CN105292282A - Tracked robot with rapidly disassembled and assembled front and rear swing arms - Google Patents
Tracked robot with rapidly disassembled and assembled front and rear swing arms Download PDFInfo
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- CN105292282A CN105292282A CN201510854089.2A CN201510854089A CN105292282A CN 105292282 A CN105292282 A CN 105292282A CN 201510854089 A CN201510854089 A CN 201510854089A CN 105292282 A CN105292282 A CN 105292282A
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Abstract
The invention discloses a tracked robot with rapidly disassembled and assembled front and rear swing arms. The invention relates to a tracked robot. The invention aims to solve the problems that the maneuverability of the tracked robot in the prior art is influenced because the robot has an arm swinging function, and the swing arms can not be disassembled and assembled conveniently during the mounting of the tracked robot. The tracked robot comprises a track body walking robot, two front swing arm mechanisms and two rear swing arm mechanisms; the track body walking robot comprises a robot body, two walking wheel shafts, two walking wheels, two driving wheels, two main body robot tracks, two main body motors, two main body motor reducers, two coaxial clutch belt wheels, two rear shaft spline housings and two rear transmission shafts; and the front swing arm mechanisms comprise front arm motors, front arm worm and gear components, front wheel suspending discs, front arm connection wheels, front arm shaft connecting flange plates and front arm swing bodies. The tracked robot is used for the robot field.
Description
Technical field
The present invention relates to a kind of caterpillar type robot, be specifically related to a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling.
Background technology
Along with the development and progress of science and technology, caterpillar type robot is more and more applied in actual life, in live and work environment, dangerous and other safety hazard needs to use caterpillar type robot and carries out work, but the robot that caterpillar type robot has a swing arm function in the prior art can affect the manoevreability that robot runs, and swing arm is inconvenient at caterpillar type robot installing/dismounting.
Summary of the invention
Content of the present invention is the manoevreability that the robot in order to solve caterpillar type robot in prior art with swing arm function can affect robot and runs, and swing arm is in the problem of caterpillar type robot installing/dismounting inconvenience.And then a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling is provided.
The present invention is the technical scheme adopted that solves the problem:
With a caterpillar type robot for swing arm before and after fast assembling-disassembling, it comprises track body walking robot, Liang Ge front swing arm mechanism and two rear swing arm mechanisms, track body walking robot comprises robot body, two live axles, two road wheels, two drive wheels, two Principal machine people crawler belts, two main body motors, two main body motor reducers, two coaxial clutching belt wheels, two rear axle spline housings and two rear propeller shafts, and front swing arm mechanism comprises forearm motor, forearm worm and gear assembly, front hanging wheel disc, forearm fifth wheel, front arm axle mounting flange and forearm pendular body, two rear swing arm mechanisms are symmetricly set on the both sides of two drive wheels in track body walking robot rear end, two live axle coaxial-symmetricals are arranged on the both sides of robot body front end, and each live axle is provided with a road wheel, two main body motors and two main body motor reducers are installed on robot body, the mouth of each main body motor is set with an output wheel, and output wheel is connected with the input belt wheel of a main body motor reducer by Timing Belt, and the output pulley of each main body motor reducer is connected with coaxial clutching belt wheel by Timing Belt, a rear axle spline housing is installed in each coaxial clutching belt wheel, and coaxial clutching belt wheel and rear axle spline housing are connected by screw, each rear axle spline housing is fixedly connected with rear propeller shaft, and each rear propeller shaft is fixedly connected with a drive wheel, the road wheel being positioned at robot body the same side is connected by Principal machine people crawler belt with drive wheel, each forearm worm and gear assembly is arranged on one end of the live axle in robot body front end, the mouth of forearm machine shaft is arranged on forearm worm and gear assembly, front arm axle mounting flange is fixedly mounted on the other end of robot body front end live axle, front hanging wheel disc is fixedly mounted on the road wheel of front end, and front arm axle mounting flange and front hanging wheel disc are positioned at the same side of front end road wheel, forearm fifth wheel is arranged on forearm pendular body, forearm fifth wheel is inlaid on front hanging wheel disc, forearm pendular body is mounted by means of bolts on front arm axle mounting flange.
