CN106114663A - A kind of triangle Athey wheel robot - Google Patents
A kind of triangle Athey wheel robot Download PDFInfo
- Publication number
- CN106114663A CN106114663A CN201610719027.5A CN201610719027A CN106114663A CN 106114663 A CN106114663 A CN 106114663A CN 201610719027 A CN201610719027 A CN 201610719027A CN 106114663 A CN106114663 A CN 106114663A
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- gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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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
- B62D55/10—Bogies; Frames
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention openly one triangle Athey wheel robot, including main body and four the triangle Athey wheels being arranged in main body, the 3rd motor and the 4th motor it is provided with in main body, 3rd rotary shaft of the 3rd motor drives the first triangle Athey wheel by the first drive mechanism, first drive mechanism drives the 3rd drive mechanism by the first universal driving shaft, 3rd drive mechanism drives the 3rd triangle Athey wheel, 4th rotary shaft of the 4th motor drives the 4th triangle Athey wheel by the 4th drive mechanism, 4th drive mechanism drives the second drive mechanism by the second universal driving shaft, second drive mechanism drives the second triangle Athey wheel.Driving four triangle Athey wheels by two motors, two motors control two triangle Athey wheels of robot above or below respectively, facilitate control to turn to, and power is higher, and climbing capacity is significantly improved with crossing obstacle performance.
Description
Technical field
The present invention relates to robot field, in particular, relate to a kind of triangle Athey wheel robot.
Background technology
Existing robot is mainly wheeled and crawler type.Wheel type robot, translational speed is fast, control flexibly, especially
Turning rate be easier to realize, but reply complex road condition in-convenience in use.Caterpillar type robot, strong adaptability, contact area is big,
Movement velocity is very fast, but underaction, and turn to required driving force to be the most i.e. difficult to turn to.
Summary of the invention
The technical problem to be solved is to provide a kind of adaptive faculty and by force and turns to convenient triangle Athey wheel machine
People.
It is an object of the invention to be achieved through the following technical solutions: a kind of triangle Athey wheel robot, including main body
With four the triangle Athey wheels being arranged in main body, in described main body, it is provided with the 3rd motor and the 4th motor, described 3rd motor
The 3rd rotary shaft drive the first triangle Athey wheel by the first drive mechanism, described first drive mechanism pass through the first universal driving shaft
The 3rd drive mechanism, described 3rd drive mechanism is driven to drive the 3rd triangle Athey wheel, the 4th rotary shaft of described 4th motor
Driving the 4th triangle Athey wheel by the 4th drive mechanism, described 4th drive mechanism drives the second driving by the second universal driving shaft
Mechanism, described second drive mechanism drives the second triangle Athey wheel.
Further, described first drive mechanism includes fixing the 5th driving gear being connected with the 3rd rotary shaft, described
5th drive gear teeth wheel connects the first linked gear, and described first linked gear drives the first transfer gear, in described first
Turning gear gear and connect the first driving gear, described first drives gear driven the first drive shaft, described first drive shaft to drive
First triangle Athey wheel.
Further, described first drive mechanism also includes the first framework, and described first drive shaft passes described first frame
Two sides of body, described first universal driving shaft is through two sides of described first framework, described first linked gear and first
Transfer gear is arranged on the first universal driving shaft, and described first drives gear and the first driven gear to be arranged in the first drive shaft,
Described 5th drives gear to be arranged in the first framework, and described first drive shaft is turned by two sides of bearing and the first framework
Being dynamically connected, described first universal driving shaft is rotationally connected by two sides of bearing and the first framework.
Further, described first universal driving shaft include fixing with the first transfer gear centre be connected the first connecting portion, in
Between switching part and the second connecting portion of being connected with the 3rd drive mechanism, described first connecting portion, the second connecting portion two ends are hollow
Cylinder, two ends, described intermediate transit portion snap in hollow cylinder.
Further, described first drive shaft outer end circumference is provided with protuberance, and described first triangle Athey wheel center sets
There is the drive hole coordinated with the first drive shaft outer end.
Further, described first universal driving shaft is through two sides of the first framework, and described first linkage axle head snaps in
First connecting portion.
Further, described second drive mechanism includes that the second framework, described second framework are provided with the second drive shaft, institute
Stating the second drive shaft through two sides of described second framework, described second drive shaft is provided with the second drive tooth, and described the
Two driven gears are arranged on outside the second framework and are connected with the first driven gear belt, and described second driven gear and second drives
Axle is fixing to be connected, and described second drive shaft drives the second triangle Athey wheel.
Further, described second drive mechanism also includes being set in the second drive shaft and fixes even with the second drive shaft
The the second driving gear connect, described second drives gear to connect the second transfer gear, and described second transfer gear passes through second
Moving axis drives the 4th drive mechanism, and described second drives gear and the second transfer gear to be arranged in the second framework, and described second
Universal driving shaft is through two sides of described second framework.
Further, described 3rd drive mechanism includes that the 3rd framework, described 3rd framework are provided with the 3rd drive shaft, institute
Stating first universal driving shaft, two sides through described 3rd framework, described first universal driving shaft is provided with the 3rd transfer gear, described
3rd gear gear connects the 3rd driving gear, and the described 3rd drives geared sleeve to be located at the 3rd drives above and solid with the 3rd drive shaft
Fixed connection, described 3rd drive shaft outer end drives the 3rd triangle Athey wheel.
Further, described 3rd drive shaft, through two sides of described 3rd framework, described 3rd drive shaft sets
Having the 3rd drive tooth, described 3rd driven gear is arranged on outside the 3rd framework and in the fixing connection of the 3rd drive shaft end, described
3rd driven gear passes through belt drives the 4th drive mechanism.
Being provided with the 3rd motor and the 4th motor in due to the fact that main body, the 3rd rotary shaft of the 3rd motor drives first to drive
Motivation structure, then the first drive mechanism drives the 3rd drive mechanism by the first universal driving shaft, and the 4th rotary shaft of the 4th motor is driven
Dynamic 4th drive mechanism, then the 4th drive mechanism drives the second drive mechanism by the second universal driving shaft, is driven by two motors
Dynamic four triangle Athey wheels, two motors control two triangle Athey wheels of robot above or below respectively, and convenient control turns
To, power is higher, and climbing capacity is significantly improved with crossing obstacle performance.
