CN102887181A - Swinging arm drive device for tracked robot - Google Patents
Swinging arm drive device for tracked robot Download PDFInfo
- Publication number
- CN102887181A CN102887181A CN2012102078548A CN201210207854A CN102887181A CN 102887181 A CN102887181 A CN 102887181A CN 2012102078548 A CN2012102078548 A CN 2012102078548A CN 201210207854 A CN201210207854 A CN 201210207854A CN 102887181 A CN102887181 A CN 102887181A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- swinging arm
- driven shaft
- walking
- driving wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
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
Technical field
The invention belongs to the 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 human social demand, it is explosive etc. that ground mobile robot has been widely used in the different field of living such as military surveillance, safety.With the caterpillar robot of swing arm can realize ground mobile robot obstacle detouring, cross over the functions such as irrigation canals and ditches, speeling stairway, but traditional swing arm driving mechanism is too complicated, increase the weight of swing arm, increased the energy consumption of system, can't realize miniaturization, the lightness of ground mobile robot.
Summary of the invention
The object of the invention is to overcome the shortcoming of above-mentioned prior art, a kind of caterpillar robot swing arm drive device is provided, this device adopts the swing arm DC servo motor directly to drive the design that swing arm is rotated, reduced the transmission fault rate, alleviate the weight of swinging arm device, improved the space availability ratio of car body.
The objective 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 the walk swing arm DC servo motor of hollow driven shaft inside of caterpillar robot, the walk inboard of hollow driven shaft of described caterpillar robot is fixed on the 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 the rear end rotating shaft of swing arm plate with holding screw by key; The outside axle head of described swing arm plate rear end rotating shaft by with outside swing arm driving wheel on axis hole and outside swing arm driving wheel connect together; The axle of described swing arm front edge of board and swing arm flower wheel links together; Described caterpillar robot is walked and also is provided with inboard swing arm driving wheel on the hollow driven shaft, and inboard swing arm driving wheel and outside swing arm driving wheel drive the swing arm flower wheel by the swing arm crawler belt.
The above-mentioned caterpillar robot hollow driven shaft arranged outside of walking has walking passive gear, and walking passive gear links to each other with inboard swing arm driving wheel by four pins that circumferentially are arranged symmetrically with around axle.
Above-mentioned swing arm plate is that the middle part offers trapezoidal or square opening, and the rear end is than the trapezoidal flat board of leading portion money.
The present invention adopts the swing arm DC servo motor directly to drive the design that swing arm is rotated, compared following advantage with traditional transmission device: the swing arm DC servo motor directly drives has simplified transmission device, reduce the transmission fault rate, alleviated the weight of swinging arm device, reduced the energy consumption of system; The swing arm DC servo motor is completely contained in the hollow driven shaft of walking, has improved the space availability ratio of car body, has realized miniaturization, the lightness of ground mobile robot.
Description of drawings
Fig. 1 is the cutaway view of right side of the present invention swing arm;
Fig. 2 is the block diagram that crawler belt is unkitted in the present invention's left side swing arm;
Fig. 3 is the block diagram after crawler belt is installed in the present invention's left side swing arm;
Fig. 4 is that the present invention's left side swing arm is installed in car body block diagram afterwards.
Wherein: 1 is outside swing arm driving wheel; 2 is inboard swing arm driving wheel; 3 is walking passive gear; 4 is key; 5 are the swing arm plate; 6 are the swing arm DC servo motor; 7 are the caterpillar robot hollow driven shaft of walking; 8 is car body side plate; 9 are the swing arm crawler belt; 10 are the swing arm flower wheel.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is done and to describe in further detail:
Referring to Fig. 1 to 4, this caterpillar robot swing arm drive device, comprise and be arranged on the walk swing arm DC servo motor 6 of hollow driven shaft 7 inside of caterpillar robot, the walk inboard of hollow driven shaft 7 of described caterpillar robot is fixed on the 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 the 5 rear end rotating shafts of swing arm plate with holding screw by key 4; The outside axle head of described swing arm plate 5 rear end rotating shafts by with outside swing arm driving wheel 1 on axis hole and outside swing arm driving wheel 1 connect together; The axle of described swing arm plate 5 front ends and swing arm flower wheel 10 links together; Described caterpillar robot is walked and also is provided with inboard swing arm driving wheel 2 on the hollow driven shaft 7, and inboard swing arm driving wheel 2 and outside swing arm driving wheel 1 are by swing arm crawler belt 9 drive swing arm flower wheels 10.Caterpillar robot hollow driven shaft 7 arranged outside of walking have walking passive gear 3, and walking passive gear 3 links to each other with inboard swing arm driving wheel 2 by four pins that circumferentially are arranged symmetrically with around axle.Swing arm plate 5 is trapezoidal or square opening for the middle part offers, and the rear end is than the trapezoidal flat board of leading portion money.
