CN103373402A - Wheel-tracked compound modular mobile robot traveling device - Google Patents
Wheel-tracked compound modular mobile robot traveling device Download PDFInfo
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- CN103373402A CN103373402A CN2013102944709A CN201310294470A CN103373402A CN 103373402 A CN103373402 A CN 103373402A CN 2013102944709 A CN2013102944709 A CN 2013102944709A CN 201310294470 A CN201310294470 A CN 201310294470A CN 103373402 A CN103373402 A CN 103373402A
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Abstract
The invention provides a wheel-tracked compound modular mobile robot traveling device which comprises a frame, four track driving devices and four track swing arm structures, wherein the track driving devices are fixed onto the frame through large transverse shafts and small transverse shafts on the frame, the track swing arm structures are connected with the track driving devices through flange plates, and the four track driving devices and the four track swing arm structures are symmetrically arranged at four corners of the frame. The middle of the frame is provided with a pair of wheels, so that the traveling device simultaneously has wheel-tracked compound advancing modes. A wheel traveling mode is combined with a tracked traveling mode, quite high adaptability and trafficability of a robot can be kept, high travelling speed of the robot can also be kept, and the traveling device is simple and reliable in structure and high in flexibility and applicability.
Description
Technical field
The present invention relates to a kind of device of robot probe's field of engineering technology, particularly, relate to a kind of wheel the-track combined Modularized mobile robot mobile devices.
Background technology
Progress along with science and technology, the development of society, the field that people probe into is in continuous expansion, and the effect of robot becomes more and more important in these activities, especially the special landform that a lot of mankind can't involve in is such as surface of the scene after the earthquake, mars exploration etc.
So in the last few years, the walking manner that increasing people begins to imagine and the invention robot is possible, but principal mode can be summed up as two classes, i.e. wheeled and crawler type.Pure wheeled owing to relying on wheel to advance, so moving velocity is fast, easy operation control; But also cause its road pavement to be had relatively high expectations take wheel as main body, easily become bogged in the swamp, and it is poor to keep away the barrier obstacle climbing ability.And caterpillar robot is by increasing the articulated type crawler belt, makes the robot can across obstacle, again because large with contact area of ground, so the Special Roads such as sand ground, marsh of can passing by; But the shortcomings such as the speed that also exists simultaneously is slow and power consumption is large.
Through the literature search of prior art being found the people such as Zhao Haifeng is in " robot " the 06th phase in 2006, write articles " the novel wheel-leg-crawler composite moving mechanism and stability analysis ", this article has been introduced the design plan of the robot form device of a kind of wheel the-carry out-leg combination, and has finished the stability analysis to it.But this robot only has two parallel crawler belts, and crawler belt is fixed on vehicle body and can not rotates, so its obstacle climbing ability is not very high, so can not be applicable to widely occasion.
Summary of the invention
For defective of the prior art, the purpose of this invention is to provide a kind of wheel the-track combined Modularized mobile robot mobile devices, higher autonomous crossing ability is not only arranged, and moving velocity is very fast, can fast and effeciently pass through Different Ground, and simple for structure, and motion is flexible, cost of manufacture is low, is applicable to multiple occasion.
For realizing above purpose, the invention provides a kind of wheel the-track combined Modularized mobile robot mobile devices, comprise vehicle frame, caterpillar drive and crawler belt swing arm structure three parts, wherein: caterpillar drive is fixed on the vehicle frame by the large transverse axis on the vehicle frame and little transverse axis, and the crawler belt swing arm structure is connected with caterpillar drive by flange; Four angles that are arranged at vehicle frame of quadruplet caterpillar drive and four crawler belt swing arm structure symmetries, the vehicle frame middle part arranges pair of wheels, thereby makes device have simultaneously the compound mode of advancing of wheel-shoe.
