) * | 2022-12-20 | 2023-09-26 | 陕西省动物研究所 | Intelligent wireless monitoring device for mouse condition |
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