Accompanying drawing explanation
Fig. 1 is a kind of triangle Athey wheel robot schematic diagram of the embodiment of the present invention；
Fig. 2 is a kind of triangle Athey wheel robot front schematic view of the embodiment of the present invention；
Fig. 3 is the triangle Athey wheel schematic diagram of a kind of triangle Athey wheel robot of the embodiment of the present invention；
Fig. 4 is another schematic diagram of triangle Athey wheel of a kind of triangle Athey wheel robot of the embodiment of the present invention；
Fig. 5 is that the triangle Athey wheel of a kind of triangle Athey wheel robot of the embodiment of the present invention removes schematic diagram after crawler belt；
Fig. 6 is that lower casing schematic diagram is removed at a kind of triangle Athey wheel robot back side of the embodiment of the present invention；
Fig. 7 is the image mechanism schematic diagram of a kind of triangle Athey wheel robot of the embodiment of the present invention；
Fig. 8 is a kind of triangle Athey wheel another schematic diagram of robot camera structure of the embodiment of the present invention；
Fig. 9 is a kind of triangle Athey wheel robot driving device schematic diagram of the embodiment of the present invention；
Figure 10 is a kind of triangle another schematic diagram of Athey wheel robot driving mechanism of the embodiment of the present invention；
Figure 11 is a kind of triangle Athey wheel robot supporting plate schematic diagram of the embodiment of the present invention；
Figure 12 is first day chimb the second chimb schematic diagram of a kind of triangle Athey wheel robot of the embodiment of the present invention；
Figure 13 is that a kind of triangle Athey wheel robot of the embodiment of the present invention removes upper casing and lower casing schematic diagram.
Wherein: 1, main body, 11, upper casing, 12, center, 121, supporting plate, the 122, first chimb, the 123, second chimb, 13,
Lower casing, 2, triangle Athey wheel, 21, driving wheel, 22, driven pulley, 221, driven pulley groove, 222, middle concave sheave, 223, fixing
Ring, 224, drive groove, 23, bracing frame, 24, crawler belt, 241, to grab ground protruding, the 25, first triangle Athey wheel, the 26, second triangle
Athey wheel, the 27, the 3rd triangle Athey wheel, the 28, the 4th triangle Athey wheel, 3, image mechanism, 31, camera head, the 32, first shooting
Driving means, 321, base, 322, bindiny mechanism, 323, connecting plate, 324, gripper shoe, the 325, first shooting drive shaft, 326,
Highly driving wheel, 327, card cock wheel, 328, fixed mount, 329, fixing foot, the 33, second shooting driving means, 331, place plate,
332, support, the 333, second shooting rotating shaft, the 334, first swing pinion, the 335, second swing pinion, the 336, second shooting motor,
337, the second shooting drive shaft, the 41, first motor, the 411, first rotary shaft, the 412, first gear, the 413, second gear, 42, the
Two motors, the 421, second rotary shaft, the 422, the 3rd gear, the 423, the 4th gear, the 43, the 3rd motor, the 431, the 3rd rotary shaft,
44, the 4th motor, the 441, the 4th rotary shaft, 45, clutch shaft bearing, the 46, second bearing, the 51, first drive mechanism, the 511, first band
Moving gear, the 512, first drive shaft, 513, protuberance, 514, first drives gear, the 515, first transfer gear, the 516, first frame
Body, the 517, the 5th drives gear, and the 518, first linked gear, the 52, second drive mechanism, the 521, second framework, 522, second drives
Moving axis, the 523, second driven gear, the 524, second transfer gear, the 525, second driving gear, the 53, the 3rd drive mechanism, 531,
3rd framework, the 532, the 3rd drive shaft, the 533, the 3rd transfer gear, the 534, the 3rd driving gear, the 535, the 3rd driven gear,
54, the 4th drive mechanism, the 541, the 4th driven gear, the 61, first universal driving shaft, the 611, first connecting portion, 612, intermediate transit portion,
613, the second connecting portion, the 62, second universal driving shaft, the 63, first belt transfer mechanism, 631, transfer rotating shaft, the 64, second belt transfer
Mechanism, 7, external antenna, 8, anti-shake apparatus.
Detailed description of the invention
The invention will be further described with preferred embodiment below in conjunction with the accompanying drawings.
As shown in figure 1 to figure 13, a kind of triangle Athey wheel robot, including main body 1, triangle on the body 1 is set carries out
Belt wheel 2, described triangle Athey wheel 2 includes driving wheel 21, three driven pulleys 22 becoming triangular form to arrange around driving wheel 21, supports
Frame 23, crawler belt 24, support frame as described above 23 is triangular in shape, and 23 3 angles of support frame as described above are solid with driven pulley 22 center respectively
Fixed, described three driven pulleys 22 are connected by crawler belt 24, and between described driven pulley 22 outer surface both sides senior middle school, low formation driven pulley is recessed
Groove 221, described crawler belt 24 is arranged in described driven pulley groove 221, and described crawler belt 24 outer surface is provided with that multiple to grab ground protruding
241。
Owing to each wheel of robot is caterpillar, various road surface can be tackled calmly, can be with stair activity, can
To pass by roughness pavement smoothly, there is the place in gully, there is multiple wheel, convenient control the most simultaneously, as turned to, carry out
Carry 24 outer surfaces to have and grab ground protruding 241, strengthen earth-grasping force, grade climbing performance.
Described driven pulley groove 221 inner surface is provided with radially raised line.Strengthen frictional force, convenient drive crawler belt 24.Described from
Driving wheel 22 includes middle concave sheave 222, is separately positioned on the retainer ring 223 of middle concave sheave 222 both sides, described retainer ring 223
Diameter is more than described middle concave sheave 222 diameter.Convenient fixing crawler belt 24.Described drivewheel and the first driven pulley 22 pass through belt
Drive connection, is provided with drive groove 224 in the middle of the driven pulley groove 221 of described first driven pulley 22, and described belt is arranged on and drives
In dynamic groove 224.Convenient driving triangle Athey wheel 2.Described driving wheel 21 surface is provided with radially raised line, drive groove 224 surface
It is provided with radially raised line.Strengthen frictional force.Described triangle Athey wheel 2 number is even number, and is symmetricly set on main body 1 both sides.Convenient
Control robot motion, such as stair climbing, pass by roughness pavement.Described main body 1 is provided with image mechanism 3.Image can be obtained
Data, then checks to user, it is adaptable to the relatively hazardous place of ratio, such as subterranean tunnel, underground coal mine, earthquake field etc..
Another preferred embodiment of the present invention, a kind of triangle Athey wheel robot, including main body 1, arrange on the body 1
Triangle Athey wheel 2, described main body 1 is provided with image mechanism 3, and described image mechanism 3 includes camera head 31 and driving means, institute
Stating the first shooting driving means 32 that driving means includes being connected with main body 1, described first shooting driving means 32 drives shooting
Device 31 moves up and down, and described driving means also includes that the second shooting driving means 33, described second shooting driving means 33 are driven
Dynamic camera head 31 rotates.
