CN104875801A - Double ratchet wheel type telescopic obstacle-crossing support arm and obstacle-crossing robot - Google Patents
Double ratchet wheel type telescopic obstacle-crossing support arm and obstacle-crossing robot Download PDFInfo
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- CN104875801A CN104875801A CN201510221920.0A CN201510221920A CN104875801A CN 104875801 A CN104875801 A CN 104875801A CN 201510221920 A CN201510221920 A CN 201510221920A CN 104875801 A CN104875801 A CN 104875801A
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- ratchet
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- tooth bar
- expansion tightening
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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Abstract
The invention discloses a double ratchet wheel type telescopic obstacle-crossing support arm and an obstacle-crossing robot. The double ratchet wheel type telescopic obstacle-crossing support arm comprises a telescopic support arm and a support arm body which are in clearance fit. A rear travelling wheel is fixed on the support arm body and is axially connected with a power output shaft in series. A front travelling wheel is fixed on the telescopic support arm and is axially connected with a transmission shaft in series. An obstacle-crossing crawler belt is sleeved with the front travelling wheel and the rear travelling wheel, a tension roller mechanism is fixed on the support arm body, a double-ratchet wheel mechanism is fixed at one end of the support arm body close to the telescopic support arm; the double-ratchet wheel mechanism drives a rack to move left and right under control of a motor encoder, one end of the rack is connected with the telescopic support arm and the other end of the rack is connected with a cam. The cam is matched with the tension roller mechanism tangentially, the rack moves left to right to drive the cam to move left to right and the telescopic support arm to slide telescopically; the cam moves to drive the tension roller mechanism to slide up and down along the cam, and finally the obstacle-crossing crawler belt relaxes and tights to be matched with telescopic sliding of the telescopic support arm.
Description
Technical field
The invention belongs to advanced manufacture and technical field of automation, particularly relate to a kind of two telescopic obstacle detouring support arm of ratchet-type and barrier-surpassing robot.
Background technology
Along with increasing robot is put in the work of field complex environment, how to improve its adaptive capacity to complex environment, become the important indicator weighing robot performance.Current barrier-surpassing robot on the market mostly adopts and add obstacle detouring crawler belt on support arm, by the climbing of crawler belt, and crossing over blockage, its obstacle clearing capability is decided by the length of Robot arm; And the arm length of this type of robot is subject to the impact of robot overall dimensions and weight, often can not accomplish very long, and length is fixing, alerting ability and poor operability.
Summary of the invention
In order to solve the shortcoming of prior art, the invention provides a kind of two telescopic obstacle detouring support arm of ratchet-type and barrier-surpassing robot, this pair of telescopic obstacle detouring support arm of ratchet-type has the function that can change arbitrarily arm length when complex environment uses.
For achieving the above object, the present invention is by the following technical solutions:
A kind of two telescopic obstacle detouring support arm of ratchet-type, comprise support arm body and telescopic boom, described telescopic boom coordinates with support arm body space;
The support of described support arm body is fixed with rear walking wheel, and the axial series of described rear walking wheel has a power take-off shaft;
Front walking wheel fixed by the support of described telescopic boom, and the axial series of described front walking wheel has a transmission shaft;
Obstacle detouring crawler belt, it is linked on described rear walking wheel and front walking wheel; Described power take-off shaft drives rear walking wheel to rotate, and rear walking wheel drives front walking wheel to rotate by obstacle detouring crawler belt;
Described support arm body is fixed with expansion tightening wheel mechanism; Described support arm body is fixed with two ratchet device near one end of telescopic boom;
Described pair of ratchet device, under drived control, is with carry-over bar side-to-side movement; Described tooth bar one end is connected with telescopic boom, and the tooth bar other end is connected with cam; Described cam coordinates with expansion tightening wheel mechanism is tangent; The moving cam side-to-side movement of tooth bar side-to-side movement band and telescopic boom telescopic slide in the body cavity of support arm body; Cam side-to-side movement makes expansion tightening wheel mechanism slide up and down along cam, finally makes obstacle detouring slack of track and tightens up to coordinate telescopic boom telescopic slide.
Described pair of ratchet device, comprises a forward ratchet and a reverse ratchet, described forward ratchet and reverse ratchet in the same size; The axis of described forward ratchet and reverse ratchet is serially connected with motor transmission shaft, described forward ratchet and be oppositely provided with spacing sleeve between ratchet and motor transmission shaft, and the two ends of described motor transmission shaft are respectively equipped with axial end cap; Described axial end cap is provided with fixing screw.
