CN101428652B - Movable robot for ice and snow surface - Google Patents
Movable robot for ice and snow surface Download PDFInfo
- Publication number
- CN101428652B CN101428652B CN2007101579952A CN200710157995A CN101428652B CN 101428652 B CN101428652 B CN 101428652B CN 2007101579952 A CN2007101579952 A CN 2007101579952A CN 200710157995 A CN200710157995 A CN 200710157995A CN 101428652 B CN101428652 B CN 101428652B
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- swing arm
- box body
- sprocket
- output shaft
- wheel
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Abstract
The invention relates to the technical field of advanced manufacture and automation, in particular to a mobile robot suitable for the surface of ice and snow. The mobile robot comprises a carriage body, a travelling mechanism and oscillating arm mechanisms; wherein the travelling mechanism is installed on two sides of the carriage body, and transversely symmetrical; four oscillating arm mechanisms are arranged in front of and behind the carriage body, and are transversely symmetrical on two sides of the carriage body; the drive sprocket of the travelling mechanism is connected with a driving shaft in front of the carriage body, and an output shaft installed behind the carriage body is connected with a driven sprocket through a bearing; the oscillating arms of the oscillating arm mechanisms are connected with the output shaft of the carriage body, an oscillating arm sprocket positioned at the front part is bolted on the drive sprocket of the travelling mechanism through a shaft sleeve, and an oscillating arm sprocket positioned at the rear part is installed together with the driven sprocket of the travelling mechanism through a shaft sleeve. The mobile robot can work in a low temperature environment, and has grade climbing and obstacle surmounting abilities of automatically crossing ice cracks and climbing snow slopes and snow dunes.
Description
Technical field
The invention belongs to advanced manufacturing and technical field of automation, specifically a kind of mobile robot who is applicable to the ice and snow face.
Technical background
Along with the continuous development of automatic technology, the mobile robot who is used for environment such as subdued topography, stair, pipeline has got tremendous development, and structures such as wheeled, crawler type, wheel-leg-crawler be compound are arranged.But the mobile robot who is applicable to the ice and snow face does not appear in the newspapers.Along with the polar region scientific investigation progressively deeply, develop and a kind ofly be applicable to that the mobile robot of ice and snow face has very big essentiality.But this robot independent technological leapfrogging crevasse is crossed snowbank and snowbank, and works under atrocious weather.
Summary of the invention
The object of the present invention is to provide a kind of mobile robot who is applicable to the ice and snow face, it can worked under low temperature environment, but has the independent technological leapfrogging crevasse, crosses the climbing and the obstacle climbing ability of snowbank and snowbank.
To achieve these goals, technical scheme of the present invention is as follows: comprise box body, traveling gear and oscillating arm mechanisms, described traveling gear is installed in box body both sides, left-right symmetric; Totally four front and back at box body of oscillating arm mechanisms is provided with, and in box body both sides left-right symmetric; The drive sprocket of described traveling gear is connected with box body fwd transmission shaft, and the output shaft that is installed in the box body back links to each other with driven sprocket by bearing; The swing arm of oscillating arm mechanisms is connected with the output shaft of box body, be positioned at fwd swing arm sprocket wheel by the axle sleeve bolt on the drive sprocket of traveling gear, the swing arm sprocket wheel that is positioned at the back is installed together by the driven sprocket of axle sleeve and traveling gear; Box body comprises casing, running part, control part and box body supporting part, and described running part and control part are installed in the casing, and two sides of casing respectively are equipped with the box body supporting part, are positioned in the middle of the traveling gear; Described running part is made up of swing arm motor, movable motor, worm-gear speed reducer, output shaft, planetary reducer, bevel gear, transmission shaft, the input shaft of worm-gear speed reducer links to each other with the swing arm motor, and the output shaft of worm-gear speed reducer connects with the output axle key; The input shaft of planetary reducer links to each other with movable motor, and the output shaft of planetary reducer and bevel gear key connect, and the output shaft of bevel gear and transmission axle key connect; Transmission shaft links to each other with casing by the bearing that is installed on the box body, is installed in box body fwd output shaft and is connected in the transmission shaft by bearing carrier ring; Described box body supporting part is made up of fixed support, travel(l)ing rest, vertical pivot, transverse axis, BOGEY WHEEL bearing seat, BOGEY WHEEL and spring, fixed support is installed in the side of box body, spring is installed in respectively in the hole at fixed support two ends, and the axle of travel(l)ing rest passes spring and is installed on the fixed support; Vertical pivot is fixed on travel(l)ing rest middle part, transverse axis pass the vertical pivot center and with vertical pivot at the vertical direction bolt, free end is equipped with BOGEY WHEEL; BOGEY WHEEL is installed on the transverse axis by the BOGEY WHEEL bearing seat;
Described traveling gear is made up of drive sprocket, driven sprocket and traveling crawler three parts, and drive sprocket and driven sprocket are installed together by traveling crawler; Drive sprocket is connected with transmission shaft; Driven sprocket links to each other with output shaft by bearing;
The swing arm flower wheel that described oscillating arm mechanisms is installed together by swing arm sprocket wheel, swing arm, by swing arm crawler belt and swing arm sprocket wheel is formed swing arm and box body output shaft bolt; The drive sprocket bolt of fwd swing arm sprocket wheel and traveling gear, the swing arm sprocket wheel of back and the driven sprocket bolt of traveling gear; The swing arm flower wheel by bearing installation in swing arm.