Owing to robot body 1 is provided with image mechanism 3, image mechanism 3 includes camera head 31 and driving means, drives
Device includes the first shooting driving means 32 being connected with main body 1, and drive mechanism drives camera head 31 to move up and down, drives dress
Putting and also include the second shooting driving means 33, the second shooting driving means 33 drives camera head 31 to rotate, and thus can control
Camera head 31 processed such as photographic head moves up and down, and obtains the image of differing heights, it is also possible to controls camera head 31 and rotates, so that it may
To obtain the image of different visual angles, both are with the use of the demand that can fully meet user, it is not necessary to driven machine people moves
Just the omnibearing acquisition image of energy, is especially suitable for the scenes such as sub-terrain mines hole, earthquake field.
Described first shooting driving means 32 includes the base 321 being connected with main body 1, is provided with first in described base 321
Shooting motor, described first shooting motor drive connection mechanism 322 one end, described bindiny mechanism 322 other end connects shooting dress
Put 31.
Described base 321 is provided with support 324, and the first shooting drive shaft 325 of described first shooting motor is through described
Supporting 324, described bindiny mechanism 322 includes that two pieces of connecting plates 323 arranged side by side, two pieces of described connecting plate 323 one end are provided with first
The through hole that shooting drive shaft 325 passes, described first shooting drive shaft 325 is additionally provided with height driving wheel 326, and described height drives
Driving wheel 326 is arranged between two pieces of connecting plates 323, is provided with card cock wheel 327 in the middle of two pieces of described connecting plate 323 other ends, described
Highly it is connected by belt between driving wheel 326 with card cock wheel 327.
Described support 324 is arranged between two pieces of connecting plates 323, and described height driving wheel 326 is positioned close to motor one
Between connecting plate 323 and the support 324 of side.
Described height driving wheel 326 and card cock wheel 327 outer surface are provided with radially raised line.Strengthen friction pulley.
Described camera head 31 is connected by fixed mount 328 and connecting plate 323 other end are fixing, and described fixed mount 328 sets
Having the fixing foot of downward two 329, said two is fixed foot 329 and is arranged on card cock wheel 327 both sides, two fixing feet 329, clampings
Wheel 327 and two pieces of fixing connections of connecting plate 323.
Described fixed mount 328 includes the placement plate 331 connecting two fixing feet 329, and described placement plate 331 is provided with support
332, described support 332 is provided with the second shooting rotating shaft 333, and described second shooting rotating shaft 333 end arranges camera head 31, institute
Stating and be provided with the first swing pinion 334 in the middle of the second shooting rotating shaft 333, described fixed mount 328 is provided with the second shooting motor 336,
Second shooting drive shaft 337 of described second shooting motor 336 connects the second swing pinion 335, described second swing pinion 335
Connect the first swing pinion 334.
Described camera head 31 is provided with illuminating lamp.It is suitable for than dark environment.
Being additionally provided with radio communication circuit in described main body 1, described main body 1 side is additionally provided with one or more and radio communication
The external antenna 7 that circuit connects.Directly the image of acquisition can be sent by external antenna 7.
Another preferred embodiment of the present invention, a kind of triangle Athey wheel robot, including main body 1 with arrange on the body 1
Four triangle Athey wheels 2, be provided with the first motor 41 in described main body 1, the first rotary shaft 411 of described first motor 41 set
The first gear 412 and the second gear 413 of concentric, described first gear 412 is had to drive first by the first drive mechanism 51
Triangle Athey wheel 25, described two gears drive the second triangle Athey wheel 26 by the second drive mechanism 52, and described first drives machine
Structure 51 drives the 3rd drive mechanism 53, described 3rd drive mechanism 53 to drive the 3rd triangle Athey wheel by the first universal driving shaft 61
27, described second drive mechanism 52 drives the 4th drive mechanism 54, described 4th drive mechanism 54 to drive by the second universal driving shaft 62
Dynamic 4th triangle Athey wheel 28.
First gear 412 and the second tooth of the concentric owing to being provided with by the first rotary shaft 411 of the first motor 41
Wheel 413 driving the first drive mechanism 51 and the second drive mechanism 52, then driven by the first universal driving shaft 61 through the first drive mechanism 51
Dynamic 3rd drive mechanism 53, then drive the 4th drive mechanism 54 through the second drive mechanism 52 by the second universal driving shaft 62, only need one
Individual motor just can simultaneously drive four triangle Athey wheels 2, fine structure, designs ingenious, practical, is suitable for climbing, crosses obstacle.
Described first drive mechanism 51 includes the first driven gear 511 being connected with the first gear 412 belt.
Described first drive mechanism 51 also includes fixing, with the first driven gear 511 center, the first drive shaft 512 being connected,
Described first drive shaft 512 outer end snaps in the first triangle Athey wheel 25 center, and described first drive shaft 512 is provided with the first driving
Gear 514, described first drives gear 514 gear to connect the first transfer gear 515, and described first transfer gear 515 center is even
Connect the first universal driving shaft 61.
Described first drive mechanism 51 also includes the first framework 516, and described first drive shaft 512 is through described first framework
Two sides of 516, described first drives gear the 514, first transfer gear 515 to be arranged in the first framework 516, and described first
Driven gear 511 is arranged on outside the first framework 516 and fixes with the first drive shaft 512 end and is connected, described first universal driving shaft 61
It is connected through described first framework 516 and the first transfer gear 515 center are fixing.
Described first universal driving shaft 61 includes fixing the first connecting portion 611, the centre being connected with the first transfer gear 515 center
Switching part 612 and the second connecting portion 613 being connected with the 3rd drive mechanism 53, described first connecting portion the 611, second connecting portion
613 two ends are hollow cylinder, and two ends, described intermediate transit portion 612 snap in hollow cylinder.
Described first drive shaft 512 outer end circumference is provided with protuberance 513, and described first triangle Athey wheel 25 center is provided with
The drive hole coordinated with the first drive shaft 512 outer end.
Described first universal driving shaft 61 is through two sides of the first framework 516, and described first universal driving shaft 61 end snaps in the
A junction 611.
Described first drive shaft 512 is rotationally connected by two sides of bearing and the first framework 516.
Another preferred embodiment of the present invention, a kind of triangle Athey wheel robot, including main body 1 with arrange on the body 1
Four triangle Athey wheels 2, be provided with the 3rd motor 43 in described main body 1, the 3rd rotary shaft 431 of described 3rd motor 43 is passed through
First drive mechanism 51 drives the first triangle Athey wheel 25, and described first drive mechanism 51 is by belt drives the second drive mechanism
52, described second drive mechanism 52 drives the second triangle Athey wheel 26, and described first drive mechanism 51 is by the first universal driving shaft 61
The 3rd drive mechanism 53, described 3rd drive mechanism 53 is driven to drive the 3rd triangle Athey wheel 27, described 3rd drive mechanism 53
By belt drives the 4th drive mechanism 54, described 4th drive mechanism 54 drives the 4th triangle Athey wheel 28.