Referring to figs. 1 through 4, principle of work of the present invention, move in the situation that the road surface is all right, swing arm DC servo motor 6 is in closed condition, so the swing arm of whole device remains static, the car body traveling crawler drives walking passive gear 3 and rotates, walking passive gear drives inboard swing arm driving wheel 2 and rotates, and drives swing arm flower wheel 10 by swing arm crawler belt 9 simultaneously and rotates, and 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.
In the situation that the road surface is in bad order, swing arm DC servo motor 6 is in opening, situation was identical before the rotating manner of swing arm crawler belt 9 was logical, all driven by the car body traveling crawler, the output revolving shaft of swing arm DC servo motor 6 that different is drives swing arm plate 5 and does 360 ° of rotations, when running into obstacle, can say that by the swing arm of car body both sides car body raises, the swing arm crawler belt 9 that rotates thinks that again car body provides power simultaneously, make car body more light when across obstacle, because swing arm driving mechanism design of the present invention is simple, reduced the weight of swing arm, reduce simultaneously energy consumption, realized the miniaturization of ground mobile robot.Lightness.
Claims (3)
1. caterpillar robot swing arm drive device, it is characterized in that: comprise being arranged on the caterpillar robot inner swing arm DC servo motor (6) of hollow driven shaft (7) of walking, the walk inboard of hollow driven shaft (7) of described caterpillar robot is fixed on the 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 swing arm plate (5) rear end rotating shaft with holding screw by key (4); The outside axle head of described swing arm plate (5) rear end rotating shaft by with outside swing arm driving wheel (1) on axis hole and outside swing arm driving wheel (1) connect together; The axle of described swing arm plate (5) front end and swing arm flower wheel (10) links together; Described caterpillar robot is walked and also is provided with inboard swing arm driving wheel (2) on the hollow driven shaft (7), and inboard swing arm driving wheel (2) and outside swing arm driving wheel (1) are by swing arm crawler belt (9) drive swing arm flower wheel (10).
2. a kind of caterpillar robot swing arm drive device according to claim 1, it is characterized in that: described caterpillar robot hollow driven shaft (7) arranged outside of walking has walking passive gear (3), and walking passive gear (3) links to each other with inboard swing arm driving wheel (2) by four pins that circumferentially are arranged symmetrically with around axle.
3. a kind of caterpillar robot swing arm drive device according to claim 1, it is characterized in that: described swing arm plate (5) is trapezoidal or square opening for the middle part offers, and the rear end is than the trapezoidal flat board of leading portion money.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210207854.8A CN102887181B (en) | 2012-06-21 | 2012-06-21 | Swinging arm drive device for tracked robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210207854.8A CN102887181B (en) | 2012-06-21 | 2012-06-21 | Swinging arm drive device for tracked robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102887181A true CN102887181A (en) | 2013-01-23 |
| CN102887181B CN102887181B (en) | 2015-05-27 |
Family
ID=47530903
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210207854.8A Active CN102887181B (en) | 2012-06-21 | 2012-06-21 | Swinging arm drive device for tracked robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102887181B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104290830A (en) * | 2014-08-18 | 2015-01-21 | 浙江理工大学 | Under-actuated track type vehicle wheel mechanism |
| CN104794977A (en) * | 2015-04-08 | 2015-07-22 | 西安交通大学 | Humanoid mechanism displaying platform |
| CN105667612A (en) * | 2014-11-18 | 2016-06-15 | 中国人民解放军91872部队青岛研究室 | Obstacle crossing robot used in narrow space |
| CN106627820A (en) * | 2016-12-19 | 2017-05-10 | 安徽天裕汽车零部件制造有限公司 | Crawler robot swing arm driving device |
| CN111055937A (en) * | 2019-12-30 | 2020-04-24 | 合肥工业大学 | Novel crawler robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101077717A (en) * | 2007-06-22 | 2007-11-28 | 北京理工大学 | Small-sized 6-track whole topographic form mobile robot |
| US20080093131A1 (en) * | 2006-10-06 | 2008-04-24 | Irobot Corporation | Robotic Vehicle |