The present invention has following advantage:
1, the crawler belt comformability is strong, and the robot motion is steadily reliable.The traveling crawler of mobile robot used on ice and snow surface of the present invention and swing arm crawler belt are chain-plate type, can adapt to multiple landform; The outside of sprocket is a nylon, and remainder is a duralumin, has both guaranteed intensity, has alleviated weight again, has also saved lubricated.Imitative sliding screw is installed on the crawler belt joint plate, can skids by actv. minimizing crawler belt.The supporting part of box body can move up and down with respect to box body under the effect of spring, has played good cushioning effect, so the robot motion is steadily reliable.
2, climbing and obstacle detouring function are better.Oscillating arm mechanisms is all arranged before and after the mobile robot used on ice and snow surface of the present invention, and the angle of oscillating arm mechanisms and box body determines that by function unit, motor, worm-gear speed reducer, output shaft etc. such structure more helps climbing snowbank and snowbank, obstacle detouring and crosses the ice crack crack.The worm-gear speed reducer that is adopted has auto-lock function, can alleviate motor load.
3, simple in structure, flexible.Mobile robot used on ice and snow surface of the present invention can be finished complicated work in rugged environment, but self is simple in structure.Two traveling geaies about two motors drive respectively, identical speed are realized moving forward and backward, and differential is realized turning.
Description of drawings
Fig. 1-1 is a mobile robot used on ice and snow surface mounting structure scheme drawing.
Fig. 1-2 is the birds-eye view of Fig. 1-1.
Fig. 2 is Fig. 1 running part structural representation.
Fig. 3-1 is a box body supporting part structural representation.
Fig. 3-2 is the left view of Fig. 3-1
Fig. 3-3 is the birds-eye view of Fig. 3-1.
Fig. 4-1 is the caterpillar belt structure scheme drawing.
Fig. 4-2 is the left view of Fig. 4-1
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
Shown in Fig. 1-1,1-2,2, mobile robot used on ice and snow surface is made up of box body 1, traveling gear 2 and oscillating arm mechanisms 3 three parts, and totally two of described traveling geaies 2 are installed in box body 1 both sides, left-right symmetric.Totally four of oscillating arm mechanisms 3 are provided with in the front and back of box body 1, and in box body 1 both sides left-right symmetric.The drive sprocket 11 of described traveling gear 2 and transmission shaft 10 bolts of box body 1, the output shaft that is installed in box body 1 back links to each other with driven sprocket 12 by bearing, and bearing is used for the location; The swing arm 15 of oscillating arm mechanisms 3 and output shaft 6 bolts of box body 1 are positioned at fwd swing arm sprocket wheel 14 and pass through the axle sleeve bolt on the drive sprocket 11 of traveling gear 2, and the swing arm sprocket wheel 14 that is positioned at the back passes through the axle sleeve bolt on the driven sprocket 12 of traveling gear 2.