Owing to the 3rd rotary shaft 431 of the 3rd motor 43 drives the first drive mechanism 51, pass through through the first drive mechanism 51
Belt drives the second drive mechanism 52, drives the 3rd drive mechanism 53, warp through the first drive mechanism 51 by the first universal driving shaft 61
3rd drive mechanism 53, by belt drives the 4th drive mechanism 54, only needs a motor just can simultaneously drive four triangle crawler belts
Wheel 2, fine structure, design ingenious, practical, it is suitable for climbing, crosses obstacle.
Described first drive mechanism 51 include fixing with the 3rd rotary shaft 431 is connected the 5th drive gear 517, described the
Five drive gear 517 gear to connect the first linked gear 518, and described first linked gear 518 drives the first transfer gear 515,
Described first transfer gear 515 drives the first driving gear 514, and described first drives gear 514 to drive the first driven gear
511, described first driven gear 511 belt connects the second drive mechanism 52.
Described first drive mechanism 51 also includes that the first framework 516, described first framework 516 are provided with the first drive shaft
512 and first universal driving shaft 61, described first drive shaft 512 through two sides of described first framework 516, described first linkage
Axle 61 is through two sides of described first framework 516, and described first linked gear 518 and the first transfer gear 515 are arranged on
On first universal driving shaft 61, described first drives gear 514 and the first driven gear 511 to be arranged in the first drive shaft 512, described
First drive shaft 512 is rotationally connected by two sides of bearing and the first framework 516, and described first universal driving shaft 61 passes through bearing
It is rotationally connected with two sides of the first framework 516.
Described first universal driving shaft 61 includes fixing the first connecting portion 611, the centre being connected with the first transfer gear 515 center
Switching part 612 and the second connecting portion 613 being connected with the 3rd drive mechanism 53, described first connecting portion the 611, second connecting portion
613 two ends are hollow cylinder, and two ends, described intermediate transit portion 612 snap in hollow cylinder.
Described first drive shaft 512 outer end circumference is provided with protuberance 513, and described first triangle Athey wheel 25 center is provided with
The drive hole coordinated with the first drive shaft 512 outer end.
Described first universal driving shaft 61 is through two sides of the first framework 516, and described first universal driving shaft 61 end snaps in the
A junction 611.
Described second drive mechanism 52 includes that the second framework 521, described second framework 521 are provided with the second drive shaft 522,
Described second drive shaft 522 is through two sides of described second framework 521, and described second drive shaft 522 is provided with the second band
Moving gear 523, described second driven gear 523 is arranged on outside the second framework 521 and is connected with the first driven gear 511 belt,
Described second driven gear 523 is fixing with the second drive shaft 522 to be connected, and described second drive shaft 522 drives the second triangle crawler belt
Wheel 26.
Described second drive mechanism 52 also includes being set in the second drive shaft 522 and fixing even with the second drive shaft 522
The the second driving gear 525 connect, described second drives gear 525 to connect the second transfer gear 524, described second transfer gear
524 drive the 4th drive mechanism 54 by the second universal driving shaft 62, and described second drives gear 525 and the second transfer gear 524 to set
Putting in the second framework 521, described second universal driving shaft 62 is through two sides of described second framework 521.
Described 3rd drive mechanism 53 includes that the 3rd framework 531, described 3rd framework 531 are provided with the 3rd drive shaft 532,
Described first universal driving shaft 61 is through two sides of described 3rd framework 531, and described first universal driving shaft 61 is provided with the 3rd transfer
Gear 533, described 3rd transfer gear 533 gear connects the 3rd driving gear 534, and the described 3rd drives gear 534 to be set in
Fixing in 3rd drive shaft 532 and with the 3rd drive shaft 532 and be connected, described 3rd drive shaft 532 outer end drives the 3rd triangle
Athey wheel 27.
Described 3rd drive shaft 532, through two sides of described 3rd framework 531, described 3rd drive shaft 532 sets
The 3rd driven gear 535, described 3rd driven gear 535 is had to be arranged on outside the 3rd framework 531 and in the 3rd drive shaft 532 end
Fixing connection, described 3rd driven gear 535 is by belt drives the 4th drive mechanism 54.
Another preferred embodiment of the present invention, a kind of triangle Athey wheel robot, including main body 1 with arrange on the body 1
Four triangle Athey wheels 2, be provided with the first motor 41 and the second motor 42, the first of described first motor 41 in described main body 1
Rotary shaft 411 is provided with the first gear 412 and the second gear 413 of concentric, the second rotary shaft 421 of described second motor 42
Being provided with the 3rd gear 422 and the 4th gear 423 of concentric, described first gear 412 is driven by the first drive mechanism 51
First triangle Athey wheel 25, described second gear 413 drives the second triangle Athey wheel 26 by the second drive mechanism 52, and described the
Three gears 422 drive the 3rd triangle Athey wheel 27 by the 3rd drive mechanism 53, and described 4th gear 423 is by 4 wheel driven motivation
Structure 54 drives the 4th triangle Athey wheel 28.
Owing to the first rotary shaft 411 of the first motor 41 is provided with the first gear 412 and the second gear 413 of concentric,
Second rotary shaft 421 of the second motor 42 is provided with the 3rd gear 422 and the 4th gear 423 of concentric, and the first gear 412 leads to
Crossing the first drive mechanism 51 drives the first triangle Athey wheel 25, the second gear 413 to drive the two or three by the second drive mechanism 52
Angle Athey wheel 26, the 3rd gear 422 drives the 3rd triangle Athey wheel 27, described 4th gear 423 by the 3rd drive mechanism 53
Drive the 4th triangle Athey wheel 28 by the 4th drive mechanism 54, drive four triangle Athey wheels 2, two electricity by two motors
Machine controls two triangle Athey wheels 2 of side respectively, facilitates control to turn to, and power is higher, and climbing capacity obtains with crossing obstacle performance
To significantly improving.
Described first drive mechanism 51 includes the first driven gear 511 being connected with the first gear 412 belt, described second
Drive mechanism 52 includes the second driven gear 523 being connected with the second gear 413 belt, described 3rd drive mechanism 53 include with
The 3rd driven gear 535 that 3rd gear 422 belt connects, described 4th drive mechanism 54 includes and the 4th gear 423 belt
The 4th driven gear 541 connected.
Described first drive mechanism 51 also includes fixing, with the first driven gear 511 center, the first drive shaft 512 being connected,
Described first drive shaft 512 outer end snaps in the first triangle Athey wheel 25 center.
Being additionally provided with the first driving gear 514 in described first drive shaft 512, described first drives gear 514 gear to connect
First transfer gear 515, described first transfer gear 515 center connects the first universal driving shaft 61, and described first transfer gear 515 leads to
Cross the first universal driving shaft 61 and drive the 3rd drive mechanism 53.
Described first drive mechanism 51 also includes the first framework 516, and described first drive shaft 512 is through described first framework
Two sides of 516, described first drives gear the 514, first transfer gear 515 to be arranged in the first framework 516, and described first
Driven gear 511 is arranged on outside the first framework 516 and fixes with the first drive shaft 512 end and is connected, described first universal driving shaft 61
It is connected through described first framework 516 and the first transfer gear 515 center are fixing.
Described second drive mechanism 52 also includes fixing, with the second driven gear 523 center, the second drive shaft 522 being connected,
Described second drive shaft 522 outer end snaps in the second triangle Athey wheel 26 center, described second drive shaft 522 is additionally provided with second and drives
Moving gear 525, described second drives gear 525 gear to connect the second transfer gear 524, described second transfer gear 524 center
Connecting the second universal driving shaft 62, described second transfer gear 524 drives the 4th drive mechanism 54 by the second universal driving shaft 62.
Described first universal driving shaft 61 includes fixing the first connecting portion 611, the centre being connected with the first transfer gear 515 center
Switching part 612 and the second connecting portion 613 being connected with the 3rd drive mechanism 53, described first connecting portion the 611, second connecting portion
613 two ends are hollow cylinder, and two ends, described intermediate transit portion 612 snap in hollow cylinder, and described first universal driving shaft 61 is through first
Two sides of framework 516, described first universal driving shaft 61 end snaps in the first connecting portion 611.
Another preferred embodiment of the present invention, a kind of triangle Athey wheel robot, including main body 1 with arrange on the body 1
Four triangle Athey wheels 2, be provided with the 3rd motor 43 and the 4th motor 44, the 3rd of described 3rd motor 43 in described main body 1
Rotary shaft 431 drives the first triangle Athey wheel 25 by the first drive mechanism 51, and described first drive mechanism 51 is by first
Moving axis 61 drives the 3rd drive mechanism 53, described 3rd drive mechanism 53 to drive the 3rd triangle Athey wheel 27, described 4th motor
4th rotary shaft 441 of 44 drives the 4th triangle Athey wheel 28, described 4th drive mechanism 54 to lead to by the 4th drive mechanism 54
Crossing the second universal driving shaft 62 drives the second drive mechanism 52, described second drive mechanism 52 to drive the second triangle Athey wheel 26.
Owing to being provided with the 3rd motor 43 and the 4th motor 44 in main body 1, the 3rd rotary shaft 431 of the 3rd motor 43 drives
One drive mechanism 51, then the first drive mechanism 51 drives the 3rd drive mechanism 53, the 4th motor 44 by the first universal driving shaft 61
The 4th rotary shaft 441 drive the 4th drive mechanism 54, then the 4th drive mechanism 54 drives second by the second universal driving shaft 62
Drive mechanism 52, drives four triangle Athey wheels 2 by two motors, and two motors control robot above or below respectively
Two triangle Athey wheels 2, facilitate control to turn to, and power is higher, and climbing capacity is significantly improved with crossing obstacle performance.
Described first drive mechanism 51 include fixing with the 3rd rotary shaft 431 is connected the 5th drive gear 517, described the
Five drive gear 517 gear to connect the first linked gear 518, and described first linked gear 518 drives the first transfer gear 515,
Described first transfer gear 515 gear connects the first driving gear 514, and described first drives gear 514 to drive the first drive shaft
512, described first drive shaft 512 drives the first triangle Athey wheel 25.
Described first drive mechanism 51 also includes the first framework 516, and described first drive shaft 512 is through described first framework
Two sides of 516, described first universal driving shaft 61 is through two sides of described first framework 516, described first linked gear
518 and first transfer gear 515 be arranged on the first universal driving shaft 61, described first drives gear 514 and the first driven gear 511
Being arranged in the first drive shaft 512, the described 5th drives gear 517 to be arranged in the first framework 516, described first drive shaft
512 are rotationally connected by two sides of bearing and the first framework 516, and described first universal driving shaft 61 is by bearing and the first framework
Two sides of 516 are rotationally connected.
Described first universal driving shaft 61 includes fixing the first connecting portion 611, the centre being connected with the first transfer gear 515 center
Switching part 612 and the second connecting portion 613 being connected with the 3rd drive mechanism 53, described first connecting portion the 611, second connecting portion
613 two ends are hollow cylinder, and two ends, described intermediate transit portion 612 snap in hollow cylinder.
Described first drive shaft 512 outer end circumference is provided with protuberance 513, and described first triangle Athey wheel 25 center is provided with
The drive hole coordinated with the first drive shaft 512 outer end.
Described first universal driving shaft 61 is through two sides of the first framework 516, and described first universal driving shaft 61 end snaps in the
A junction 611.
Described second drive mechanism 52 includes that the second framework 521, described second framework 521 are provided with the second drive shaft 522,
Described second drive shaft 522 is through two sides of described second framework 521, and described second drive shaft 522 is provided with the second band
Dynamic tooth, it is outer and be connected with the first driven gear 511 belt that described second driven gear 523 is arranged on the second framework 521, and described the
Two driven gears 523 are fixing with the second drive shaft 522 to be connected, and described second drive shaft 522 drives the second triangle Athey wheel 26.
Described second drive mechanism 52 also includes being set in the second drive shaft 522 and fixing even with the second drive shaft 522
The the second driving gear 525 connect, described second drives gear 525 to connect the second transfer gear 524, described second transfer gear
524 drive the 4th drive mechanism 54 by the second universal driving shaft 62, and described second drives gear 525 and the second transfer gear 524 to set
Putting in the second framework 521, described second universal driving shaft 62 is through two sides of described second framework 521.
Described 3rd drive mechanism 53 includes that the 3rd framework 531, described 3rd framework 531 are provided with the 3rd drive shaft 532,
Described first universal driving shaft 61 is through two sides of described 3rd framework 531, and described first universal driving shaft 61 is provided with the 3rd transfer
Gear 533, described 3rd gear 422 gear connects the 3rd driving gear 534, and the described 3rd drives gear 534 to be set in the 3rd
Fixing in driving and with the 3rd drive shaft 532 and be connected, described 3rd drive shaft 532 outer end drives the 3rd triangle Athey wheel 27.
Described 3rd drive shaft 532, through two sides of described 3rd framework 531, described 3rd drive shaft 532 sets
Having the 3rd drive tooth, described 3rd driven gear 535 is arranged on outside the 3rd framework 531 and fixes in the 3rd drive shaft 532 end
Connecting, described 3rd driven gear 535 is by belt drives the 4th drive mechanism 54.