Preferably, vehicle frame comprises two DC speed-reducing, two wheels, two axletrees, four gears, two worm and gear motors, two large transverse axis, four little transverse axis, two cardan wheels and two long aluminum corner braces, and wherein: two large transverse axis pass respectively the main body that two long aluminum corner braces consist of vehicle frame successively; Two DC speed-reducing are connected with two gears by holding screw is corresponding respectively; Two corresponding engagements with two other gear of gear difference consist of two pairs of speed reducing gear pairs; Two axletrees are stepped shaft, its two ends bearings, and the stage casing is connected with gear by general flat key is corresponding respectively, and spindle nose links to each other with wheel by general flat key is corresponding respectively, is screwed into nut with the difference fixing vehicle wheel at axle head; Two worm and gear motors one in front and one in back are separately fixed between two long aluminum corner braces; Two large transverse axis, four little transverse axis all are fixed in two long aluminum corner braces; Two cardan wheels one in front and one in back are separately fixed between two long aluminum corner braces.
Preferably, every cover caterpillar drive includes two support plates, pair of straight gear, bevel-gear sett, inner shaft, outer shaft, little axle and DC speed-reducing, and wherein: two support plates are interfixed by bolted; The pair of straight gear is intermeshing, and bevel-gear sett is intermeshing; DC speed-reducing connects a finishing bevel gear cuter; Interior axle connects another finishing bevel gear cuter by bearing; Outer shaft connects a straight-tooth gear by bearing; Little axle connects another straight-tooth gear by bearing; Interior axle by bearing carrier ring in outer shaft; One support plate passes through two bearings outer shafts, and passes through an end of the little axle of bearings; Another support plate is by an end of axle in the bearings.
More preferably, the outer shaft in the caterpillar drive is provided with an axis hole, and internal axle sleeve is in this axis hole; The inner ring of bearing is enclosed within on the interior axle, and outside race is enclosed within the axis hole of outer shaft, so that interior axle and outer shaft are along same axis while independent rotation.
More preferably, the outer shaft in the caterpillar drive is corresponding and be connected and fixed by four bolts by the hole that arranges on the caterpillar block in four tapped bore on the flange and the crawler belt swing arm structure, drives the crawler belt swing arm structure by outer shaft and rotates together.
More preferably, the little axle in the caterpillar drive makes the rotation of worm and gear motor pass to outer shaft by little axle and two straight-tooth gears by the output shaft of the worm and gear motor in the coupler connecting vehicle frame.
More preferably, the interior axle in the caterpillar drive is connected with drive wheel in the crawler belt swing arm structure by general flat key, interior axle the power transmission of DC speed-reducing to drive wheel.
Preferably, each crawler belt swing arm structure includes two caterpillar blocks, drive wheel, three flower wheels, crawler belt and tightening devices, wherein: three flower wheels are fixed between two caterpillar blocks by bearing and axle, tightening device is bolted between two caterpillar blocks, two caterpillar blocks are the quadrilateral structure of vertical direction symmetry, drive wheel fixes by the interior axle of general flat key and caterpillar drive, crawler belt wraps drive wheel and three flower wheels, so that the power of drive wheel (40) passes to three flower wheels by crawler belt.
Compared with prior art, the present invention has following beneficial effect:
The of the present invention wheel-track combined Modularized mobile robot mobile devices are by combining with the crawler type mode of travelling wheeled, overcome the pure wheeled shortcoming that the poor and pure crawler type speed of barrier obstacle climbing ability is slow, power consumption is large of keeping away, the very high adaptivity of this device and crossing ability had both been kept, can guarantee again its faster moving velocity, and this apparatus structure is simple and reliable, alerting ability is high, applicability is strong, the alternative overwhelming majority's robot ride device especially requires higher robot to the extreme terrain crossing ability.
Description of drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is the integral structure scheme drawing of apparatus of the present invention;
Fig. 2 is the vehicle frame scheme drawing of apparatus of the present invention;
Fig. 3 is the caterpillar drive scheme drawing of apparatus of the present invention;
Fig. 4 is the crawler belt swing arm structure scheme drawing of apparatus of the present invention;
Fig. 5 is the power drive system scheme drawing of apparatus of the present invention.