The invention has the beneficial effects as follows:
1, track body walking robot 1 of the present invention is independently robot, can to walk separately work, respectively Liang Ge front swing arm mechanism 2, two rear swing arm mechanisms 21 are installed, or installation Liang Ge front swing arm mechanism 2 and two rear swing arm mechanisms 21 form two front swing arm robot respectively simultaneously, two rear-swing arm robot and front and back swing arm robot, be directed to different application scenarios and adopt tripe systems humanoid robot, reduce robot cost, increase robot applications.
2, the front swing arm mechanism 2 in the present invention and rear swing arm mechanism 21 are completely independently mechanism, can realize separately the swing of front swing arm or the swing of rear-swing arm.
3, each front swing arm mechanism 2 of the present invention carries out setting-in combination by front hanging wheel disc 5, forearm fifth wheel 6, and forearm hollow shaft 17 and front arm axle mounting flange 7 are bolted and can realize fast assembling-disassembling, and form double-pendulum arms robot or front and back swing arm robot, can be different according to application scenario, construct the robot of different configuration.
Accompanying drawing explanation
Fig. 1 is integral structure structural representation of the present invention, Fig. 2 is the schematic diagram that front swing arm mechanism 2 of the present invention is arranged on track body walking robot 1, Fig. 3 is birds-eye view of the present invention, Fig. 4 is the birds-eye view that the present invention's two rear swing arm mechanisms 21 are arranged on track body walking robot 1, Tu5Shi Liangge front swing arm mechanism 2 is arranged on the front view on track body walking robot 1 on two live axles 9 and two front end road wheels 10, Fig. 6 is the front view of forearm pendular body 8, Fig. 7 is the structural representation of forearm fifth wheel 6, Fig. 8 is the structural representation of front arm axle mounting flange 7, Fig. 9 is the structural representation of forearm hollow shaft 17, Figure 10 is the structural representation of front hanging wheel disc 5, Figure 11 is rear swing arm mechanism 21 structural representation of the present invention, Figure 12 is the structural scheme of mechanism of postbrachium fifth wheel 33 of the present invention, Figure 13 is the structural representation of arm axle mounting flange 34 after the present invention, Figure 14 is the structural representation of postbrachium hollow shaft 43 of the present invention, Figure 15 is the structural representation of change gear dish 32 after the present invention.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Figure 15 illustrates present embodiment, a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling described in present embodiment, it comprises track body walking robot 1, Liang Ge front swing arm mechanism 2 and two rear swing arm mechanisms 21, track body walking robot 1 comprises robot body 24, two live axles 9, two road wheels 10, two drive wheels 22, two Principal machine people crawler belts 23, two main body motors 25, two main body motor reducers 26, two coaxial clutching belt wheels 27, two rear axle spline housings 28 and two rear propeller shafts 29, and front swing arm mechanism 2 comprises forearm motor 3, forearm worm and gear assembly 4, front hanging wheel disc 5, forearm fifth wheel 6, front arm axle mounting flange 7 and forearm pendular body 8, two rear swing arm mechanisms 21 are symmetricly set on the both sides of two drive wheels 22 in track body walking robot 1 rear end, two live axle 9 coaxial-symmetricals are arranged on the both sides of robot body 24 front end, and each live axle 9 is provided with a road wheel 10, two main body motors 25 and two main body motor reducers 26 are installed on robot body 24, the mouth of each main body motor 25 is set with an output wheel, and output wheel is connected with the input belt wheel of a main body motor reducer 26 by Timing Belt, and the output pulley of each main body motor reducer 26 is connected with coaxial clutching belt wheel 27 by Timing Belt, a rear axle spline housing 28 is installed in each coaxial clutching belt wheel 27, and coaxial clutching belt wheel 27 and rear axle spline housing 28 are connected by screw, each rear axle spline housing 28 is fixedly connected with rear propeller shaft 29, and each rear propeller shaft 29 is fixedly connected with a drive wheel 22, the road wheel 10 being positioned at robot body 24 the same side is connected by Principal machine people crawler belt 23 with drive wheel 22, each forearm worm and gear assembly 4 is arranged on one end of the live axle 9 in robot body 24 front end, the mouth of forearm motor 3 rotating shaft is arranged on forearm worm and gear assembly 4, front arm axle mounting flange 7 is fixedly mounted on the other end of robot body 24 front end live axle 9, front hanging wheel disc 5 is fixedly mounted on front end road wheel 10, and front arm axle mounting flange 7 and front hanging wheel disc 5 are positioned at the same side of front end road wheel 10, forearm fifth wheel 6 is arranged on forearm pendular body 8, forearm fifth wheel 6 is inlaid on front hanging wheel disc 5, forearm pendular body 8 is mounted by means of bolts on front arm axle mounting flange 7.