Another preferred embodiment of the present invention, a kind of triangle Athey wheel robot, including main body 1 with arrange on the body 1
Four triangle Athey wheels 2, be provided with the first motor 41 and the 3rd motor 43, the first of described first motor 41 in described main body 1
Rotary shaft 411 is provided with the first gear 412 and the second gear 413 of concentric, and described first gear 412 is by the first driving machine
Structure 51 drives the first triangle Athey wheel 25, described second gear 413 to drive the second triangle Athey wheel by the second drive mechanism 52
26, the 3rd rotary shaft 431 of described 3rd motor 43 drives the first drive mechanism 51, and described first drive mechanism 51 is by first
Universal driving shaft 61 drives the 3rd drive mechanism 53, described 3rd drive mechanism 53 to drive the 3rd triangle Athey wheel 27, and described second drives
Motivation structure 52 and/or the 3rd drive mechanism 53 drive the 4th drive mechanism 54, described 4th drive mechanism 54 to drive the 4th triangle
Athey wheel 28.
Owing to being provided with the first motor 41 and the 3rd motor 43 in main body 1, the first rotary shaft 411 of the first motor 41 is provided with
First gear 412 and the second gear 413 of concentric, the first gear 412 drives the first triangle to carry out by the first drive mechanism 51
Belt wheel 25, the second gear 413 drives the second triangle Athey wheel 26 by the second drive mechanism 52, the 3rd rotation of the 3rd motor 43
Axle 431 drives the first drive mechanism 51, described first drive mechanism 51 to drive the 3rd drive mechanism 53 by the first universal driving shaft 61,
3rd drive mechanism 53 drives the 3rd triangle Athey wheel 27, and the second drive mechanism 52 and/or the 3rd drive mechanism 53 drive the 4th
Drive mechanism 54, drives four triangle Athey wheels 2 by two motors, and two motors simultaneously drive a triangle Athey wheel 2, side
Just controlling to turn to, power is higher, and climbing capacity is significantly improved with crossing obstacle performance.
Described first drive mechanism 51 includes the first driven gear 511 and the first band being connected with the first gear 412 belt
The first drive shaft 512 of connection is fixed at moving gear 511 center, and described first drive shaft 512 outer end snaps in the first triangle Athey wheel
25 centers, described first drive shaft 512 is provided with the first driving gear 514, and described first drives gear 514 gear to connect first
Transfer gear 515, described first transfer gear 515 center connects the first universal driving shaft 61, the 3rd driving of described 3rd motor 43
Axle 532 is provided with the 5th gear, and described 5th gear gear connects the first linked gear 518, and described first linked gear 518 is solid
Surely it is set on the first universal driving shaft 61.
Described first drive mechanism 51 also includes the first framework 516, and described first drive shaft 512 is through described first framework
Two sides of 516, described first universal driving shaft 61 is through two sides of described first framework 516, and the described 5th drives gear
517 are arranged in the first framework 516, and described first drive shaft 512 is rotated even by two sides of bearing and the first framework 516
Connecing, described first universal driving shaft 61 is rotationally connected by two sides of bearing and the first framework 516.
Described second drive mechanism 52 drives the 4th drive mechanism 54 by the second universal driving shaft 62.
Described second drive mechanism 52 includes that the second driven gear 523 and second that the second gear 413 belt connects drives
The second drive shaft 522 and the second framework 521 of connection is fixed at gear 523 center, and described second drive shaft 522 is provided with second and drives
Moving gear 525, described second drives gear 525 gear to connect the second linked gear, and described second linked gear drives second
Moving axis 62, described second universal driving shaft 62 drives the 4th drive mechanism 54.
Described 3rd drive mechanism 53 drives the 4th drive mechanism 54 by crawler belt 24.
Described 3rd drive mechanism 53 includes the 3rd framework 531 and the 3rd drive shaft 532, in described 3rd drive shaft 532
Being provided with the 3rd driven gear 535, described 3rd driven gear 535 is arranged on outside the 3rd framework 531, described 3rd driven gear
535 belts connect the 4th drive mechanism 54.
Another preferred embodiment of the present invention, a kind of triangle Athey wheel robot, including main body 1 with arrange on the body 1
Four triangle Athey wheels 2, be provided with the first motor the 41, second motor the 42, the 3rd motor 43 and the 4th motor in described main body 1
44, described 3rd motor 43 drives the first triangle Athey wheel 25 by the first drive mechanism 51, and described first motor 41 is by the
Two drive mechanisms 52 drive the second triangle Athey wheel 26, described second motor 42 to drive the second triangle by the second drive mechanism 52
Athey wheel 26, described 4th motor 44 drives the 4th triangle Athey wheel 28 by the 4th drive mechanism 54.
Owing to being provided with the first motor the 41, second motor the 42, the 3rd motor 43 and the 4th motor 44, the 3rd motor in main body 1
43 drive the first triangle Athey wheel 25, the first motor 41 to drive second by the second drive mechanism 52 by the first drive mechanism 51
Triangle Athey wheel 26, the second motor 42 drives the second triangle Athey wheel 26 by the second drive mechanism 52, and the 4th motor 44 passes through
4th drive mechanism 54 drives the 4th triangle Athey wheel 28, drives a triangle Athey wheel 2, controlling party respectively by four motors
Just, turning to flexibly, powerful, climbing capacity is significantly improved with crossing obstacle performance.
Described first drive mechanism 51 connects the 3rd drive mechanism 53 by the first universal driving shaft 61.
Described 4th drive mechanism 54 connects the second drive mechanism 52 by the second universal driving shaft 62.
First rotary shaft 411 of described first motor 41 is provided with the first gear 412 and the second gear 413 of concentric,
Described first gear 412 passes through belt drives the second drive mechanism by belt drives the first drive mechanism 51, described two gears
52。
Second rotary shaft 421 of described second motor 42 is provided with the 3rd gear 422 and the 4th gear 423 of concentric,
Described 3rd gear 422 passes through belt drives the 4th drive mechanism by belt drives the 3rd drive mechanism 53, described four gears
54。
Described first drive mechanism 51 connects the 3rd drive mechanism 53, described 4th drive mechanism by the first universal driving shaft 61
54 connect the second drive mechanism 52 by the second universal driving shaft 62, and the first rotary shaft 411 of described first motor 41 is provided with coaxially
First gear 412 and the second gear 413 of the heart, described first gear 412 by belt drives the first drive mechanism 51, described two
Gear passes through belt drives the second drive mechanism 52, and the second rotary shaft 421 of described second motor 42 is provided with the of concentric
Three gear 422 and the 4th gears 423, described 3rd gear 422 is led to by belt drives the 3rd drive mechanism 53, described four gears
Cross belt drives the 4th drive mechanism 54.