Shown in Fig. 1-1,1-2,2, the box body 1 of mobile robot used on ice and snow surface comprises casing, running part, control part and box body supporting part 18, running part and control part (for prior art) are installed in the casing, three box body supporting parts 18 are respectively installed in two sides of casing, are positioned in the middle of the traveling gear 2.Running part is made up of swing arm motor 4, movable motor 7, worm-gear speed reducer 5, output shaft 6, planetary reducer 8, bevel gear 9, transmission shaft 10, the input shaft of worm-gear speed reducer 5 links to each other with swing arm motor 4, and the output shaft of worm-gear speed reducer 5 and output shaft 6 keys connect; The input shaft of planetary reducer 8 links to each other with movable motor 7, and the output shaft of planetary reducer 8 and bevel gear 9 keys connect, and the output shaft of bevel gear 9 and transmission shaft 10 keys connect.Transmission shaft 10 links to each other with casing by the bearing that is installed on the box body 1, and bearing is used for supporting.The bearing that output shaft 6 usefulness are installed in the transmission shaft 10 supports, and is socketed in the transmission shaft 10.
As shown in Figure 3, box body supporting part 18 is made up of fixed support 19, travel(l)ing rest 20, vertical pivot 21, transverse axis 22, BOGEY WHEEL bearing seat 23, BOGEY WHEEL 24 and spring 25.Fixed support 19 is installed in the side of box body 1, and two springs 25 are installed in respectively in the hole at fixed support 19 two ends, and two axles of travel(l)ing rest 20 pass spring 25 and are installed on the fixed support 19.Spring 25 is flexible, and travel(l)ing rest 20 can move with respect to box body 1.Vertical pivot 21 is fixed on travel(l)ing rest 20 middle parts, transverse axis 22 pass vertical pivot 21 centers and with vertical pivot 21 at the vertical direction bolt, free end is equipped with BOGEY WHEEL 24.BOGEY WHEEL 24 is installed on the transverse axis 22 by BOGEY WHEEL bearing seat 23, and two deep groove ball bearings are positioned BOGEY WHEEL bearing seat 23 on the transverse axis 22.Therefore, spring 25 is flexible, and BOGEY WHEEL 24 will move with respect to box body 1.
Shown in Fig. 1-1,1-2,2, the traveling gear 2 of mobile robot used on ice and snow surface is totally two left-right symmetric, is arranged in box body 1 both sides.Traveling gear 2 is made up of drive sprocket 11, driven sprocket 12 and traveling crawler 13 3 parts, and drive sprocket 11 is installed together by traveling crawler 13 with driven sprocket 12.Box body transmission shaft 10 drives drive sprocket 11 rotations, and drive sprocket 11 rotations drive traveling crawler 13 motions and driven sprocket 12 rotations.When traveling crawler 13 kinematic velocitys in the left and right sides were identical, mobile robot used on ice and snow surface moved forward or backward, left and right sides traveling crawler 13 kinematic velocitys not simultaneously, mobile robot used on ice and snow surface is turned.The gear teeth of drive sprocket 11, driven sprocket 12 adopt the duralumin material, and external packets is wrapped with nylon.
As shown in Figure 2, the swing arm flower wheel 16 that is installed together by swing arm sprocket wheel 14, swing arm 15, by swing arm crawler belt 17 and swing arm sprocket wheel 14 of the ice and snow face mobile apparatus oscillating arm mechanisms 3 of going into is formed.Swing arm 15 and box body output shaft 6 bolts; Drive sprocket 11 bolts of fwd swing arm sprocket wheel 14 and traveling gear 2, the swing arm sprocket wheel 14 of back and driven sprocket 12 bolts of traveling gear 2; Swing arm flower wheel 16 is by the bearing location that is installed in the swing arm 15.14 rotating band movable pendulum arm crawler belts, 17 motions of swing arm sprocket wheel and swing arm flower wheel 16 rotate; Swing arm 15 is rotated, and changes the angle of oscillating arm mechanisms 3 and box body 1, and swing arm crawler belt 17 and swing arm flower wheel 16 rotate around swing arm sprocket wheel 14 simultaneously.The gear teeth of swing arm sprocket wheel 14 adopt the duralumin material, and external packets is wrapped with nylon.
Shown in Fig. 4-1,4-2, crawler belt (comprising traveling crawler 13 and swing arm crawler belt 17) was formed under the connection of bar shaped adhesive tape 29, according to the crawler width difference, and the increase and decrease of adhesive tape quantity.Crawler belt is the chain-plate type structure, specifically is made up of rib 26, chain link 27, pressing plate 28, adhesive tape 29, carrier bar 30 and anti-skid screw 3I, and between 27 of chain links of sprocket engagement and the rib 26, is installed in carrier bar 30 upper surfaces, and integral body is concave unit; By pressing plate 28 described unit bolt is formed the chain-plate type crawler belt on adhesive tape 29; Anti-skid screw 31 is installed carrier bar 30 belows, and is protruding in carrier bar 30 lower surfaces, and the alternate lower surface both sides that are arranged on carrier bar 30.Rib 26 is used for keeping off the both sides at drive sprocket 11, driven sprocket 12, swing arm sprocket wheel 14, swing arm flower wheel 16 or BOGEY WHEEL 24, prevents the crawler belt sideslip; Carrier bar 30 ground connection; Anti-skid screw 31 can enter into ice and snow, prevents that carrier bar 30 from skidding.
Claims (5)
1. a mobile robot used on ice and snow surface comprises box body (1), traveling gear (2) and oscillating arm mechanisms (3); Described traveling gear (2) is installed in box body (1) both sides, left-right symmetric; Totally four front and back at box body (1) of oscillating arm mechanisms (3) is provided with, and in box body (1) both sides left-right symmetric; The drive sprocket (11) of described traveling gear (2) is connected with box body (1) fwd transmission shaft (10), and the output shaft (6) that is installed in box body (1) back links to each other with driven sprocket (12) by bearing; The swing arm (15) of oscillating arm mechanisms (3) is connected with the output shaft (6) of box body (1), be positioned at fwd swing arm sprocket wheel (14) by the axle sleeve bolt on the drive sprocket (11) of traveling gear (2), the swing arm sprocket wheel (14) that is positioned at the back is installed together by the driven sprocket (12) of axle sleeve and traveling gear (2); It is characterized in that: described box body (1) comprises casing, running part, control part and box body supporting part (18), described running part and control part are installed in the casing, two sides of casing respectively are equipped with box body supporting part (18), are positioned in the middle of the traveling gear (2); Described running part is made up of swing arm motor (4), movable motor (7), worm-gear speed reducer (5), output shaft (6), planetary reducer (8), bevel gear (9), transmission shaft (10), the input shaft of worm-gear speed reducer (5) links to each other with swing arm motor (4), and the output shaft of worm-gear speed reducer (5) and output shaft (6) key connect; The input shaft of planetary reducer (8) links to each other with movable motor (7), and the output shaft of planetary reducer (8) and bevel gear (9) key connect, and the output shaft of bevel gear (9) and transmission shaft (10) key connect; Transmission shaft (10) links to each other with casing by the bearing that is installed on the box body (1), is installed in box body (1) fwd output shaft (6) and is connected in the transmission shaft (10) by bearing carrier ring; Described box body supporting part (18) is made up of fixed support (19), travel(l)ing rest (20), vertical pivot (21), transverse axis (22), BOGEY WHEEL bearing seat (23), BOGEY WHEEL (24) and spring (25), fixed support (19) is installed in the side of box body (1), spring (25) is installed in respectively in the hole at fixed support (19) two ends, and the axle of travel(l)ing rest (20) passes spring (25) and is installed on the fixed support (19); Vertical pivot (21) is fixed on travel(l)ing rest (20) middle part, transverse axis (22) pass vertical pivot (21) center and with vertical pivot (21) at the vertical direction bolt, free end is equipped with BOGEY WHEEL (24); BOGEY WHEEL (24) is installed on the transverse axis (22) by BOGEY WHEEL bearing seat (23).
2. according to the described mobile robot used on ice and snow surface of claim 1, it is characterized in that: described traveling gear (2) is made up of drive sprocket (11), driven sprocket (12) and traveling crawler (13) three parts, and drive sprocket (11) is installed together by traveling crawler (13) with driven sprocket (12); Drive sprocket (11) is connected with transmission shaft (10), and driven sprocket (12) links to each other with output shaft (6) by bearing.
3. according to the described mobile robot used on ice and snow surface of claim 1, it is characterized in that: the swing arm flower wheel (16) that described oscillating arm mechanisms (3) is installed together by swing arm sprocket wheel (14), swing arm (15), by swing arm crawler belt (17) and swing arm sprocket wheel (14) is formed swing arm (15) and box body output shaft (6) bolt; Drive sprocket (11) bolt of fwd swing arm sprocket wheel (14) and traveling gear (2), driven sprocket (12) bolt of the swing arm sprocket wheel (14) of back and traveling gear (2); Swing arm flower wheel (16) by bearing installation in swing arm (15).
4. according to claim 2 or 3 described mobile robot used on ice and snow surface, it is characterized in that: the gear teeth of described drive sprocket (11), driven sprocket (12), swing arm sprocket wheel (14) adopt the duralumin material, and external packets is wrapped with nylon.
5. according to the described mobile robot used on ice and snow surface of claim 1, it is characterized in that: described crawler belt comprises traveling crawler (13) and swing arm crawler belt (17), crawler belt is the chain-plate type structure, specifically form by rib (26), chain link (27), pressing plate (28), adhesive tape (29), carrier bar (30) and anti-skid screw (31), and the chain link of sprocket engagement (27) is positioned between the rib (26), be installed in carrier bar (30) upper surface, integral body is concave unit; By pressing plate (28) described unit is combined under the connection of adhesive tape (29), formed the chain-plate type crawler belt; Anti-skid screw (31) is installed carrier bar (30) below, and is protruding in carrier bar (30) lower surface, and the alternate lower surface both sides that are arranged on carrier bar (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101579952A CN101428652B (en) | 2007-11-07 | 2007-11-07 | Movable robot for ice and snow surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101579952A CN101428652B (en) | 2007-11-07 | 2007-11-07 | Movable robot for ice and snow surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101428652A CN101428652A (en) | 2009-05-13 |
| CN101428652B true CN101428652B (en) | 2010-06-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101579952A Expired - Fee Related CN101428652B (en) | 2007-11-07 | 2007-11-07 | Movable robot for ice and snow surface |
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| CN (1) | CN101428652B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101786417A (en) * | 2010-04-07 | 2010-07-28 | 杨斌城 | Motor vehicle boosting device |
| IT1403799B1 (en) * | 2011-01-20 | 2013-10-31 | Oto Melara Spa | MECHANICAL WITHDRAWAL SYSTEM FOR THE OPERATION OF ARTICULATED EXTENSIONS IN VEHICLE APPLICATIONS. |
| CN103359195A (en) * | 2012-04-09 | 2013-10-23 | 西北农林科技大学 | All-terrain hybrid power chassis |
| CN102729251A (en) * | 2012-06-06 | 2012-10-17 | 沈阳理工大学 | Mobile robot on ice |
| CN107298136B (en) * | 2017-06-23 | 2023-05-12 | 昆明理工大学 | Caterpillar band driving device |
| CN108045449A (en) * | 2018-01-23 | 2018-05-18 | 哈工大机器人（合肥）国际创新研究院 | Transmission mechanism applied to swing arm robot |
| CN110920767A (en) * | 2019-10-31 | 2020-03-27 | 武汉理工大学 | Electromagnetic adsorption six-foot climbing robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101007548A (en) * | 2007-01-29 | 2007-08-01 | 北京理工大学 | Small-sized four-peddrail mobile robot driving device |
| CN101077717A (en) * | 2007-06-22 | 2007-11-28 | 北京理工大学 | Small-sized 6-track whole topographic form mobile robot |
| CN201148179Y (en) * | 2007-11-07 | 2008-11-12 | 中国科学院沈阳自动化研究所 | Mobile robot for ice and snow surface |
-
2007
- 2007-11-07 CN CN2007101579952A patent/CN101428652B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101007548A (en) * | 2007-01-29 | 2007-08-01 | 北京理工大学 | Small-sized four-peddrail mobile robot driving device |
| CN101077717A (en) * | 2007-06-22 | 2007-11-28 | 北京理工大学 | Small-sized 6-track whole topographic form mobile robot |
| CN201148179Y (en) * | 2007-11-07 | 2008-11-12 | 中国科学院沈阳自动化研究所 | Mobile robot for ice and snow surface |
Non-Patent Citations (1)
| Title |
|---|
| JP特开平11-208538A 1999.08.03 |
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| CN101428652A (en) | 2009-05-13 |
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Granted publication date: 20100602 Termination date: 20171107 |