Among the figure: DC speed-reducing 1,2; Wheel 3,4; Axletree 5,6; Gear 7,8,9,10; Worm and gear motor 11,12; Large transverse axis 13,14; Little transverse axis 15,16,17,18; Cardan wheel 19,20; Long aluminum corner brace 21,22; Support plate 23,24; Straight- tooth gear 25,26; Finishing bevel gear cuter 27,28; DC speed-reducing 29; Interior axle 30; Outer shaft 31; Little axle 32; Tightening device 33; Caterpillar block 34,35; Flower wheel 36,37,38; Crawler belt 39; Drive wheel 40.
The specific embodiment
The present invention is described in detail below in conjunction with specific embodiment.Following examples will help those skilled in the art further to understand the present invention, but not limit in any form the present invention.Should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As shown in Figure 1, present embodiment provides a kind of and takes turns-track combined Modularized mobile robot mobile devices, comprise three component parts, respectively vehicle frame, caterpillar drive, crawler belt swing arm structure, wherein: caterpillar drive by the large transverse axis 13 on the vehicle frame, 14 and little transverse axis 15,16,17,18 be fixed on the vehicle frame; The crawler belt swing arm structure is connected with caterpillar drive by flange; Four angles that are arranged at vehicle frame of the total quadruplet caterpillar drive of whole robot ride device and four crawler belt swing arm structure symmetries; The vehicle frame middle part is provided with pair of wheels 3,4, thereby makes robot have simultaneously the compound mode of advancing of wheel-shoe.
Among Fig. 1, the quadruplet caterpillar drive is arranged at respectively four jiaos of vehicle frame, and large transverse axis 13, large transverse axis 14 pass respectively long aluminum corner brace 21, long aluminum corner brace 22 successively, thereby has consisted of the main body of vehicle frame; The quadruplet caterpillar drive is inserted in from the two ends of large transverse axis 13, large transverse axis 14 respectively; Every cover caterpillar drive has respectively two little transverse axis to pass; Large and small transverse axis is supported in caterpillar drive on the vehicle frame jointly, and carries out fastening at the axle head screw-in nut of large and small transverse axis; The hole that evenly is provided with on the flange of the outer shaft 31 of caterpillar drive on the caterpillar block 34 of four tapped bore and crawler belt swing arm structure is corresponding, tightens fixing with hole and the tapped bore on the flange that four bolts successively pass on the caterpillar block 34.
As shown in Figure 2, vehicle frame comprises DC speed-reducing 1,2, wheel 3,4, axletree 5,6, gear 7,8,9,10, worm and gear motor 11,12, large transverse axis 13,14, little transverse axis 15,16,17,18, cardan wheel 19,20 and long aluminum corner brace 21,22, wherein: DC speed-reducing 1,2 is connected with gear 7,9 by holding screw is corresponding respectively, and gear 7,9 is corresponding respectively to consist of two pairs of speed reducing gear pairs with gear 8,10 engagements; Axletree 5 is stepped shaft, its two ends bearings, and the stage casing is connected with gear 8 by general flat key, and spindle nose links to each other with wheel 3 by general flat key, is screwed into nut with fixing vehicle wheel 3 at axle head; Equally, axletree 6 is stepped shaft, its two ends bearings, and the stage casing is connected with gear 10 by general flat key, and spindle nose links to each other with wheel 4 by general flat key, is screwed into nut with fixing vehicle wheel 4 at axle head; Worm and gear motor 11,12 one in front and one in back is individually fixed between the long aluminum corner brace 21,22; Two large transverse axis 13,14, four little transverse axis 15,16,17,18 all are fixed in two long aluminum corner braces 21,22; Cardan wheel 19,20 one in front and one in back is individually fixed between the long aluminum corner brace 21,22.
