CN105292282B - A kind of caterpillar type robot with swing arm before and after fast assembling-disassembling - Google Patents
A kind of caterpillar type robot with swing arm before and after fast assembling-disassembling Download PDFInfo
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- CN105292282B CN105292282B CN201510854089.2A CN201510854089A CN105292282B CN 105292282 B CN105292282 B CN 105292282B CN 201510854089 A CN201510854089 A CN 201510854089A CN 105292282 B CN105292282 B CN 105292282B
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Abstract
A kind of caterpillar type robot with swing arm before and after fast assembling-disassembling, the present invention relates to a kind of caterpillar type robot, present invention is the mobility that there is the robot of swing arm function robot can be influenceed to run in order to solve caterpillar type robot in the prior art, and swing arm is the problem of caterpillar type robot installing/dismounting is inconvenient.It includes track body walking robot, two forward swing arm mechanisms and two rear swing arm mechanisms；Track body walking robot includes robot body, two live axles, two road wheels, two driving 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 inter-axle shafts, and forward swing arm mechanism includes forearm motor, forearm worm and gear component, front hanging wheel disc, forearm fifth wheel, preceding arm axle mounting flange and forearm pendular body；The present invention is used for robot field.
Description
Technical field
The present invention relates to a kind of caterpillar type robot, and in particular to a kind of crawler type machine with swing arm before and after fast assembling-disassembling
Device people.
Background technology
With the development and progress of science and technology, caterpillar type robot is more and more applied in actual life, in life
Caterpillar type robot is needed to use to be operated with dangerous in working environment and other unsafe factors, but existing
Caterpillar type robot has the mobility that the robot of swing arm function can influence robot to run in technology, and swing arm is in crawler type
Robot installing/dismounting is inconvenient.
The content of the invention
Present invention is that the robot in order to solve caterpillar type robot in the prior art with swing arm function can influence
The mobility of robot operation, and swing arm is the problem of caterpillar type robot installing/dismounting is inconvenient.And then offer one kind is carried
The caterpillar type robot of swing arm before and after fast assembling-disassembling.
The technical scheme that is used to solve the above problems of the present invention is：
It is a kind of carry fast assembling-disassembling before and after swing arm caterpillar type robot, it include track body walking robot, two
Forward swing arm mechanism and two rear swing arm mechanisms；Track body walking robot include robot body, two live axles, two
Road wheel, two driving wheels, two Principal machine people crawler belts, two main body motors, two main body motor reducers, two it is coaxial
Clutch belt wheel, two rear axle spline housings and two inter-axle shafts, forward swing arm mechanism include forearm motor, forearm worm and gear group
Part, front hanging wheel disc, forearm fifth wheel, preceding arm axle mounting flange and forearm pendular body；Two rear swing arm mechanisms are symmetricly set on
The both sides of two driving wheels in track body walking robot rear end, two live axle coaxial-symmetricals are arranged on before robot body
A road wheel is installed on the both sides at end, and each live axle, two main body motors and two main body motor reducers are equal
On robot body, the output end of each main body motor is set with an output wheel, and output wheel by timing belt with
The input belt wheel connection of one main body motor reducer, and each main body motor reducer output pulley by timing belt with it is same
Axle clutch belt wheel is connected, and a rear axle spline housing is provided with each coaxial clutching belt wheel, and coaxial clutching belt wheel is spent with rear axle
Key set is connected by screw, and each rear axle spline housing is fixedly connected with inter-axle shaft, and each inter-axle shaft and a driving wheel
It is fixedly connected, the road wheel and driving wheel positioned at robot body the same side are connected by Principal machine people crawler belt, each forearm
Worm and gear component is arranged on one end of one live axle in robot body front end, and the output end of forearm machine shaft is installed
On forearm worm and gear component, preceding arm axle mounting flange is fixedly mounted on the other end of robot body front end live axle
On, front hanging wheel disc is fixedly mounted on the road wheel of front end, and preceding arm axle mounting flange and front hanging wheel disc are located at front end road wheel
Same side, forearm fifth wheel be arranged on forearm pendular body on, forearm fifth wheel is inlaid on front hanging wheel disc, forearm pendular body
Before being mounted by means of bolts on arm axle mounting flange.