Detailed description of the invention two: composition graphs 1-Fig. 5 illustrates present embodiment, a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling described in present embodiment, described forearm pendular body 8 comprises front arm restraining board 12, forearm crawler belt 13, forearm second takes turns connecting panel 16, the forearm first round 11, two forearms second take turns 15 and many group forearm transition wheels 14, forearm fifth wheel 6 and the forearm first round 11 are symmetricly set on the both sides of front arm restraining board 12, forearm second is taken turns connecting panel 16 and is arranged on the other end of front arm restraining board 12, two forearms second are taken turns 15 and are rotationally connected and are arranged on forearm second and take turns on connecting panel 16, and two forearms second are taken turns 15 and are symmetricly set on the both sides that forearm second takes turns connecting panel 16, many groups forearm transition wheel 14 is arranged on front arm restraining board 12, forearm crawler belt 13 is sleeved on forearm fifth wheel 6, the forearm first round 11, two forearms second are taken turns on 15 and many group forearm transition wheels 14, other is identical with detailed description of the invention one.
Often organize forearm transition wheel 14 in present embodiment coaxially to be arranged by two forearm transition wheels 14 and form, and two forearm transition wheels 14 are symmetricly set on the both sides of front arm restraining board 12.
Detailed description of the invention three: composition graphs 1-Fig. 5 and Fig. 9 illustrates present embodiment, a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling described in present embodiment, described forearm pendular body 8 also comprises forearm hollow shaft 17, forearm hollow shaft 17 is inserted on one end of front arm restraining board 12, forearm fifth wheel 6 and the forearm first round 11 are rotationally connected and are sleeved on forearm hollow shaft 17, and forearm fifth wheel 6 and the forearm first round 11 are symmetricly set on the both sides of front arm restraining board 12, other is identical with detailed description of the invention two.
Detailed description of the invention four: composition graphs 1-Fig. 5 and Fig. 9 illustrates present embodiment, a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling described in present embodiment, described forearm hollow shaft 17 is cylindrical shell, inner ring is processed with in cylindrical shell, inner ring is radially uniform is processed with multiple through hole, the lateral wall of cylindrical shell radially uniform being processed with is fixedly connected with block, multiple blocks that are fixedly connected with on forearm hollow shaft 17 are fixedly mounted on front arm restraining board 12, forearm hollow shaft 17 upper inner ring is fixedly connected with front arm axle mounting flange 7 by multiple bolt, other is identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 1-Fig. 5, Fig. 7 and Figure 10 illustrates present embodiment, a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling described in present embodiment, described forearm fifth wheel 6 and front hanging wheel disc 5 are annular solid, the side of forearm fifth wheel 6 cylindrical is along carrying out being processed with multiple projection, the side of forearm fifth wheel 6 inner circle is processed with annular sleeve, it is protruding that annular sleeve is processed with multiple annular sleeve, the side of front hanging wheel disc 5 cylindrical is processed with annular sleeve, and front hanging wheel disc 5 annular sleeve is processed with multiple groove corresponding with multiple projection in forearm fifth wheel 6 inner circle annular sleeve, in forearm fifth wheel 6 annular sleeve, multiple annular sleeve projection is inlaid on the multiple grooves in front hanging wheel disc 5 annular sleeve, other is identical with detailed description of the invention one.
Detailed description of the invention six: composition graphs 1-Fig. 6 illustrates present embodiment, a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling described in present embodiment, described forearm worm and gear assembly 4 comprises forearm worm gear 20, forearm worm screw 18 and forearm worm gear seat 19, forearm worm gear 20 is arranged on forearm worm gear seat 19, one end of forearm worm screw 18 is fixedly connected with one end of forearm motor 3 output revolving shaft, the other end of forearm worm screw 18 is arranged on forearm worm gear seat 19 near forearm worm gear 20, forearm worm gear 20 is sleeved on track body walking robot 1 front end live axle 9, other is identical with detailed description of the invention one.
Detailed description of the invention seven: composition graphs 1-Fig. 4, Figure 11-Figure 15 illustrates present embodiment, a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling described in present embodiment, described rear swing arm mechanism 21 comprises postbrachium motor 30, postbrachium worm and gear assembly 31, rear change gear dish 32, postbrachium fifth wheel 33, rear arm axle mounting flange 34, postbrachium pendular body 35 and rear axle 36, postbrachium motor 30 and postbrachium worm and gear assembly 31 are fixedly mounted on the rear end of robot body 24, the mouth of postbrachium motor 30 rotating shaft is set with an output wheel, and the output wheel of postbrachium motor 30 is connected with postbrachium worm and gear assembly 31 by Timing Belt, one end of each rear axle 36 is arranged in postbrachium worm and gear assembly 31, the other end of rear axle 36 is successively through rear axle spline housing 28, rear propeller shaft 29 and rear end drive wheel 22 are also arranged on rear end drive wheel 22, rear arm axle mounting flange 34 is fixedly mounted on track body walking robot 1 rear end rear axle 36, rear change gear dish 32 is fixedly mounted on rear end drive wheel 22, and rear change gear dish 32 and rear arm axle mounting flange 34 are positioned at the same side of rear end drive wheel 22, postbrachium fifth wheel 33 is arranged on postbrachium pendular body 35, postbrachium fifth wheel 33 is inlaid on rear change gear dish 32, postbrachium pendular body 35 is mounted by means of bolts on rear arm axle mounting flange 34, other is identical with detailed description of the invention one.
Detailed description of the invention eight: composition graphs 1-Fig. 4 and Figure 11 illustrates present embodiment, a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling described in present embodiment, described postbrachium pendular body 35 comprises rear arm restraining board 37, postbrachium crawler belt 38, postbrachium second takes turns connecting panel 39, the postbrachium first round 40, two postbrachiums second take turns 41 and many group postbrachium transition wheels 42, postbrachium fifth wheel 33 and the postbrachium first round 40 are symmetricly set on the both sides of rear arm restraining board 37, postbrachium second is taken turns connecting panel 39 and is arranged on the other end of rear arm restraining board 37, two postbrachiums second are taken turns 41 and are rotationally connected and are arranged on postbrachium second and take turns on connecting panel 39, and two postbrachiums second are taken turns 41 and are symmetricly set on postbrachium second and take turns connecting panel 39, many groups postbrachium transition wheel 42 is arranged on rear arm restraining board 37, postbrachium crawler belt 38 is sleeved on postbrachium fifth wheel 33, the postbrachium first round 40, two postbrachiums second are taken turns on 41 and many group postbrachium transition wheels 42, other is identical with detailed description of the invention seven.
Often organize postbrachium transition wheel 42 in present embodiment coaxially to be arranged by two postbrachium transition wheels 42 and form, and two postbrachium transition wheels 42 are symmetricly set on the both sides of rear arm restraining board 37.
Detailed description of the invention nine: composition graphs 1-Fig. 4 and Figure 11 illustrates present embodiment, a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling described in present embodiment, described postbrachium pendular body 35 also comprises postbrachium hollow shaft 43, postbrachium hollow shaft 43 is cylindrical shell, inner ring is processed with in cylindrical shell, inner ring is radially uniform is processed with multiple through hole, the lateral wall of cylindrical shell radially uniform being processed with is fixedly connected with block, multiple blocks that are fixedly connected with on postbrachium hollow shaft 43 are fixedly mounted on rear arm restraining board 37, the inner ring of postbrachium hollow shaft 43 is fixedly connected with rear arm axle mounting flange 34 by multiple bolt, postbrachium fifth wheel 33 and the postbrachium first round 40 are rotationally connected and are sleeved on postbrachium hollow shaft 43, postbrachium fifth wheel 33 and the postbrachium first round 40 are symmetricly set on the both sides of rear arm restraining board 37, other is identical with detailed description of the invention seven.
Detailed description of the invention ten: composition graphs 1-Fig. 4 and Figure 11 illustrates present embodiment, a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling described in present embodiment, described postbrachium fifth wheel 33 and rear change gear dish 32 are annular solid, the side of postbrachium fifth wheel 33 cylindrical is along carrying out being processed with multiple projection, the side of postbrachium fifth wheel 33 inner circle is processed with annular sleeve, it is protruding that annular sleeve is processed with multiple annular sleeve, the side of rear change gear dish 32 cylindrical is processed with annular sleeve, and rear change gear dish 32 annular sleeve is processed with multiple groove corresponding with multiple projection in postbrachium fifth wheel 33 inner circle annular sleeve, in postbrachium fifth wheel 33 annular sleeve, multiple annular sleeve projection is inlaid on the multiple grooves in rear change gear dish 32 annular sleeve, other is identical with detailed description of the invention seven.
Detailed description of the invention 11: composition graphs 1-Fig. 4 and Figure 11 illustrates present embodiment, a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling described in present embodiment, described postbrachium worm and gear assembly 31 comprises postbrachium worm gear 46, postbrachium worm screw 44 and postbrachium worm gear seat 45, postbrachium worm gear 46 is arranged on postbrachium worm gear seat 45, one end of postbrachium worm screw 44 is set with synchronizing wheel, one end of postbrachium motor 30 output revolving shaft is set with synchronizing wheel, the synchronizing wheel of postbrachium worm screw 44 is connected by Timing Belt with the synchronizing wheel of postbrachium motor 30, the other end of postbrachium worm screw 44 is arranged on postbrachium worm gear seat 45 near postbrachium worm gear 46, postbrachium worm gear 46 is sleeved on rear axle 36.Other is identical with detailed description of the invention seven.
Principle of work
Walking work is carried out by track body walking robot 1 when the present invention works, need by bolt, forearm hollow shaft 17 to be arranged on front arm axle mounting flange 7 when carrying out swing arm work, and multiple annular sleeve projection is inlaid on the multiple grooves in front hanging wheel disc 5 annular sleeve in forearm fifth wheel 6 annular sleeve, forearm fifth wheel 6 is driven to rotate when front end road wheel 10 rotates by front hanging wheel disc 5, forearm crawler belt 13 is driven to rotate walking by forearm fifth wheel 6, and then reach the object of forearm pendular body 8 walking, the switch opening forearm motor 3 carries out work, track body walking robot 1 front end live axle 9 is driven to rotate successively by forearm motor 3, front arm axle mounting flange 7 is driven to rotate by live axle 9, forearm hollow shaft 17 is driven to rotate by front arm axle mounting flange 7, drive front arm restraining board 12 around forearm hollow shaft 17 center rotating by forearm hollow shaft 17, and then realize front swing arm motion,
Need by bolt, postbrachium hollow shaft 43 to be arranged on rear arm axle mounting flange 34 when carrying out swing arm work, and multiple annular sleeve projection is inlaid on the multiple grooves in rear change gear dish 32 annular sleeve in postbrachium fifth wheel 33 annular sleeve, postbrachium fifth wheel 33 is driven to rotate when drive wheel 22 rotates by rear change gear dish 32, postbrachium crawler belt 38 is driven to rotate walking by postbrachium fifth wheel 33, and then reach the object of postbrachium pendular body 35 walking, the switch opening postbrachium motor 30 carries out work, postbrachium worm screw 44 is driven successively by postbrachium motor 30, postbrachium worm gear 46 and rear axle 36 rotate, rear arm axle mounting flange 34 is driven to rotate by rear axle 36, postbrachium hollow shaft 43 is driven to rotate by rear arm axle mounting flange 34, drive rear arm restraining board 37 around postbrachium hollow shaft 43 center rotating by postbrachium hollow shaft 43, and then reach the object that before and after caterpillar robot, oscillating arm mechanisms is run in the dismounting of track body walking robot 1 Fast Installation and swing arm.
Claims (10)
1. with a caterpillar type robot for swing arm before and after fast assembling-disassembling, it is characterized in that: it comprises track body walking robot (1), Liang Ge front swing arm mechanism (2) and two rear swing arm mechanisms (21), track body walking robot (1) comprises robot body (24), two live axles (9), two road wheels (10), two drive wheels (22), two Principal machine people crawler belts (23), two main body motors (25), two main body motor reducers (26), two coaxial clutching belt wheels (27), two rear axle spline housings (28) and two rear propeller shafts (29), front swing arm mechanism (2) comprises forearm motor (3), forearm worm and gear assembly (4), front hanging wheel disc (5), forearm fifth wheel (6), front arm axle mounting flange (7) and forearm pendular body (8), two rear swing arm mechanisms (21) are symmetricly set on the both sides of two drive wheels (22) in track body walking robot (1) rear end, two live axle (9) coaxial-symmetricals are arranged on the both sides of robot body (24) front end, and each live axle (9) is provided with a road wheel (10), two main body motors (25) and two main body motor reducers (26) are installed on robot body (24), the mouth of each main body motor (25) is set with an output wheel, and output wheel is connected by the input belt wheel of Timing Belt with a main body motor reducer (26), and the output pulley of each main body motor reducer (26) is connected with coaxial clutching belt wheel (27) by Timing Belt, a rear axle spline housing (28) is installed in each coaxial clutching belt wheel (27), and coaxial clutching belt wheel (27) and rear axle spline housing (28) are connected by screw, each rear axle spline housing (28) is fixedly connected with rear propeller shaft (29), and each rear propeller shaft (29) is fixedly connected with a drive wheel (22), the road wheel (10) being positioned at robot body (24) the same side is connected by Principal machine people crawler belt (23) with drive wheel (22), each forearm worm and gear assembly (4) is arranged on one end of the live axle (9) in robot body (24) front end, the mouth of forearm motor (3) rotating shaft is arranged on forearm worm and gear assembly (4), front arm axle mounting flange (7) is fixedly mounted on the other end of robot body (24) front end live axle (9), front hanging wheel disc (5) is fixedly mounted on front end road wheel (10), and front arm axle mounting flange (7) and front hanging wheel disc (5) are positioned at the same side of front end road wheel (10), forearm fifth wheel (6) is arranged on forearm pendular body (8), forearm fifth wheel (6) is inlaid on front hanging wheel disc (5), forearm pendular body (8) is mounted by means of bolts on front arm axle mounting flange (7).
2. a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling according to claim 1, it is characterized in that: described forearm pendular body (8) comprises front arm restraining board (12), forearm crawler belt (13), forearm second takes turns connecting panel (16), the forearm first round (11), two forearms second take turns (15) and many groups forearm transition wheel (14), forearm fifth wheel (6) and the forearm first round (11) are symmetricly set on the both sides of front arm restraining board (12), forearm second is taken turns connecting panel (16) and is arranged on the other end of front arm restraining board (12), two forearms second are taken turns (15) and are rotationally connected and are arranged on forearm second and take turns on connecting panel (16), and two forearms second are taken turns (15) and are symmetricly set on the both sides that forearm second takes turns connecting panel (16), many groups forearm transition wheel (14) is arranged on front arm restraining board (12), forearm crawler belt (13) is sleeved on forearm fifth wheel (6), the forearm first round (11), two forearms second are taken turns on (15) and many groups forearm transition wheel (14).
3. a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling according to claim 1, it is characterized in that: described forearm pendular body (8) also comprises forearm hollow shaft (17), forearm hollow shaft (17) is inserted on one end of front arm restraining board (12), forearm fifth wheel (6) and the forearm first round (11) are rotationally connected and are sleeved on forearm hollow shaft (17), and forearm fifth wheel (6) and the forearm first round (11) are symmetricly set on the both sides of front arm restraining board (12).
4. a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling according to claim 3, it is characterized in that: described forearm hollow shaft (17) is cylindrical shell, inner ring is processed with in cylindrical shell, inner ring is radially uniform is processed with multiple through hole, the lateral wall of cylindrical shell radially uniform being processed with is fixedly connected with block, multiple blocks that are fixedly connected with on forearm hollow shaft (17) are fixedly mounted on front arm restraining board (12), and forearm hollow shaft (17) upper inner ring is fixedly connected with front arm axle mounting flange (7) by multiple bolt.
5. a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling according to claim 1, it is characterized in that: described forearm fifth wheel (6) and front hanging wheel disc (5) are annular solid, the side of forearm fifth wheel (6) cylindrical is along carrying out being processed with multiple projection, the side of forearm fifth wheel (6) inner circle is processed with annular sleeve, it is protruding that annular sleeve is processed with multiple annular sleeve, the side of front hanging wheel disc (5) cylindrical is processed with annular sleeve, and front hanging wheel disc (5) annular sleeve is processed with multiple groove corresponding with multiple projection in forearm fifth wheel (6) inner circle annular sleeve, in forearm fifth wheel (6) annular sleeve, multiple annular sleeve projection is inlaid on the multiple grooves in front hanging wheel disc (5) annular sleeve.
6. a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling according to claim 1, it is characterized in that: described forearm worm and gear assembly (4) comprises forearm worm gear (20), forearm worm screw (18) and forearm worm gear seat (19), forearm worm gear (20) is arranged on forearm worm gear seat (19), one end of forearm worm screw (18) is fixedly connected with one end of forearm motor (3) output revolving shaft, the other end of forearm worm screw (18) is arranged on forearm worm gear seat (19) near forearm worm gear (20), forearm worm gear (20) is sleeved on track body walking robot (1) front end live axle (9).
7. a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling according to claim 1, is characterized in that: described rear swing arm mechanism (21) comprises postbrachium motor (30), postbrachium worm and gear assembly (31), rear change gear dish (32), postbrachium fifth wheel (33), rear arm axle mounting flange (34), postbrachium pendular body (35) and rear axle (36); postbrachium motor (30) and postbrachium worm and gear assembly (31) are fixedly mounted on the rear end of robot body (24), the mouth of postbrachium motor (30) rotating shaft is set with an output wheel, and the output wheel of postbrachium motor (30) is connected with postbrachium worm and gear assembly (31) by Timing Belt, one end of each rear axle (36) is arranged in postbrachium worm and gear assembly (31), the other end of rear axle (36) is successively through rear axle spline housing (28), rear propeller shaft (29) and rear end drive wheel (22) are also arranged on rear end drive wheel (22), rear arm axle mounting flange (34) is fixedly mounted on track body walking robot (1) rear end rear axle (36), rear change gear dish (32) is fixedly mounted on rear end drive wheel (22), and rear change gear dish (32) and rear arm axle mounting flange (34) are positioned at the same side of rear end drive wheel (22), postbrachium fifth wheel (33) is arranged on postbrachium pendular body (35), postbrachium fifth wheel (33) is inlaid on rear change gear dish (32), postbrachium pendular body (35) is mounted by means of bolts on rear arm axle mounting flange (34).
8. a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling according to claim 7, it is characterized in that: described postbrachium pendular body (35) comprises rear arm restraining board (37), postbrachium crawler belt (38), postbrachium second takes turns connecting panel (39), the postbrachium first round (40), two postbrachiums second take turns (41) and many groups postbrachium transition wheel (42), postbrachium fifth wheel (33) and the postbrachium first round (40) are symmetricly set on the both sides of rear arm restraining board (37), postbrachium second is taken turns connecting panel (39) and is arranged on the other end of rear arm restraining board (37), two postbrachiums second are taken turns (41) and are rotationally connected and are arranged on postbrachium second and take turns on connecting panel (39), and two postbrachiums second are taken turns (41) and are symmetricly set on postbrachium second and take turns connecting panel (39), many groups postbrachium transition wheel (42) is arranged on rear arm restraining board (37), postbrachium crawler belt (38) is sleeved on postbrachium fifth wheel (33), the postbrachium first round (40), two postbrachiums second are taken turns on (41) and many groups postbrachium transition wheel (42).
9. a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling according to claim 7, it is characterized in that: described postbrachium pendular body (35) also comprises postbrachium hollow shaft (43), postbrachium hollow shaft (43) is cylindrical shell, inner ring is processed with in cylindrical shell, inner ring is radially uniform is processed with multiple through hole, the lateral wall of cylindrical shell radially uniform being processed with is fixedly connected with block, multiple blocks that are fixedly connected with on postbrachium hollow shaft (43) are fixedly mounted on rear arm restraining board (37), the inner ring of postbrachium hollow shaft (43) is fixedly connected with rear arm axle mounting flange (34) by multiple bolt, postbrachium fifth wheel (33) and the postbrachium first round (40) are rotationally connected and are sleeved on postbrachium hollow shaft (43), postbrachium fifth wheel (33) and the postbrachium first round (40) are symmetricly set on the both sides of rear arm restraining board (37).
10. a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling according to claim 7, it is characterized in that: described postbrachium fifth wheel (33) and rear change gear dish (32) are annular solid, the side of postbrachium fifth wheel (33) cylindrical is along carrying out being processed with multiple projection, the side of postbrachium fifth wheel (33) inner circle is processed with annular sleeve, it is protruding that annular sleeve is processed with multiple annular sleeve, the side of rear change gear dish (32) cylindrical is processed with annular sleeve, and rear change gear dish (32) annular sleeve is processed with multiple groove corresponding with multiple projection in postbrachium fifth wheel (33) inner circle annular sleeve, in postbrachium fifth wheel (33) annular sleeve, multiple annular sleeve projection is inlaid on the multiple grooves in rear change gear dish (32) annular sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510854089.2A CN105292282B (en) | 2015-11-27 | 2015-11-27 | A kind of caterpillar type robot with swing arm before and after fast assembling-disassembling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510854089.2A CN105292282B (en) | 2015-11-27 | 2015-11-27 | A kind of caterpillar type robot with swing arm before and after fast assembling-disassembling |
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| CN106275115A (en) * | 2016-08-23 | 2017-01-04 | 西安科技大学 | A kind of six crawler belt four swing arm rescue robot and autonomous control methods thereof |
| CN108248709A (en) * | 2017-12-28 | 2018-07-06 | 华中光电技术研究所（中国船舶重工集团公司第七七研究所） | A kind of small-sized double-pendulum arms caterpillar mobile robot platform |
| CN108639169A (en) * | 2018-04-24 | 2018-10-12 | 上海钧工智能技术有限公司 | A kind of overturning arm mechanism of caterpillar robot |
| CN109305239A (en) * | 2018-10-08 | 2019-02-05 | 哈尔滨工业大学 | A kind of compound moving platform device of sealed wheel leg |
| CN111469941A (en) * | 2020-04-27 | 2020-07-31 | 张梅 | Robot-assisted swing arm system |
| CN113276083A (en) * | 2021-06-09 | 2021-08-20 | 哈工大机器人（合肥）国际创新研究院 | Wheel-tracked mobile robot |
| CN114940221A (en) * | 2022-07-25 | 2022-08-26 | 河北石安特智能科技有限公司 | Desert four-wheel-drive wheel-track type double-support-arm obstacle-crossing stair-climbing robot chassis |
| CN116001930A (en) * | 2022-12-13 | 2023-04-25 | 武汉中仪地空科技有限公司 | Track detection robot |
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| CN106275115A (en) * | 2016-08-23 | 2017-01-04 | 西安科技大学 | A kind of six crawler belt four swing arm rescue robot and autonomous control methods thereof |
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| CN111469941B (en) * | 2020-04-27 | 2021-09-03 | 张梅 | Robot-assisted swing arm system |
| CN113276083A (en) * | 2021-06-09 | 2021-08-20 | 哈工大机器人（合肥）国际创新研究院 | Wheel-tracked mobile robot |
| CN114940221A (en) * | 2022-07-25 | 2022-08-26 | 河北石安特智能科技有限公司 | Desert four-wheel-drive wheel-track type double-support-arm obstacle-crossing stair-climbing robot chassis |
| CN114940221B (en) * | 2022-07-25 | 2022-10-28 | 河北石安特智能科技有限公司 | Desert four-wheel-drive wheel-track type double-support-arm obstacle-crossing stair-climbing robot chassis |
| CN116001930A (en) * | 2022-12-13 | 2023-04-25 | 武汉中仪地空科技有限公司 | Track detection robot |
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