Described forward ratchet there are some forward clicks by pinned connection, between each described forward click and forward ratchet, are connected with a ratchet preloading spring; Described reverse ratchet there are some reverse clicks by pinned connection, between each described reverse click and reverse ratchet, are connected with a ratchet preloading spring.
When described pair of ratchet device rotates clockwise, under the promotion of ratchet preloading spring, forward click is outwards routed up, and fastening tooth bar makes tooth bar to left, oppositely click rotates clockwise simultaneously, and tooth bar compresses reverse click makes it be attached on described reverse ratchet;
When described pair of ratchet device rotates counterclockwise, under the promotion of ratchet preloading spring, reverse click is outwards routed up, and fastening tooth bar makes tooth bar to right translation, forward click rotates counterclockwise simultaneously, and tooth bar compresses reverse click makes it be attached on described forward ratchet; Tooth bar moves and drives the telescopic boom be connected with tooth bar to move forward and backward.
When tooth bar meets accident mobile, described forward click and reverse click are all outwards routed up under the promotion of ratchet preloading spring, the auto-lock function of motor that now two ratchet device is connected by motor transmission shaft keeps locking state, forward click and reverse click, by stuck tooth bar, make tooth bar move.
Described expansion tightening wheel mechanism, comprises base, described base is installed with a slip body of rod, and the described slip body of rod and base can slide mutually; There is a fixed block described slip body of rod upper end; Between base and fixed block, have a tensioner preloading spring, tensioner preloading spring is set on the slip body of rod; The both sides of described fixed block are respectively equipped with an axle side expansion tightening wheel and side, a hole expansion tightening wheel; Described axle side expansion tightening wheel has a transverse axis, and respectively there is a bearing at transverse axis two ends; Side, described hole expansion tightening wheel is through on described transverse axis; Described transverse axis port is provided with axial end cap, and described axial end cap is provided with fixing screw.
Described hole side expansion tightening wheel and axle side expansion tightening wheel is all tangent with cam coordinates; Under the effect of cam and tensioner preloading spring, described hole side expansion tightening wheel and axle side expansion tightening wheel slide up and down along cam.
Described hole side expansion tightening wheel and axle side expansion tightening wheel slide up and down motion amplitude and are determined by camb contour.
Described support arm body, telescopic boom and cam are duralumin material and make.
Described hole side expansion tightening wheel and axle side expansion tightening wheel are duralumin material and make.
A kind of barrier-surpassing robot is provided with the telescopic obstacle detouring support arm of above-mentioned two ratchet-types.
Specify in the present invention: when forward ratchet rotates clockwise, be defined as two ratchet device and rotate clockwise; When forward ratchet rotates counterclockwise, be defined as two ratchet device and rotate counterclockwise.
Beneficial effect of the present invention is:
(1) of the present invention pair of ratchet device solves rack-driving cleverly and cannot locate locked problem, novel, structure is reliable;
(2) cam mechanism of the present invention and expansion tightening wheel mechanism structure are simply, easily manufactured, safe and reliable;
(3) the support arm contractible trasformation length designed by the present invention is strong to complex environment adaptive faculty.
(4) by changing the telescopic boom of different length and the expansion tightening wheel of different size, the object of adjustment support arm overall length can easily be reached.
Accompanying drawing explanation
Fig. 1 is the structural representation of scalable obstacle detouring support arm;
Fig. 2 is the structural representation of two ratchet device;
Fig. 3 is two ratchet device motion schematic diagrams;
Fig. 4 is a) expansion tightening wheel mechanism structure schematic diagram;
Fig. 4 b) be expansion tightening wheel mechanism structure front elevation.