As shown in Figure 3, caterpillar drive comprises two support plates 23,24, pair of straight gear 25,26, bevel- gear sett 27,28, DC speed-reducing 29, interior axle 30, outer shaft 31 and little axle 32, and wherein: support plate 24 and support plate 23 are interfixed by bolted; Pair of straight gear 25,26 intermeshing; Bevel- gear sett 27,28 intermeshing; Finishing bevel gear cuter 27 connects DC speed-reducing 29; Interior axle 30 connects finishing bevel gear cuter 28 by bearing; Outer shaft 31 connects straight-tooth gear 25 by bearing; Little axle 32 connects straight-tooth gear 26 by bearing; Interior axle 30 by bearing carrier ring in outer shaft 31; Support plate 23 passes through two bearings outer shafts 31, and passes through an end of the little axle 32 of bearings; Support plate 24 is by an end of axle 30 in the bearings; Outer shaft 31 has an axis hole, and interior axle 30 is enclosed within this axis hole; The inner ring of bearing is enclosed within on the interior axle 30, and the outer ring sleeve of bearing is in the axis hole of outer shaft 31, so that interior axle 30 can be along same axis while independent rotation with outer shaft 31; Little axle 32 makes the rotation of worm and gear motor 11 pass to outer shaft 31 by little axle 32 and straight- tooth gear 25,26 by the worm and gear motor 11 in the coupler connecting vehicle frame.
As shown in Figure 4, the crawler belt swing arm structure comprises tightening device 33, caterpillar block 34,35, flower wheel 36,37,38, crawler belt 39 and drive wheel 40, wherein: flower wheel 36,37,38 is fixed between the caterpillar block 34,35 by bearing and axle, tightening device 33 is bolted between the caterpillar block 34,35, caterpillar block 34,35 the quadrilateral structure that is shaped as the vertical direction symmetry.
A kind of wheel of present embodiment-track combined Modularized mobile robot mobile devices working process is as follows:
In the present embodiment, a kind of wheel-track combined Modularized mobile robot mobile devices are that vehicle frame, caterpillar drive, crawler belt swing arm structure form by three parts, as shown in Figure 5: the rotation of DC speed-reducing 1 passes to axletree 5 by gear 7,8 deceleration, again by axletree 5 transmission of power to wheel 3, the rotation of same DC speed-reducing 2 passes to axletree 6 by gear 9,10 deceleration, by axletree 6 transmission of power to wheel 4, wheel 3,4 has consisted of the wheeled mode of advancing of robot in conjunction with cardan wheel 19,20; DC speed-reducing 29 in the caterpillar drive is that the finishing bevel gear cuter 27,28 of 1:1 is given interior axle 30 transmission of power by reduction ratio, driven again drive wheel 40 rotations of crawler belt swing arm structure by interior axle 30, thereby crawler belt 39 is rolled, the crawler type that the has consisted of robot mode of advancing; Worm and gear motor 11 in the vehicle frame by coupler the little axle 32 of transmission of power to caterpillar drive, straight-tooth gear 26 on the little axle 32 is passed to straight-tooth gear 25 to power, and then drive outer shaft 31 rotations, outer shaft 31 drives the caterpillar block 34 that connects firmly with it and rotates, thereby drives the rotation of crawler belt swing arm structure; Rotation by the crawler belt swing arm structure can realize the conversion between the wheeled traveling mode of robot and the crawler type traveling mode, front and back each spinning of crawler belt swing arm structure, and cooperation makes robot can adjust attitude to improve obstacle climbing ability mutually.
Use this to take turns-track combined Modularized mobile robot mobile devices, can make robot that various complex environments are had good carrying capacity, and keep higher speed; This device can change the attitude of robot by the rotation of crawler belt swing arm, has improved motion flexibly, and physical construction is simple, workable simultaneously, and applicability is wide.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (6)
1. wheel-track combined Modularized mobile robot mobile devices, it is characterized in that, comprise vehicle frame, caterpillar drive and crawler belt swing arm structure three parts, wherein: caterpillar drive is fixed on the vehicle frame by the large transverse axis on the vehicle frame and little transverse axis, and the crawler belt swing arm structure is connected with caterpillar drive by flange; Four angles that are arranged at vehicle frame of quadruplet caterpillar drive and four crawler belt swing arm structure symmetries, the vehicle frame middle part arranges pair of wheels, thereby makes device have simultaneously the compound mode of advancing of wheel-shoe;
Described vehicle frame comprises two DC speed-reducing (1,2), two wheels (3,4), two axletrees (5,6), four gears (7,8,9,10), two worm and gear motors (11,12), two large transverse axis (13,14), four little transverse axis (15,16,17,18), two cardan wheels (19,20) and two long aluminum corner braces (21,22), and wherein: two large transverse axis (13,14) pass respectively the main body that two long aluminum corner braces (21,22) consist of vehicle frame successively; Two DC speed-reducing (1,2) are connected with two gears (7,9) by holding screw is corresponding respectively; Two gears (7,9) are corresponding respectively to consist of two pairs of speed reducing gear pairs with two other gear (8,10) engagement; Two axletrees (5,6) are stepped shaft, its two ends bearings, the stage casing is connected with gear (8,10) by general flat key is corresponding respectively, and spindle nose links to each other with wheel (3,4) by general flat key is corresponding respectively, is screwed into nut with difference fixing vehicle wheel (3,4) at axle head; Two worm and gear motors (11,12) one in front and one in back are separately fixed at (21,22) between two long aluminum corner braces; Two large transverse axis (13,14), four little transverse axis (15,16,17,18) all are fixed in two long aluminum corner braces (21,22); Two cardan wheels (19,20) one in front and one in back are separately fixed between two long aluminum corner braces (21,22);
Described caterpillar drive comprises two support plates (23,24), pair of straight gear (25,26), bevel-gear sett (27,28), interior axle (30), outer shaft (31), little axle (32) and DC speed-reducing (29), and wherein: two support plates (23,24) are interfixed by bolted; Pair of straight gear (25,26) is intermeshing; Bevel-gear sett (27,28) is intermeshing; DC speed-reducing (29) connects finishing bevel gear cuter (27); Interior axle (30) connects finishing bevel gear cuter (28) by bearing; Outer shaft (31) connects straight-tooth gear (25) by bearing; Little axle (32) connects straight-tooth gear (26) by bearing; Interior axle (30) by bearing carrier ring in outer shaft (31); Support plate (23) passes through two bearings outer shafts (31), and passes through an end of the little axle of bearings (32), and support plate (24) is by an end of axle (30) in the bearings.
2. a kind of wheel the according to claim 1-track combined Modularized mobile robot mobile devices, it is characterized in that, described crawler belt swing arm structure comprises two caterpillar blocks (34,35), drive wheel (40), three flower wheels (36,37,38), crawler belt (39) and tightening device (33), wherein: three flower wheels (36,37,38) be fixed on two caterpillar blocks (34 by bearing and axle, 35) between, tightening device (33) is bolted on two caterpillar blocks (34,35) between, two caterpillar blocks (34,35) be the quadrilateral structure of vertical direction symmetry, drive wheel (40) fixes by the interior axle (30) of general flat key and caterpillar drive, crawler belt (39) wraps drive wheel (40) and three flower wheels (36,37,38), so that the power of drive wheel (40) passes to three flower wheels (36 by crawler belt (39), 37,38).
3. a kind of wheel the according to claim 1-track combined Modularized mobile robot mobile devices is characterized in that, the outer shaft in the described caterpillar drive (31) is provided with an axis hole, and interior axle (30) is enclosed within this axis hole; The inner ring of bearing is enclosed within on the interior axle (30), and outside race is enclosed within the axis hole of outer shaft (31), so that interior axle (30) and outer shaft (31) are along same axis while independent rotation.
4. a kind of wheel the according to claim 1-track combined Modularized mobile robot mobile devices, it is characterized in that, outer shaft in the described caterpillar drive (31) is corresponding with the upper hole that arranges of the caterpillar block (34) in the crawler belt swing arm structure and be connected and fixed by four bolts by four tapped bore on the flange, is rotated together by outer shaft (31) drive crawler belt swing arm structure.
5. each described a kind of wheel-track combined Modularized mobile robot mobile devices according to claim 1-4, it is characterized in that, little axle (32) in the described caterpillar drive makes the rotation of worm and gear motor (11) pass to outer shaft (31) by little axle (32) and two straight-tooth gears (25,26) by the output shaft of the worm and gear motor (11) in the coupler connecting vehicle frame.
6. each described a kind of wheel-track combined Modularized mobile robot mobile devices according to claim 1-4, it is characterized in that, interior axle (30) in the described caterpillar drive is connected with drive wheel (40) in the crawler belt swing arm structure by general flat key, interior axle (30) the power transmission of DC speed-reducing (29) to drive wheel (40).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310294470.9A CN103373402B (en) | 2013-07-12 | 2013-07-12 | Wheel-track combined Modularized mobile robot mobile devices |
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| CN201310294470.9A CN103373402B (en) | 2013-07-12 | 2013-07-12 | Wheel-track combined Modularized mobile robot mobile devices |
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| CN103373402B CN103373402B (en) | 2015-10-28 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104709373A (en) * | 2013-12-13 | 2015-06-17 | 中国科学院沈阳自动化研究所 | Movable type gap opening robot |
| CN104802868A (en) * | 2014-01-28 | 2015-07-29 | 南京聚特机器人技术有限公司 | Multifunctional portable moving platform |
| CN105383586A (en) * | 2015-11-23 | 2016-03-09 | 上海交通大学 | Composite mobile robot with wheel-track legs |
| CN106253151A (en) * | 2016-08-24 | 2016-12-21 | 国网山东省电力公司博兴县供电公司 | A kind of cable traction device being provided with motor protection |
| CN106945736A (en) * | 2017-04-11 | 2017-07-14 | 宿迁学院 | Wheel-track combined robot and remote-controlled robot |
| CN108820061A (en) * | 2018-07-11 | 2018-11-16 | 华南理工大学广州学院 | A kind of wheel-track combined walking robot |
| WO2019218288A1 (en) * | 2018-05-17 | 2019-11-21 | Zhong Zhaohong | Balanced mobility device for disabled individuals |
| CN113926105A (en) * | 2021-10-18 | 2022-01-14 | 特斯联科技集团有限公司 | Fire-fighting robot for forest grassland |
| CN114872807A (en) * | 2022-04-30 | 2022-08-09 | 合肥工业大学 | Wheel-crawler-leg combined type mobile robot |
| CN114954712A (en) * | 2022-06-02 | 2022-08-30 | 江苏迈吉易威电动科技有限公司 | Wheel hub motor crawler wheel with gait control function |
| CN115339534A (en) * | 2022-09-21 | 2022-11-15 | 中煤科工集团重庆研究院有限公司 | Multi-crawler omnidirectional running device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104709373A (en) * | 2013-12-13 | 2015-06-17 | 中国科学院沈阳自动化研究所 | Movable type gap opening robot |
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| CN104802868A (en) * | 2014-01-28 | 2015-07-29 | 南京聚特机器人技术有限公司 | Multifunctional portable moving platform |
| CN105383586A (en) * | 2015-11-23 | 2016-03-09 | 上海交通大学 | Composite mobile robot with wheel-track legs |
| CN106253151B (en) * | 2016-08-24 | 2017-12-19 | 国网山东省电力公司博兴县供电公司 | A kind of cable traction device provided with motor protection |
| CN106253151A (en) * | 2016-08-24 | 2016-12-21 | 国网山东省电力公司博兴县供电公司 | A kind of cable traction device being provided with motor protection |
| CN106945736A (en) * | 2017-04-11 | 2017-07-14 | 宿迁学院 | Wheel-track combined robot and remote-controlled robot |
| WO2019218288A1 (en) * | 2018-05-17 | 2019-11-21 | Zhong Zhaohong | Balanced mobility device for disabled individuals |
| CN108820061A (en) * | 2018-07-11 | 2018-11-16 | 华南理工大学广州学院 | A kind of wheel-track combined walking robot |
| CN113926105A (en) * | 2021-10-18 | 2022-01-14 | 特斯联科技集团有限公司 | Fire-fighting robot for forest grassland |
| CN113926105B (en) * | 2021-10-18 | 2022-04-26 | 特斯联科技集团有限公司 | Fire-fighting robot for forest grassland |
| CN114872807A (en) * | 2022-04-30 | 2022-08-09 | 合肥工业大学 | Wheel-crawler-leg combined type mobile robot |
| CN114954712A (en) * | 2022-06-02 | 2022-08-30 | 江苏迈吉易威电动科技有限公司 | Wheel hub motor crawler wheel with gait control function |
| CN115339534A (en) * | 2022-09-21 | 2022-11-15 | 中煤科工集团重庆研究院有限公司 | Multi-crawler omnidirectional running device |
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