| CN101209721A (en) * | 2006-12-28 | 2008-07-02 | 上海广茂达伙伴机器人有限公司 | Single soldier anti-terrorism robot |
| US20080179115A1 (en) * | 2006-10-06 | 2008-07-31 | Irobot Corporation | Maneuvering Robotic Vehicles Having A Positionable Sensor Head |
| CN101244728A (en) * | 2008-03-18 | 2008-08-20 | 中国矿业大学 | Flame-proof type robot platform for search operation in coal mine well |
| CN201217459Y (en) * | 2008-03-22 | 2009-04-08 | 中国矿业大学 | Search and rescue robot for coal mine with closed caterpillar band characters |
| CN101723001A (en) * | 2009-09-28 | 2010-06-09 | 浙江巨龙自动化设备有限公司 | Caterpillar mobile robot platform |
-
2012
- 2012-06-21 CN CN201210207854.8A patent/CN102887181B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080093131A1 (en) * | 2006-10-06 | 2008-04-24 | Irobot Corporation | Robotic Vehicle |
| US20080179115A1 (en) * | 2006-10-06 | 2008-07-31 | Irobot Corporation | Maneuvering Robotic Vehicles Having A Positionable Sensor Head |
| CN101209721A (en) * | 2006-12-28 | 2008-07-02 | 上海广茂达伙伴机器人有限公司 | Single soldier anti-terrorism robot |
| CN101077717A (en) * | 2007-06-22 | 2007-11-28 | 北京理工大学 | Small-sized 6-track whole topographic form mobile robot |
| CN101244728A (en) * | 2008-03-18 | 2008-08-20 | 中国矿业大学 | Flame-proof type robot platform for search operation in coal mine well |
| CN201217459Y (en) * | 2008-03-22 | 2009-04-08 | 中国矿业大学 | Search and rescue robot for coal mine with closed caterpillar band characters |
| CN101723001A (en) * | 2009-09-28 | 2010-06-09 | 浙江巨龙自动化设备有限公司 | Caterpillar mobile robot platform |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104290830A (en) * | 2014-08-18 | 2015-01-21 | 浙江理工大学 | Under-actuated track type vehicle wheel mechanism |
| CN104290830B (en) * | 2014-08-18 | 2016-08-17 | 浙江理工大学 | A kind of drive lacking crawler wheel mechanism |
| CN105667612A (en) * | 2014-11-18 | 2016-06-15 | 中国人民解放军91872部队青岛研究室 | Obstacle crossing robot used in narrow space |
| CN105667612B (en) * | 2014-11-18 | 2018-01-09 | 中国人民解放军91872部队青岛研究室 | A kind of barrier-surpassing robot for narrow space |
| CN104794977A (en) * | 2015-04-08 | 2015-07-22 | 西安交通大学 | Humanoid mechanism displaying platform |
| CN104794977B (en) * | 2015-04-08 | 2017-08-01 | 西安交通大学 | A kind of humanoid mechanism display platform |
| CN106627820A (en) * | 2016-12-19 | 2017-05-10 | 安徽天裕汽车零部件制造有限公司 | Crawler robot swing arm driving device |
| CN111055937A (en) * | 2019-12-30 | 2020-04-24 | 合肥工业大学 | Novel crawler robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102887181B (en) | 2015-05-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021000900A1 (en) | Multifunctional universal robot chassis | |
| CN102887181B (en) | Swinging arm drive device for tracked robot | |
| CN103373402B (en) | Wheel-track combined Modularized mobile robot mobile devices | |
| CN203902187U (en) | Amphibious walking robot | |
| CN201597658U (en) | Threaded driving running device | |
| CN104787134A (en) | Wheel-caterpillar combined mobile robot platform | |
| CN103863424B (en) | Adapt to the crusing robot of complicated unstructured landform | |
| CN101380978A (en) | Shrimp-shaped six-wheel mobile robot | |
| CN203740002U (en) | Swing arm type tracked robot | |
| CN104691611B (en) | Diagonal differential steering four-wheel wagon and control method | |
| CN204488926U (en) | Diagonal angle differential steering four-wheeled | |
| CN102530113A (en) | Tracked system with variable geometry | |
| CN208646999U (en) | A kind of switchable type planetary gear crawler belt traveling mechanism | |
| CN203806022U (en) | Wheel-tracked combined robot adaptable to complicated unstructured environments such as nuclear power plant | |
| CN108715190A (en) | Rotary wheel carries out converting machine people | |
| CN102865432A (en) | Walker in electric drive pipeline | |
| CN103879466B (en) | A kind of crawler type variation rigidity independent suspension power chassis | |
| CN203819345U (en) | Foldable self-aid multifunctional paddy field managing machine | |
| CN103818488A (en) | Triangular crawler wheel translation mechanism for rescue robot | |
| CN204309924U (en) | A kind of multi-mode traveling gear for robot | |
| CN102756764A (en) | Omni-directional moving track | |
| WO2014168517A1 (en) | Trailer-type vehicle for transporting a car off road and over water | |
| CN206299340U (en) | A kind of crawler body | |
| CN205131414U (en) | Crawler -type underactuated robot with shape self -adaptation | |
| CN107310648A (en) | A kind of achievable wheel, the fighter toy for carrying out replacement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |