CN101758741A - All-in-one robot wheel suitable for amphibious ground - Google Patents

Abstract

The invention provides an integrated robot wheel adapted to the amphibious ground. The motor casing is connected to the motor flange through threads, the motor flange, harmonic reducer, and clamping sleeve are connected through threads, the motor shaft sleeve is installed and fixed on the motor output shaft, the flat key is installed on the motor shaft sleeve, and the harmonic The reducer is connected with the motor shaft sleeve through a flat key, the rolling bearing is installed on the left shaft end of the harmonic reducer, and the bearing support flange is respectively connected with the harmonic reducer and the driving rim through threads to keep relatively stationary, and then installed on the The sliding bearing between the clamping sleeve and the driving wheel rim is decoupled and connected, the wheel arm clamping sleeve and the motor clamping sleeve are connected to the clamping sleeve through threads, and the elastic circlip set is connected to the clamping sleeve. This design can make the robot walk freely on the amphibious ground without changing the wheels.

Description

An all-in-one robot wheel adapted to amphibious ground

(1) Technical field

The invention relates to a wheel of a mobile robot, in particular to a wheel suitable for a multi-dwelling ground mobile robot.

(2) Background technology

In today's world, the research and development of mobile robots are attracting more and more attention, especially mobile robots suitable for multi-habiting ground. Mobile robots have demonstrated their strength in various fields such as ocean, military, aerospace, service, entertainment, etc., and their development prospects are limitless. For the development of mobile robots, research on a mobile robot adapted to the amphibious ground will become the focus of various researches. The walking mechanism of the mobile robot adapted to the amphibious ground has become the focus of research on the mobile robot. At present, amphibious robots are roughly divided into legged amphibious robots and snake-shaped amphibious robots.

For example, the amphibious off-road robot Rhex from Boston Dynamics Engineering in the United States is a real amphibious robot and can adapt to any terrain. It is initially determined that RHex may be used for military reconnaissance. The mobile structure of the robot RHex is six semi-circular rings between the wheels and the feet. The designer arranged it very cleverly, combining the wheel structure and the foot structure, each taking advantage of its strengths in walking and obstacle surmounting Balanced RHex mobility.

But when it goes into the water, Rhex's six legs are replaced with six fin-like plates. In this way Rhex can swim in the water like a fish. Like this just can't realize that it is fully adapted to the amphibious ground.

(3) Contents of the invention

The purpose of the invention is to design a paddle wheel integrated wheel that can realize the amphibious movement of the robot without changing things.

The purpose of the present invention is achieved like this:

Mainly include: driving rim 1, bearing support flange 3, IGUS sliding bearing 4, clamping sleeve 5, bearing 7, motor shaft sleeve 8, harmonic reducer 10, motor flange 11, wheel arm clamping sleeve 12. The motor 14 and the motor clamping sleeve 16 are characterized in that: the shell of the motor 14, the flange 11, the reducer 10 and the clamping sleeve 5 are fixedly connected, and the motor shaft sleeve 8 is set and fixed on the motor 14, and through the key Torque transmission, the bearing 7 set is fixed on the reducer 10, the supporting flange 3, the driving rim 1 is decoupled from the clamping sleeve 5 and the bearing 4 is connected, and the bearing supporting flange 3 is fixedly connected to the driving rim 1 and the reducer 10 , the clamping sleeve 12 and the motor clamping sleeve 16 are clamped to the clamping sleeve 5, the outer edge of the driving rim 1 is arc-shaped, and the inside of the driving rim 1 has a structure similar to a pulp.

Steering gear steering mechanism can be installed above the wheel arm clamping sleeve 12.

The benefits of the present invention: the present invention can move on land like a general land robot through wheels. When encountering the water surface, since the active wheel rim adopts a structure similar to a paddle inside the rim, it can discharge water, thereby pushing the whole robot. The robot moves on the amphibious ground, so there is no need to intervene to replace the device when the amphibious alternates, which greatly enhances the amphibious mobility of the robot, and has the characteristics of compact structure and strong functions.

(4) Description of drawings

Fig. 1 working principle diagram of the wheel;

Figure 2 Front view of the driving rim.

(5) Specific implementation methods

Combined with Figure 1. The components are: driving rim 1, hexagonal head fully threaded bolt assembly 2, bearing support flange 3, IGUS sliding bearing 4, clamping sleeve 5, hexagonal head fully threaded bolt assembly 6, deep grooves with dust cover on both sides Ball bearing 7, motor shaft sleeve 8, round head ordinary flat key 9, harmonic reducer 10, motor flange 11, wheel arm clamping sleeve 12, shaft elastic ring 13, motor 14, hexagon socket screw assembly 15. Motor clamping sleeve 16, hexagon socket head cap screw assembly 17.

1 and 2, the casing of the motor 14, the motor flange 11, the input rigid wheel of the harmonic reducer 10, and the clamping sleeve 5 are respectively fixedly connected through the hexagon socket head screw assembly 15 and the socket head socket head screw assembly 17, maintaining relatively static. The motor shaft sleeve 8 is set and fixed on the output shaft of the motor 14, and the torque of the motor 14 is transmitted to the harmonic reducer 10 wave generator through the round head ordinary flat key 9, and the deep groove ball bearing with dust cover on both sides 7 The set is fixed on the left shaft end of the harmonic reducer 10, and the supporting bearing supports the flange 3, and the driving wheel rim 1 and the left shaft end of the clamping sleeve 5 are decoupled and connected through a symmetrical IGUS sliding bearing 4 with a flange , the bearing support flange 3 is fixedly connected with the driving wheel rim 1 and the output steel wheel of the harmonic reducer 10 through the hexagon head full thread bolt assembly 2 and the hexagon head full thread bolt assembly 6 respectively, and the wheel arm clamping sleeve 12 is connected to the motor The clamping sleeve 16 is clamped to the clamping sleeve 5 by bolts, and the shaft circlip 13 is sleeved and connected to the clamping sleeve 5 to prevent the driving wheel rim 1 from moving axially. The utility model has the advantages of compact mechanism and strong function, and can be adapted to the amphibious ground.

working principle:

A kind of robot wheel (paddle wheel integrated mechanism) that is adapted to the amphibious ground, its working principle is: the starter motor 14 enters the normal working state. The shell of the motor 14, the motor flange 11, the input rigid wheel of the harmonic reducer 10 and the clamping sleeve 5 remain relatively stationary, and the torque of the motor 14 is transmitted to the wave generator of the harmonic reducer 10, and then to the harmonic reducer 10 through the wave generator. The wave reducer 10 outputs the rigid wheel, so that the harmonic reducer 10 acts as a reducer, and at the same time, under the support of the deep groove ball bearing 7 with dust cover on both sides, it drives the bearing to support the flange 3 to rotate, because the bearing The supporting flange 3 and the driving rim 1 are fixedly connected through the hexagon head fully threaded bolt assembly 2, which drives the driving rim 1 to rotate. The structure of the driving rim 1 is such that the outer arc can adapt to the sandy ground. When it is inside, because its inner side adopts a structure similar to a paddle, it can drain water, thereby pushing the whole robot to move on the amphibious ground. The clamping between the wheel arm clamping sleeve 12 and the motor clamping sleeve 18 is to prevent the driving wheel rim 1 and the IGUS sliding bearing 4 from moving axially.

Claims (2)

1. An integrated robot wheel adapted to amphibious ground, mainly including: driving rim (1), bearing support flange (3), IGUS sliding bearing (4), clamping sleeve (5), bearing (7 ), motor shaft sleeve (8), harmonic reducer (10), motor flange (11), wheel arm clamping sleeve (12), motor (14), motor clamping sleeve (16), and is characterized in that : The shell of the motor (14), the flange (11), the reducer (10) and the clamping sleeve (5) are fixedly connected, the motor shaft sleeve (8) is fixed on the motor (14), and the torque is transmitted through the key , the bearing (7) set is fixed on the reducer (10), the supporting flange (3), the driving rim (1) is decoupled from the clamping sleeve (5) bearing (4), and the bearing supporting flange (3 ) is fixedly connected with the driving rim (1) and the reducer (10), the clamping sleeve (12) and the motor clamping sleeve (16) are clamped to the clamping sleeve 5, and the outer edge of the driving rim (1) is arc-shaped Shape, the driving wheel rim (1) inner side has the structure similar to paddle. 2. A kind of robot paddle wheel split type wheel suitable for amphibious ground according to claim 1, characterized in that: a steering gear steering mechanism is installed on the wheel arm clamping sleeve (12).

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