Wherein, 1 support arm body, 2 telescopic boom, 3 expansion tightening wheel mechanisms, 4 pairs of ratchet devices, 5 power take-off shafts, 6 cams, 71 rear walking wheels, 72 front walking wheels, 8 transmission shafts, 9 obstacle detouring crawler belts, 10 tooth bars, 101 forward ratchets, 102 reverse ratchets, 111 forward clicks, 112 reverse clicks, 12 bearing pins, 13 ratchet preloading springs, 14 spacing sleeves, 15 motor transmission shafts, 16 axial end cap, 17 fixing screws, 18 bases, 19 side, hole expansion tightening wheels, 20 fixed blocks, the 21 slip bodies of rod, 22 tensioner preloading springs, 23 axle side expansion tightening wheels, 24 bearings.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described:
As shown in Figure 1, a kind of two telescopic obstacle detouring support arm of ratchet-type, comprises support arm body 1 and telescopic boom 2, described telescopic boom 2 and support arm body 1 free-running fit; The support of described support arm body 1 is fixed with rear walking wheel 71, and the axial series of described rear walking wheel 71 has a power take-off shaft 5; Front walking wheel 72 fixed by the support of described telescopic boom 2, and the axial series of described front walking wheel 72 has a transmission shaft 8; Obstacle detouring crawler belt 9, it is linked on described rear walking wheel 71 and front walking wheel 72; Described power take-off shaft 5 drives rear walking wheel 71 to rotate, and rear walking wheel 71 drives front walking wheel 72 to rotate by obstacle detouring crawler belt 9; Described support arm body 1 fixes expansion tightening wheel mechanism 3; Described support arm body 1 is fixed with two ratchet device 4 near one end of telescopic boom 2;
Described pair of ratchet device 4, under drived control, is with carry-over bar 10 side-to-side movement; Described tooth bar 10 one end is connected with telescopic boom 2, and tooth bar 10 other end is connected with cam 6; Described cam 6 coordinates with expansion tightening wheel mechanism 3 is tangent; Tooth bar 10 side-to-side movement band moving cam 6 side-to-side movement and telescopic boom 2 telescopic slide in the body cavity of support arm body 1; Cam 6 side-to-side movement makes expansion tightening wheel mechanism 3 slide up and down along cam 6, finally makes obstacle detouring crawler belt 9 relax and tighten up to coordinate telescopic boom 2 telescopic slide.
As shown in Figure 2, two ratchet device 4 comprises forward ratchet 101 and a reverse ratchet 102, described forward ratchet 101 and reverse ratchet 102 in the same size; The axis of described forward ratchet 101 and reverse ratchet 102 is serially connected with motor transmission shaft 15, described forward ratchet 101 and be oppositely provided with spacing sleeve 14 between ratchet 102 and motor transmission shaft 15, and the two ends of described motor transmission shaft 15 are respectively equipped with axial end cap 16; Described axial end cap 16 is provided with fixing screw 17.
Described forward ratchet 101 is connected with some forward clicks 111 by bearing pin 12, between each described forward click 111 and forward ratchet 101, is connected with a ratchet preloading spring 13; Described reverse ratchet 1012 is connected with some reverse clicks 112 by bearing pin 12, between each described reverse click 112 and reverse ratchet 102, is connected with a ratchet preloading spring 13.
As shown in Figure 3, when two ratchet device 4 rotates clockwise, under the promotion of ratchet preloading spring 13, forward click 111 is outwards routed up, described forward click 111 fastens tooth bar 10 makes tooth bar 10 to left, oppositely click 112 rotates clockwise simultaneously, and tooth bar 10 compresses reverse click 112 makes it be attached on described reverse ratchet 102;
When two ratchet device 4 rotates counterclockwise, under the promotion of ratchet preloading spring 13, reverse click 112 is outwards routed up, described reverse click 112 fastens tooth bar 10 makes tooth bar 10 to right translation, forward click 112 rotates counterclockwise simultaneously, and tooth bar 10 compresses reverse click 112 makes it be attached on described forward ratchet 101; Tooth bar 10 moves and drives the telescopic boom 2 be connected with tooth bar 10 to move forward and backward.
When tooth bar 10 meets accident mobile, forward click 111 and reverse click 112 are all outwards routed up under the promotion of ratchet preloading spring 13, the auto-lock function of motor that now two ratchet device 4 is connected by motor transmission shaft 15 keeps locking state, forward click 111 and reverse click 112, by stuck tooth bar 10, make tooth bar 10 move.
As shown in Figure 4, expansion tightening wheel mechanism 3 comprises base 18, described base 18 is equipped with a slip body of rod 21, and the described slip body of rod 21 can slide mutually with base 18; There is a fixed block 20 the described slip body of rod 21 upper end; Between base 18 and fixed block 21, have a tensioner preloading spring 22, tensioner preloading spring 22 is set on the slip body of rod 21; The both sides of described fixed block 20 are respectively equipped with axle side expansion tightening wheel 23 and side, a hole expansion tightening wheel 19.Described axle side expansion tightening wheel 23 is the expansion tightening wheels with a transverse axis, and transverse axis two ends are respectively equipped with bearing 24, and bearing 24 outer is linked on fixed block 20 endoporus; Described transverse axis port is provided with axial end cap 16, and described axial end cap 16 is provided with fixing screw 17.
Side, described hole expansion tightening wheel 19 and axle side expansion tightening wheel 23 all coordinate with cam 6 is tangent; Under the effect of cam 6 and tensioner preloading spring 22, side, described hole expansion tightening wheel 19 and axle side expansion tightening wheel 23 slide up and down along cam 6.
Side, described hole expansion tightening wheel 19 and axle side expansion tightening wheel 23 slide up and down motion amplitude and are determined by cam 6 profile.
Described support arm body 1, telescopic boom 2 and cam 6 are duralumin material and make, and under the prerequisite ensureing structural strength, greatly reduce overall weight, improve flying power.
A kind of barrier-surpassing robot is provided with the telescopic obstacle detouring support arm of above-mentioned two ratchet-types.
Principle of work of the present invention is:
(1) when forward ratchet 101 rotates clockwise, be defined as two ratchet device 4 and rotate clockwise; When forward ratchet 101 rotates counterclockwise, be defined as two ratchet device 4 and rotate counterclockwise.
(2) under normal motoring condition, two ratchet device 4 rotates counterclockwise and tooth bar 10 is moved inward to be shifted onto by cam 6 inner side, then the hole side expansion tightening wheel 19 that coordinate tangent with cam 6 and axle side expansion tightening wheel 23 are under the effect of cam 6, rise to most significant bit; Now obstacle detouring crawler belt 9 is in the length condition of shortest route.Meanwhile, under the drive of tooth bar 10, telescopic boom 2 is recovered to the inner side of support arm body 1, and now support arm entire length is in most short status to carry out general obstacle detouring and walking motion.
(3) when running into the obstacle higher than normal condition, two ratchet device 4 rotates counterclockwise and makes outside movement of tooth bar 10 shift cam 6 onto outermost, then the hole side expansion tightening wheel 19 that coordinate tangent with cam 6 and axle side expansion tightening wheel 23 are under the combined action of cam 6 and tensioner preloading spring 22, be recovered in support arm body 1, obstacle detouring crawler belt 9 starts to become slack, for support arm extends headspace; Meanwhile, by extrapolated for the telescopic boom 2 be connected with tooth bar 10, under the control of motor encoder, arrive the length needed;
When side, hole expansion tightening wheel 19 and axle side expansion tightening wheel 23 drop to lowest order, obstacle detouring crawler belt 9 is in the length condition of the most microscler one-tenth; Meanwhile, under the drive of tooth bar 10, telescopic boom 2 reaches the outermost of support arm body 1, and now support arm entire length is in most long status.
(4) after obstacle detouring completes, two ratchet device 4 rotates clockwise, and advanced in side, hole expansion tightening wheel 19 and axle side expansion tightening wheel 23 by cam 6, side, hole expansion tightening wheel 19 and axle side expansion tightening wheel 23 outwards eject under the effect of cam 6, shrinks obstacle detouring crawler belt 9; Telescopic boom 2 drawn in support arm body 1, final arrival tightens up position simultaneously.This process is inverse process with extending support arm.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (10)
1. the two telescopic obstacle detouring support arm of ratchet-type, it is characterized in that, comprise support arm body and telescopic boom, described telescopic boom coordinates with support arm body space;
The support of described support arm body is fixed with rear walking wheel, and the axial series of described rear walking wheel has a power take-off shaft;
Front walking wheel fixed by the support of described telescopic boom, and the axial series of described front walking wheel has a transmission shaft;
Obstacle detouring crawler belt, it is linked on described rear walking wheel and front walking wheel; Described power take-off shaft drives rear walking wheel to rotate, and rear walking wheel drives front walking wheel to rotate by obstacle detouring crawler belt;
Described support arm body is fixed with expansion tightening wheel mechanism; Described support arm body is fixed with two ratchet device near one end of telescopic boom;
Described pair of ratchet device, under drived control, is with carry-over bar side-to-side movement; Described tooth bar one end is connected with telescopic boom, and the tooth bar other end is connected with cam; Described cam coordinates with expansion tightening wheel mechanism is tangent; The moving cam side-to-side movement of tooth bar side-to-side movement band and telescopic boom telescopic slide in the body cavity of support arm body; Cam side-to-side movement makes expansion tightening wheel mechanism slide up and down along cam, finally makes obstacle detouring slack of track and tightens up to coordinate telescopic boom telescopic slide.
2. the telescopic obstacle detouring support arm of ratchet-type as claimed in claim 1 a kind of two, is characterized in that, described pair of ratchet device, comprises a forward ratchet and a reverse ratchet, described forward ratchet and reverse ratchet in the same size; The axis of described forward ratchet and reverse ratchet is serially connected with motor transmission shaft, described forward ratchet and be oppositely provided with spacing sleeve between ratchet and motor transmission shaft, and the two ends of described motor transmission shaft are respectively equipped with axial end cap; Described axial end cap is provided with fixing screw.
3. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 2, it is characterized in that, described forward ratchet there are some forward clicks by pinned connection, between each described forward click and forward ratchet, are connected with a ratchet preloading spring; Described reverse ratchet there are some reverse clicks by pinned connection, between each described reverse click and reverse ratchet, are connected with a ratchet preloading spring.
4. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 3, it is characterized in that, when described pair of ratchet device rotates clockwise, under the promotion of ratchet preloading spring, forward click is outwards routed up, and fastening tooth bar makes tooth bar to left, oppositely click rotates clockwise simultaneously, and tooth bar compresses reverse click makes it be attached on described reverse ratchet;
When described pair of ratchet device rotates counterclockwise, under the promotion of ratchet preloading spring, reverse click is outwards routed up, and fastening tooth bar makes tooth bar to right translation, forward click rotates counterclockwise simultaneously, and tooth bar compresses reverse click makes it be attached on described forward ratchet; Tooth bar moves and drives the telescopic boom be connected with tooth bar to move forward and backward.
5. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 3, it is characterized in that, when tooth bar meets accident mobile, described forward click and reverse click are all outwards routed up under the promotion of ratchet preloading spring, the auto-lock function of motor that now two ratchet device is connected by motor transmission shaft keeps locking state, forward click and reverse click, by stuck tooth bar, make tooth bar move.
6. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 1, it is characterized in that, described expansion tightening wheel mechanism, comprises base, described base is installed with a slip body of rod, and the described slip body of rod and base can slide mutually; There is a fixed block described slip body of rod upper end; Between base and fixed block, have a tensioner preloading spring, tensioner preloading spring is set on the slip body of rod; The both sides of described fixed block are respectively equipped with an axle side expansion tightening wheel and side, a hole expansion tightening wheel; Described axle side expansion tightening wheel has a transverse axis, and respectively there is a bearing at transverse axis two ends; Side, described hole expansion tightening wheel is through on described transverse axis; Described transverse axis port is provided with axial end cap, and described axial end cap is provided with fixing screw.
7. the telescopic obstacle detouring support arm of ratchet-type as claimed in claim 6 a kind of two, is characterized in that, described hole side expansion tightening wheel and axle side expansion tightening wheel is all tangent with cam coordinates; Under the effect of cam and tensioner preloading spring, described hole side expansion tightening wheel and axle side expansion tightening wheel slide up and down along cam.
8. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 7, it is characterized in that, described hole side expansion tightening wheel and axle side expansion tightening wheel slide up and down motion amplitude and are determined by camb contour.
9. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 1, it is characterized in that, described support arm body, telescopic boom and cam are duralumin material and make.
10. a barrier-surpassing robot, is characterized in that, described barrier-surpassing robot is provided with the telescopic obstacle detouring support arm of two ratchet-types as described in claim 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510221920.0A CN104875801B (en) | 2015-05-04 | 2015-05-04 | Double ratchet wheels formula telescopic obstacle detouring support arm and barrier-surpassing robot |
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| CN201510221920.0A CN104875801B (en) | 2015-05-04 | 2015-05-04 | Double ratchet wheels formula telescopic obstacle detouring support arm and barrier-surpassing robot |
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| CN104875801A true CN104875801A (en) | 2015-09-02 |
| CN104875801B CN104875801B (en) | 2017-03-01 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109938939A (en) * | 2019-04-29 | 2019-06-28 | 江苏苏云医疗器材有限公司 | Flat push lever driving device and wheelchair suitable for wheelchair |
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Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee after: State Grid Corporation of China Co-patentee after: National Network Intelligent Technology Co., Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Patentee before: State Grid Corporation of China Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. |
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Effective date of registration: 20201029 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. |