The beneficial effects of the invention are as follows：
1st, track body walking robot 1 of the present invention is independent robot, can carry out work of individually walking, be respectively mounted
Two forward swing arm mechanisms 2, two rear swing arm mechanisms 21, or two forward swing arm mechanisms 2 and two rear swing arm mechanisms 21 are installed simultaneously
Double forward swing arm robots, double rear-swing arm robots and front and rear swing arm robot are respectively constituted, different application scenarios are directed to
Using various configuration robot, reduction robot cost increases robot applications.
2nd, the forward swing arm mechanism 2 and rear swing arm mechanism 21 in the present invention are completely self-contained mechanism, before being implemented separately
The swing of swing arm or the swing of rear-swing arm.
3rd, each forward swing arm mechanism 2 of the present invention carries out setting-in combination, and forearm by front hanging wheel disc 5, forearm fifth wheel 6
Hollow shaft 17 and preceding arm axle mounting flange 7, which are bolted, can realize fast assembling-disassembling, and constitute double pendulum arm robot or
Front and rear swing arm robot, can be different according to application scenario, construct the robot of various configuration.
Brief description of the drawings
Fig. 1 is overall structure structural representation of the present invention, and Fig. 2 is that forward swing arm mechanism 2 of the present invention is arranged on track body row
Schematic diagram on robot walking 1, Fig. 3 is the top view of the present invention, and Fig. 4 is that two rear swing arm mechanisms 21 of the present invention are arranged on crawler belt
Top view on body walking robot 1, Fig. 5 is that two forward swing arm mechanisms 2 are arranged on track body walking robot 1 two
Front view on live axle 9 and two front end road wheels 10, Fig. 6 is the front view of forearm pendular body 8, and Fig. 7 is forearm connection
The structural representation of wheel 6, Fig. 8 is the structural representation of preceding arm axle mounting flange 7, and Fig. 9 is that the structure of forearm hollow shaft 17 is shown
It is intended to, Figure 10 is the structural representation of front hanging wheel disc 5, Figure 11 is the structural representation of rear swing arm mechanism 21 of the present invention, and Figure 12 is this
The structural scheme of mechanism of invention postbrachium fifth wheel 33, Figure 13 is the structural representation of arm axle mounting flange 34 after the present invention, Figure 14
It is the structural representation of postbrachium hollow shaft 43 of the present invention, Figure 15 is the structural representation of change gear disk 32 after the present invention.
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1-Figure 15, one kind is with quick described in present embodiment
The caterpillar type robot of swing arm before and after dismounting, after it is including track body walking robot 1, two forward swing arm mechanisms 2 and two
Oscillating arm mechanisms 21；Track body walking robot 1 includes robot body 24, two live axles 9, two road wheels 10, two
Individual driving wheel 22, two Principal machine people crawler belts 23, two main body motors 25, two main body motor reducers 26, two it is coaxial
Clutch belt wheel 27, two rear axle spline housings 28 and two inter-axle shafts 29, forward swing arm mechanism 2 include forearm motor 3, forearm worm gear
Worm component 4, front hanging wheel disc 5, forearm fifth wheel 6, preceding 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 driving wheels 22 in rear end of track body walking robot 1, and two coaxial-symmetricals of live axle 9 are set
Put and a road wheel 10, two main body motors 25 are installed on the both sides in the front end of robot body 24, and each live axle 9
It is installed in two main body motor reducers 26 on robot body 24, the output end of each main body motor 25 is set with one
Output wheel, and output wheel is connected by timing belt with the input belt wheel of a main body motor reducer 26, and each main body motor
The output pulley of decelerator 26 is connected by timing belt with coaxial clutching belt wheel 27, and one is provided with each coaxial clutching belt wheel 27
Individual rear axle spline housing 28, and coaxial clutching belt wheel 27 is connected by screw with rear axle spline housing 28, each rear axle spline housing 28 with
Inter-axle shaft 29 is fixedly connected, and each inter-axle shaft 29 is fixedly connected with a driving wheel 22, same positioned at robot body 24
The road wheel 10 and driving wheel 22 of side are connected by Principal machine people crawler belt 23, and each forearm worm and gear component 4 is arranged on
On one end of one live axle 9 in front end of robot body 24, the output end of the rotating shaft of forearm motor 3 is arranged on forearm worm and gear
On component 4, preceding arm axle mounting flange 7 is fixedly mounted on the other end of the front end live axle 9 of robot body 24, preceding change gear
Disk 5 is fixedly mounted on front end road wheel 10, and preceding arm axle mounting flange 7 and front hanging wheel disc 5 are located at front end road wheel 10
Same side, forearm fifth wheel 6 is arranged on forearm pendular body 8, and forearm fifth wheel 6 is inlaid on front hanging wheel disc 5, preceding arm swing
Before body 8 is mounted by means of bolts on arm axle mounting flange 7.
Embodiment two：Illustrate present embodiment with reference to Fig. 1-Fig. 5, a kind of carry described in present embodiment is quickly torn open
The caterpillar type robot of swing arm before and after dress, the forearm pendular body 8 includes preceding arm restraining board 12, forearm crawler belt 13, forearm second
Take turns connecting plate 16, the forearm first round 11, two wheels of forearm second 15 and multigroup forearm transition wheel 14, forearm fifth wheel 6 and forearm
The both sides of arm restraining board 12 before the first round 11 is symmetricly set on, the wheel connecting plate 16 of forearm second is arranged on the one of preceding arm restraining board 12
On end, two wheels of forearm second 15 rotate connection and are arranged on the wheel connecting plate 16 of forearm second, and two forearms second take turns 15 pairs
Claim to be arranged on the both sides that forearm second takes turns connecting plate 16, multigroup forearm transition wheel 14 is arranged on preceding arm restraining board 12, and forearm is carried out
Band 13 is sleeved on forearm fifth wheel 6, the forearm first round 11, two wheels of forearm second 15 and multigroup forearm transition wheel 14, other
It is identical with embodiment one.
Every group of forearm transition wheel 14 is coaxially disposed by two forearm transition wheels 14 and constituted in present embodiment, and before two
The both sides of arm restraining board 12 before arm transition wheel 14 is symmetricly set on.
Embodiment three：Illustrate present embodiment with reference to Fig. 1-Fig. 5 and Fig. 9, one kind described in present embodiment is carried
The caterpillar type robot of swing arm before and after fast assembling-disassembling, the forearm pendular body 8 also includes forearm hollow shaft 17, forearm hollow shaft 17
Before being inserted on one end of arm restraining board 12, forearm fifth wheel 6 and the forearm first round 11 rotate adapter sleeve and are mounted in forearm hollow shaft
On 17, and forearm fifth wheel 6 and the forearm first round 11 are symmetricly set on the both sides of preceding arm restraining board 12, other and specific embodiment party
Formula two is identical.
Embodiment four：Illustrate present embodiment with reference to Fig. 1-Fig. 5 and Fig. 9, one kind described in present embodiment is carried
The caterpillar type robot of swing arm before and after fast assembling-disassembling, the forearm hollow shaft 17 is to be machined with inner ring, inner ring edge in cylinder, cylinder
Radial equipartition is machined with multiple through holes, and the lateral wall of cylinder, which is radially uniformly machined with, is fixedly connected with block, in forearm hollow shaft 17
It is multiple be fixedly connected before blocks are fixedly mounted on arm restraining board 12, the upper inner ring of forearm hollow shaft 17 passes through multiple bolts and forearm
Axle mounting flange 7 is fixedly connected, other identical with embodiment three.
Embodiment five：Illustrate present embodiment, one kind described in present embodiment with reference to Fig. 1-Fig. 5, Fig. 7 and Figure 10
Caterpillar type robot with swing arm before and after fast assembling-disassembling, the forearm fifth wheel 6 and front hanging wheel disc 5 are annular solid, and forearm connects
The cylindrical side of cock wheel 6 is radially machined with multiple projections, and the side of the inner circle of forearm fifth wheel 6 is machined with annular sleeve, annular sleeve
It is machined with multiple annular sleeves raised, the cylindrical side of front hanging wheel disc 5 is machined with annular sleeve, and the annular sleeve of front hanging wheel disc 5 and processed
Have it is multiple put with the inner circle annular of forearm fifth wheel 6 it is many in the raised corresponding groove of multiple annular sleeves, the annular sleeve of forearm fifth wheel 6
Individual annular sleeve projection is inlaid on multiple grooves in the annular sleeve of front hanging wheel disc 5, other identical with embodiment one.
Embodiment six：Illustrate present embodiment with reference to Fig. 1-Fig. 6, a kind of carry described in present embodiment is quickly torn open
The caterpillar type robot of swing arm before and after dress, the forearm worm and gear component 4 includes 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 and the output revolving shaft of forearm motor 3 of forearm worm screw 18
One end is fixedly connected, and the other end of forearm worm screw 18 is arranged on forearm worm gear seat 19 close to forearm worm gear 20, forearm worm gear 20
It is sleeved on the front end live axle 9 of track body walking robot 1, it is other identical with embodiment one.
Embodiment seven：Illustrate present embodiment, one kind described in present embodiment with reference to Fig. 1-Fig. 4, Figure 11-Figure 15
Caterpillar type robot with swing arm before and after fast assembling-disassembling, the rear swing arm mechanism 21 includes postbrachium motor 30, postbrachium worm gear snail
Bar assembly 31, rear change gear disk 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 component 31 are fixedly mounted on the rear end of robot body 24, the output end of the rotating shaft of postbrachium motor 30
An output wheel is set with, and the output wheel of postbrachium motor 30 is connected by timing belt with postbrachium worm and gear component 31, each
One end of rear axle 36 is arranged in postbrachium worm and gear component 31, the other end of rear axle 36 sequentially pass through rear axle spline housing 28, after
Power transmission shaft 29 and rear end driving wheel 22 are simultaneously arranged on rear end driving wheel 22, and rear arm axle mounting flange 34 is fixedly mounted on crawler belt
On the rear end rear axle 36 of body walking robot 1, rear change gear disk 32 is fixedly mounted on rear end driving wheel 22, and the rear He of change gear disk 32
Arm axle mounting flange 34 is located at the same side of rear end driving wheel 22 afterwards, and postbrachium fifth wheel 33 is arranged on postbrachium pendular body 35
On, postbrachium fifth wheel 33 is inlaid on rear change gear disk 32, and postbrachium pendular body 35 is mounted by means of bolts on rear arm axle connection method
It is other identical with embodiment one on blue disk 34.
Embodiment eight：Illustrate present embodiment with reference to Fig. 1-Fig. 4 and Figure 11, one kind described in present embodiment is carried
The caterpillar type robot of swing arm before and after fast assembling-disassembling, the postbrachium pendular body 35 include rear arm restraining board 37, postbrachium crawler belt 38, after
The wheel of arm second connecting plate 39, the postbrachium first round 40, two wheels of postbrachium second 41 and multigroup postbrachium transition wheel 42, postbrachium fifth wheel 33
The both sides of rear arm restraining board 37 are symmetricly set on the postbrachium first round 40, the wheel connecting plate 39 of postbrachium second is arranged on rear arm restraining board
On 37 one end, two wheels of postbrachium second 41 rotate connection and are arranged on the wheel connecting plate 39 of postbrachium second, and two postbrachiums second
Wheel 41 is symmetricly set on the both sides that postbrachium second takes turns connecting plate 39, and multigroup 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 wheels of postbrachium second 41 and multigroup postbrachium transition wheel 42
On, it is other identical with embodiment seven.
Every group of postbrachium transition wheel 42 is coaxially disposed by two postbrachium transition wheels 42 and constituted in present embodiment, and after two
Arm transition wheel 42 is symmetricly set on the both sides of rear arm restraining board 37.
Embodiment nine：Illustrate present embodiment with reference to Fig. 1-Fig. 4 and Figure 11, one kind described in present embodiment is carried
The caterpillar type robot of swing arm before and after fast assembling-disassembling, the postbrachium pendular body 35 also includes postbrachium hollow shaft 43, postbrachium hollow shaft
43 be that inner ring is machined with cylinder, cylinder, and inner ring is radially uniformly machined with multiple through holes, and the lateral wall of cylinder is radially uniform
It is machined with and is fixedly connected with block, multiple blocks that are fixedly connected in postbrachium hollow shaft 43 is fixedly mounted on rear arm restraining board 37, postbrachium
The inner ring of hollow shaft 43 is fixedly connected by multiple bolts with rear arm axle mounting flange 34, postbrachium fifth wheel 33 and postbrachium first
Wheel 40 rotates adapter sleeve in postbrachium hollow shaft 43, and postbrachium fifth wheel 33 and the postbrachium first round 40 are symmetricly set on postbrachium and fixed
The both sides of plate 37, it is other identical with embodiment seven.
Embodiment ten：Illustrate present embodiment with reference to Fig. 1-Fig. 4 and Figure 11, one kind described in present embodiment is carried
The caterpillar type robot of swing arm before and after fast assembling-disassembling, the postbrachium fifth wheel 33 and rear change gear disk 32 are annular solid, postbrachium connection
Take turns 33 cylindrical sides and be radially machined with multiple projections, the side of the inner circle of postbrachium fifth wheel 33 is machined with annular sleeve, annular sleeve
It is machined with multiple annular sleeves raised, the cylindrical side of rear change gear disk 32, which is machined with annular sleeve, and the rear annular sleeve of change gear disk 32, to be added
Work, which has, multiple puts the raised corresponding groove of multiple annular sleeves, the annular sleeve of postbrachium fifth wheel 33 with the inner circle annular of postbrachium fifth wheel 33
Upper multiple annular sleeve projections are inlaid on multiple grooves in the rear annular sleeve of change gear disk 32, other with the phase of embodiment seven
Together.
Embodiment 11：Illustrate present embodiment, a kind of band described in present embodiment with reference to Fig. 1-Fig. 4 and Figure 11
There is the caterpillar type robot of swing arm before and after fast assembling-disassembling, the postbrachium worm and gear component 31 includes postbrachium worm gear 46, postbrachium snail
Bar 44 and postbrachium worm gear seat 45, postbrachium worm gear 46 are arranged on postbrachium worm gear seat 45, and one end of postbrachium worm screw 44 is set with synchronization
Wheel, one end of the output revolving shaft of postbrachium motor 30 is set with synchronizing wheel, the synchronizing wheel of postbrachium worm screw 44 and the synchronization of postbrachium motor 30
Wheel is connected by timing belt, and the other end of postbrachium worm screw 44 is arranged on postbrachium worm gear seat 45 close to postbrachium worm gear 46, postbrachium snail
Wheel 46 is sleeved on rear axle 36.It is other identical with embodiment seven.
Operation principle
Walking work is carried out, it is necessary to lead to when carrying out swing arm work by track body walking robot 1 during present invention work
Cross bolt forearm hollow shaft 17 is arranged on preceding arm axle mounting flange 7, and multiple annular sleeves in the annular sleeve of forearm fifth wheel 6
Projection is inlaid on multiple grooves in the annular sleeve of front hanging wheel disc 5, is driven when front end road wheel 10 is rotated by front hanging wheel disc 5
Forearm fifth wheel 6 is rotated, and is driven forearm crawler belt 13 to rotate by forearm fifth wheel 6 and is walked, and then reaches that forearm pendular body 8 is walked
Purpose, the switch for opening forearm motor 3 is operated, driven successively before track body walking robot 1 by forearm motor 3
End live axle 9 is rotated, and arm axle mounting flange 7 is rotated before being driven by live axle 9, passes through preceding arm axle mounting flange 7
Drive forearm hollow shaft 17 to rotate, preceding arm restraining board 12 driven around the center rotating of forearm hollow shaft 17 by forearm hollow shaft 17,
And then realize that front swing arm is moved,
Need to carry out that postbrachium hollow shaft 43 is arranged on rear arm axle mounting flange 34 by bolt during swing arm work, and
Multiple annular sleeve projections are inlaid on multiple grooves in the rear annular sleeve of change gear disk 32 in the annular sleeve of postbrachium fifth wheel 33, work as driving
Drive postbrachium fifth wheel 33 to rotate by rear change gear disk 32 when wheel 22 is rotated, 38 turns of postbrachium crawler belt is driven by postbrachium fifth wheel 33
Dynamic walking, and then the purpose that postbrachium pendular body 35 is walked is reached, the switch for opening postbrachium motor 30 is operated, and passes through postbrachium electricity
Machine 30 drives postbrachium worm screw 44, postbrachium worm gear 46 and rear axle 36 to rotate successively, arm axle mounting flange after being driven by rear axle 36
34 rotate, and drive postbrachium hollow shaft 43 to rotate by rear arm axle mounting flange 34, drive postbrachium to consolidate by postbrachium hollow shaft 43
Fixed board 37 around the center rotating of postbrachium hollow shaft 43, and then before and after reaching caterpillar robot oscillating arm mechanisms in track body running machine
The purpose that the Fast Installation of people 1 is dismantled and swing arm is run.
Claims (10)
1. a kind of caterpillar type robot with swing arm before and after fast assembling-disassembling, it is characterised in that：It includes track body vehicle with walking machine
Device people (1), two forward swing arm mechanisms (2) and two rear swing arm mechanisms (21)；Track body walking robot (1) includes robot
Body (24), two live axles (9), two road wheels (10), two driving wheels (22), two Principal machine people's crawler belts
(23), two main body motors (25), two main body motor reducers (26), two coaxial clutching belt wheels (27), two rear axle flowers
Key set (28) and two inter-axle shafts (29), forward swing arm mechanism (2) include forearm motor (3), forearm worm and gear component (4),
Front hanging wheel disc (5), forearm fifth wheel (6), preceding arm axle mounting flange (7) and forearm pendular body (8)；Two rear swing arm mechanisms
(21) both sides of two driving wheels (22) in track body walking robot (1) rear end are symmetricly set on, two live axles (9) are same
Axial symmetry is arranged on the both sides of robot body (24) front end, and each live axle (9) and 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), each main body motor
(25) output end is set with an output wheel, and output wheel passes through the input of timing belt and a main body motor reducer (26)
Belt wheel is connected, and the output pulley of each main body motor reducer (26) is connected by timing belt with coaxial clutching belt wheel (27),
One rear axle spline housing (28), and coaxial clutching belt wheel (27) and rear axle spline housing are installed in each coaxial clutching belt wheel (27)
(28) it is connected by screw, each rear axle spline housing (28) is fixedly connected with inter-axle shaft (29), and each inter-axle shaft (29)
It is fixedly connected with a driving wheel (22), the road wheel (10) and driving wheel (22) positioned at robot body (24) the same side pass through
Principal machine people crawler belt (23) is connected, and each forearm worm and gear component (4) is arranged on robot body (24) front end one row
On the one end for walking wheel shaft (9), the output end of forearm motor (3) rotating shaft is arranged on forearm worm and gear component (4), and preceding arm axle connects
Acting flange disk (7) is fixedly mounted on the other end of robot body (24) front end live axle (9), and front hanging wheel disc (5) is fixed
On front end road wheel (10), and preceding arm axle mounting flange (7) and front hanging wheel disc (5) are located at front end road wheel (10)
Same side, forearm fifth wheel (6) is arranged on forearm pendular body (8), and forearm fifth wheel (6) is inlaid on front hanging wheel disc (5),
Before forearm pendular body (8) is mounted by means of bolts on arm axle mounting flange (7).
2. according to claim 1 it is a kind of carry fast assembling-disassembling before and after swing arm caterpillar type robot, it is characterised in that：It is described
Forearm pendular body (8) includes preceding arm restraining board (12), forearm crawler belt (13), the wheel connecting plate of forearm second (16), the forearm first round
(11), two forearms second take turns (15) and multigroup forearm transition wheel (14), and forearm fifth wheel (6) and the forearm first round (11) are symmetrical
The both sides of preceding arm restraining board (12) are arranged on, the wheel connecting plate of forearm second (16) is arranged on one end of preceding arm restraining board (12),
Two forearms second, which take turns (15) and rotate connection, to be arranged on the wheel of forearm second connecting plate (16), and to take turns (15) right for two forearms second
Claim the both sides for being arranged on the wheel connecting plate of forearm second (16), multigroup forearm transition wheel (14) is arranged on preceding arm restraining board (12),
Forearm crawler belt (13) is sleeved on forearm fifth wheel (6), the forearm first round (11), two forearms second and takes turns (15) and multigroup forearm mistake
On ferry boat (14).
3. according to claim 1 it is a kind of carry fast assembling-disassembling before and after swing arm caterpillar type robot, it is characterised in that：It is described
Forearm pendular body (8) also includes forearm hollow shaft (17), forearm hollow shaft (17) and is inserted on one end of preceding arm restraining board (12),
Forearm fifth wheel (6) and the forearm first round (11) rotate adapter sleeve in forearm hollow shaft (17), and forearm fifth wheel (6) and
The forearm first round (11) is symmetricly set on the both sides of preceding arm restraining board (12).
4. according to claim 3 it is a kind of carry fast assembling-disassembling before and after swing arm caterpillar type robot, it is characterised in that：It is described
Forearm hollow shaft (17) is to be machined with inner ring in cylinder, cylinder, and inner ring is radially uniformly machined with multiple through holes, the outside of cylinder
Wall is radially uniformly machined with and is fixedly connected with block, and multiple in forearm hollow shaft (17), which are fixedly connected with block and are fixedly mounted on forearm, to consolidate
In fixed board (12), forearm hollow shaft (17) upper inner ring is fixedly connected by multiple bolts with preceding arm axle mounting flange (7).
5. according to claim 1 it is a kind of carry fast assembling-disassembling before and after swing arm caterpillar type robot, it is characterised in that：It is described
Forearm fifth wheel (6) and front hanging wheel disc (5) are annular solid, and the cylindrical side of forearm fifth wheel (6) is radially machined with multiple convex
Rise, the side of forearm fifth wheel (6) inner circle is machined with annular sleeve, and annular sleeve is machined with multiple annular sleeves projections, front hanging wheel disc (5)
Cylindrical side, which is machined with annular sleeve, and front hanging wheel disc (5) annular sleeve, is machined with multiple and forearm fifth wheel (6) inner circle annular
Put multiple annular sleeve projections in the raised corresponding groove of multiple annular sleeves, forearm fifth wheel (6) annular sleeve and be inlaid in preceding change gear
On multiple grooves in disk (5) annular sleeve.
6. according to claim 1 it is a kind of carry fast assembling-disassembling before and after swing arm caterpillar type robot, it is characterised in that：It is described
Forearm worm and gear component (4) includes forearm worm gear (20), forearm worm screw (18) and forearm worm gear seat (19), forearm worm gear (20)
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) close to forearm worm gear (20), and forearm worm gear (20) is sleeved on
On track body walking robot (1) front end live axle (9).
7. according to claim 1 it is a kind of carry fast assembling-disassembling before and after swing arm caterpillar type robot, it is characterised in that：It is described
Rear swing arm mechanism (21) includes postbrachium motor (30), postbrachium worm and gear component (31), rear change gear disk (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
Component (31) is fixedly mounted on the rear end of robot body (24), and the output end of postbrachium motor (30) rotating shaft is set with an output
Take turns, and the output wheel of postbrachium motor (30) is connected by timing belt with postbrachium worm and gear component (31), each rear axle (36)
One end is arranged in postbrachium worm and gear component (31), and the other end of rear axle (36) sequentially passes through rear axle spline housing (28), rear biography
Moving axis (29) and rear end driving wheel (22) are simultaneously arranged on rear end driving wheel (22), and rear arm axle mounting flange (34) is fixedly mounted
On track body walking robot (1) rear end rear axle (36), rear change gear disk (32) is fixedly mounted on rear end driving wheel (22),
And rear change gear disk (32) and rear arm axle mounting flange (34) are located at the same side of rear end driving wheel (22), postbrachium fifth wheel
(33) it is arranged on postbrachium pendular body (35), postbrachium fifth wheel (33) is inlaid on rear change gear disk (32), postbrachium pendular body (35)
It is mounted by means of bolts on rear arm axle mounting flange (34).
8. according to claim 7 it is a kind of carry fast assembling-disassembling before and after swing arm caterpillar type robot, it is characterised in that：It is described
Postbrachium pendular body (35) includes rear arm restraining board (37), postbrachium crawler belt (38), the wheel connecting plate of postbrachium second (39), the postbrachium first round
(40), two postbrachiums second take turns (41) and multigroup postbrachium transition wheel (42), and postbrachium fifth wheel (33) and the postbrachium first round (40) are right
Claim the both sides for being arranged on rear arm restraining board (37), the wheel connecting plate of postbrachium second (39) is arranged on one end of rear arm restraining board (37)
On, two postbrachiums second take turns (41) and rotate connection on the wheel connecting plate of postbrachium second (39), and two postbrachiums second are taken turns
(41) both sides of the wheel connecting plate of postbrachium second (39) are symmetricly set on, multigroup postbrachium transition wheel (42) is arranged on rear arm restraining board
(37) on, postbrachium crawler belt (38) is sleeved on postbrachium fifth wheel (33), the postbrachium first round (40), two postbrachiums second and takes turns (41) and many
On group postbrachium transition wheel (42).
9. according to claim 7 it is a kind of carry fast assembling-disassembling before and after swing arm caterpillar type robot, it is characterised in that：It is described
Postbrachium pendular body (35) also includes postbrachium hollow shaft (43), and postbrachium hollow shaft (43) is to be machined with inner ring, inner ring in cylinder, cylinder
Multiple through holes are radially uniformly machined with, the lateral wall of cylinder, which is radially uniformly machined with, is fixedly connected with block, postbrachium hollow shaft
(43) multiple blocks that are fixedly connected on are fixedly mounted on rear arm restraining board (37), and the inner ring of postbrachium hollow shaft (43) passes through multiple
Bolt is fixedly connected with rear arm axle mounting flange (34), and postbrachium fifth wheel (33) and the postbrachium first round (40) rotate connection suit
In postbrachium hollow shaft (43), postbrachium fifth wheel (33) and the postbrachium first round (40) are symmetricly set on the two of rear arm restraining board (37)
Side.
10. according to claim 7 it is a kind of carry fast assembling-disassembling before and after swing arm caterpillar type robot, it is characterised in that：Institute
It is annular solid to state postbrachium fifth wheel (33) and rear change gear disk (32), and the cylindrical side of postbrachium fifth wheel (33) is radially machined with many
Individual projection, the side of postbrachium fifth wheel (33) inner circle is machined with annular sleeve, and annular sleeve is machined with multiple annular sleeves projections, rear change gear
The cylindrical side of disk (32) is machined with annular sleeve, and rear change gear disk (32) annular sleeve and is machined with multiple and postbrachium fifth wheel (33)
Inner circle annular puts multiple annular sleeve projection setting-ins in the raised corresponding groove of multiple annular sleeves, postbrachium fifth wheel (33) annular sleeve
On multiple grooves in rear change gear disk (32) annular sleeve.
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| 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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| CN106275115B (en) * | 2016-08-23 | 2018-07-03 | 西安科技大学 | A kind of six crawler belts, four swing arm rescue robot and its autonomous control method |
| CN108248709B (en) * | 2017-12-28 | 2020-09-22 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Small-size double swing arm crawler-type 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 |
| 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 |
| 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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