The first belt transfer mechanism 63, described 4th electricity it is provided with between described second gear 413 and the second drive mechanism 52
Machine 44 is arranged between second gear the 413, second drive mechanism 52 and the belt that both connect, described 3rd gear 422 and the
Being provided with the second belt transfer mechanism 64 between three drive mechanisms 53, described 3rd motor 43 is arranged on the 3rd gear the 422, the 3rd and drives
Between motivation structure 53 and the belt that both connect.
Described first universal driving shaft 61 is arranged between the 3rd gear the 422, the 3rd drive mechanism 53 and the belt that both connect,
Described second universal driving shaft 62 is arranged between second gear the 413, second drive mechanism 52 and the belt that both connect.
Described first belt transfer mechanism 63 includes three transfer rotating shafts 631, described three transfer 631 one-tenth words of falling product of rotating shaft
Shape is arranged, and described 4th motor the 44, second universal driving shaft 62 is separately positioned between the belt that two transfer rotating shafts 631 are raised.
Another preferred embodiment of the present invention, a kind of triangle Athey wheel robot, including main body 1 with arrange on the body 1
Four triangle Athey wheels 2, be provided with the first motor the 41, second motor the 42, the 3rd motor 43 and the 4th motor in described main body 1
44, described 3rd motor 43 drives the first triangle Athey wheel 25 by the first drive mechanism 51, and described first motor 41 is by the
Two drive mechanisms 52 drive the second triangle Athey wheel 26, described second motor 42 to drive the second triangle by the second drive mechanism 52
Athey wheel 26, described 4th motor 44 drives the 4th triangle Athey wheel 28, described first motor 41 by the 4th drive mechanism 54
The first rotary shaft 411 be provided with the second gear 413, described two gears pass through belt drives the second drive mechanism 52, described the
Second rotary shaft 421 of two motors 42 is provided with the 3rd gear 422, and described 3rd gear 422 is driven by belt drives the 3rd
Mechanism 53, is provided with the first belt transfer mechanism expanding belt scope between described second gear 413 and the second drive mechanism 52
63, in the range of described 4th motor 44 is arranged on the belt between the second gear 413 and the second drive mechanism 52, described 3rd tooth
It is provided with the second belt transfer mechanism 64 expanding belt scope, described 3rd motor 43 between wheel 422 and the 3rd drive mechanism 53
In the range of being arranged on the belt between the 3rd gear 422 and the 3rd drive mechanism 53.
By the first belt transfer mechanism 63 and the second belt transfer mechanism 64 by the expanded range of belt, by four motors
Can put together, save space, belt position can be limited again simultaneously, improve stability.
First rotary shaft 411 of described first motor 41 is provided with and the first gear 412 of the second gear 413 concentric,
Described first gear 412 is by belt drives the first drive mechanism 51, and the second rotary shaft 421 of described second motor 42 is provided with
With the 4th gear 423 of the 3rd gear 422 concentric, described four gears pass through belt drives the 4th drive mechanism 54.
Described first belt transfer mechanism 63 includes a transfer rotating shaft 631, and described transfer rotating shaft 631 upper surface is higher than the
Two gear 413 upper surfaces.
Described first drive mechanism 51 connects the 3rd drive mechanism 53, described 4th drive mechanism by the first universal driving shaft 61
54 connect the second drive mechanism 52. by the second universal driving shaft 62
Described first belt transfer mechanism 63 includes three transfer rotating shafts 631, described three transfer 631 one-tenth words of falling product of rotating shaft
Shape is arranged, and transfer rotating shaft 631 upper surface above two of which is higher than the second gear 413 upper surface, described 4th motor 44, the
Two universal driving shafts 62 are separately positioned between the belt that two transfer rotating shafts 631 are raised.
Described second belt transfer mechanism 64 includes three transfer rotating shafts 631, described three transfer 631 one-tenth words of falling product of rotating shaft
Shape is arranged, and transfer rotating shaft 631 upper surface above two of which is higher than the 3rd gear 422 upper surface, described 3rd motor 43, the
One universal driving shaft 61 is separately positioned between the belt that two transfer rotating shafts 631 are raised.
Described first universal driving shaft 61 and the second universal driving shaft 62 are arranged on rear and front end, described first motor 41 and the second motor
42 are arranged on centre, and described 3rd motor 43 is arranged between the first motor 41 and the first universal driving shaft 61, described 3rd motor 43
It is arranged between the second motor 42 and the second universal driving shaft 62.
Described first belt transfer mechanism 63 and the 4th motor 44 are separately positioned on both sides in robot.
Another preferred embodiment of the present invention, a kind of triangle Athey wheel robot, including main body 1 with arrange on the body 1
Four triangle Athey wheels 2, described main body 1 includes that upper casing 11, center 12 and lower casing 13, described upper casing 11 and lower casing 13 are fixed on
On center 12, described upper casing 11 is provided with image mechanism 3, and described center 12 tail end is provided with external antenna 7, and described center 12 includes
Centre has the supporting plate 121 of hollow-out parts, and described supporting plate 121 periphery is provided with the first chimb 122 and downward second upwards
Chimb 123, is provided with circuit board on the upside of described supporting plate 121, on the downside of described supporting plate 121, fixing connection drives motor and gear
Group.
Owing to triangle Athey wheel 2 robot includes main body 1 and arranges four triangle Athey wheels 2 on the body 1, main body 1
Being fixed on center 12 including upper casing 11, center 12 and lower casing 13, upper casing 11 and lower casing 13, upper casing 11 is provided with image mechanism 3,
Center 12 tail end is provided with external antenna 7, and center 12 includes that centre has the supporting plate 121 of hollow-out parts, and supporting plate 121 periphery is provided with
The first chimb 122 upwards and the second downward chimb 123, be provided with circuit board on the upside of supporting plate 121, solid on the downside of supporting plate 121
Fixed connection drives motor and gear train, upper casing 11 and lower casing 13 to be all fixed on center 12, and convenient installation, in the middle of supporting plate 121
There is hollow-out parts, alleviate weight, convenient fixing, fixation.
Described first chimb 122 includes overlapping with supporting plate 121 and the fixing first side being connected is vertical with first side
The second side connected, described first side and second side are provided with multiple screw hole.
Being provided with anyhow staggered support bar in the middle of described supporting plate 121, described support bar is provided with fixing hole, described gear
Group includes framework, and described framework is connected by bolt and support bar are fixing, and described driving motor drives three by described gear train
Angle Athey wheel 2.
Described driving motor includes the first motor 41 and the second motor 42, is provided with and the first electricity on the downside of described supporting plate 121
The second bearing 46 that the clutch shaft bearing 45 that machine 41 coordinates coordinates with the second motor 42.
Described gear train includes four gear trains of corresponding four triangle Athey wheels 2, and described gear train includes framework, described
Main body 1 also includes the first cover plate covering two gear trains of corresponding front-wheel, the second of two gear trains of the corresponding trailing wheel of covering
Cover plate, described framework is fixing with cover plate bolt to be connected.
Being provided with backing plate on the upside of described supporting plate 121, described circuit board is arranged on backing plate.
Described image mechanism 3 includes that camera head 31 and driving means, described driving means include being connected with main body 1
One drive mechanism 51, described first drive mechanism 51 drives camera head 31 to move up and down, and described driving means also includes second
Drive mechanism 52, described second drive mechanism 52 drives camera head 31 to rotate.
Described first drive mechanism 51 includes base 321 and the bindiny mechanism 322 being connected with main body 1, in described base 321
Being provided with the first shooting motor, described first shooting motor drive connection mechanism 322 one end, described bindiny mechanism 322 other end is even
Connecing camera head 31, described base 321 is provided with support 324, and the first shooting drive shaft 325 of described first shooting motor passes
Described support 324, described bindiny mechanism 322 includes that two pieces of connecting plates 323 arranged side by side, two pieces of described connecting plate 323 one end are provided with
The through hole that first shooting drive shaft 325 passes, described first shooting drive shaft 325 is additionally provided with height driving wheel 326, described height
Degree driving wheel 326 is arranged between two pieces of connecting plates 323, is provided with card cock wheel 327 in the middle of two pieces of described connecting plate 323 other ends,
Described height driving wheel 326 is connected by belt between card cock wheel 327.
Described camera head 31 is connected by fixed mount 328 and connecting plate 323 other end are fixing, and described fixed mount 328 sets
Having the fixing foot of downward two 329, said two is fixed foot 329 and is arranged on card cock wheel 327 both sides, two fixing feet 329, clampings
Wheel 327 and two pieces of fixing connections of connecting plate 323, described fixed mount 328 includes the placement plate 331 connecting two fixing feet 329, institute
Stating placement plate 331 and be provided with support 332, described support 332 is provided with the second shooting rotating shaft 333, described second shooting rotating shaft 333
End arranges camera head 31, is provided with the first swing pinion 334, on described fixed mount 328 in the middle of described second shooting rotating shaft 333
Being provided with the second shooting motor 336, the second shooting drive shaft 337 of described second shooting motor 336 connects the second swing pinion
335, described second swing pinion 335 connects the first swing pinion 334.
Described image mechanism 3 is arranged on upper casing 11 side, and described upper casing 11 is additionally provided with anti-shake apparatus 8, and described stabilization fills
Put 8 to be arranged in the middle of on front side of upper casing 11.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
Being embodied as of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of present inventive concept, it is also possible to make some simple deduction or replace, all should be considered as belonging to the present invention's
Protection domain.
Claims (10)
1. a triangle Athey wheel robot, it is characterised in that include main body and four the triangle Athey wheels being arranged in main body,
Being provided with the 3rd motor and the 4th motor in described main body, the 3rd rotary shaft of described 3rd motor is driven by the first drive mechanism
First triangle Athey wheel, described first drive mechanism drives the 3rd drive mechanism by the first universal driving shaft, and the described 3rd drives machine
Structure drives the 3rd triangle Athey wheel, and the 4th rotary shaft of described 4th motor drives the 4th triangle crawler belt by the 4th drive mechanism
Wheel, described 4th drive mechanism drives the second drive mechanism, described second drive mechanism to drive the two or three by the second universal driving shaft
Angle Athey wheel.
A kind of triangle the most according to claim 1 Athey wheel robot, it is characterised in that described first drive mechanism includes
Fix the 5th driving gear being connected with the 3rd rotary shaft, described 5th drive gear teeth wheel connects the first linked gear, described
First linked gear drives the first transfer gear, described first transfer gear gear to connect the first driving gear, and described first drives
Moving gear drives the first drive shaft, described first drive shaft to drive the first triangle Athey wheel.
A kind of triangle the most according to claim 2 Athey wheel robot, it is characterised in that described first drive mechanism is also wrapped
Including the first framework, described first drive shaft is through two sides of described first framework, and described first universal driving shaft is through described the
Two sides of one framework, described first linked gear and the first transfer gear are arranged on the first universal driving shaft, and described first drives
Moving gear and the first driven gear are arranged in the first drive shaft, and the described 5th drives gear to be arranged in the first framework, described
First drive shaft is rotationally connected by two sides of bearing and the first framework, and described first universal driving shaft passes through bearing and the first frame
Two sides of body are rotationally connected.
A kind of triangle the most according to claim 3 Athey wheel robot, it is characterised in that described first universal driving shaft include with
First transfer gear centre fixes the first connecting portion of connection, intermediate transit portion and the second connection being connected with the 3rd drive mechanism
Portion, described first connecting portion, the second connecting portion two ends are hollow cylinder, and two ends, described intermediate transit portion snap in hollow cylinder.
A kind of triangle the most according to claim 3 Athey wheel robot, it is characterised in that described first drive shaft outer end circle
Being provided with protuberance week, described first triangle Athey wheel center is provided with the drive hole coordinated with the first drive shaft outer end.
A kind of triangle the most according to claim 4 Athey wheel robot, it is characterised in that described first universal driving shaft is through the
Two sides of one framework, described first linkage axle head snaps in the first connecting portion.
A kind of triangle the most according to claim 3 Athey wheel robot, it is characterised in that described second drive mechanism includes
Second framework, described second framework is provided with the second drive shaft, and described second drive shaft is through two sides of described second framework
Face, described second drive shaft is provided with the second drive tooth, and described second driven gear is arranged on outside the second framework and carries with first
Moving gear belt connects, and described second driven gear and the fixing connection of the second drive shaft, described second drive shaft drives the two or three
Angle Athey wheel.
A kind of triangle the most according to claim 7 Athey wheel robot, it is characterised in that described second drive mechanism is also wrapped
Including and be set in the second drive shaft and fix with the second drive shaft the second driving gear being connected, described second drives gear to connect
Second transfer gear, described second transfer gear drives the 4th drive mechanism by the second universal driving shaft, and described second drives gear
Being arranged in the second framework with the second transfer gear, described second universal driving shaft is through two sides of described second framework.
A kind of triangle the most according to claim 3 Athey wheel robot, it is characterised in that described 3rd drive mechanism includes
3rd framework, described 3rd framework is provided with the 3rd drive shaft, and described first universal driving shaft is through two sides of described 3rd framework
Face, described first universal driving shaft is provided with the 3rd transfer gear, and described 3rd gear gear connects the 3rd driving gear, and the described 3rd
Geared sleeve is driven to be located at the 3rd driving upper and fixing with the 3rd drive shaft is connected, described 3rd drive shaft outer end driving the three or three
Angle Athey wheel.
A kind of triangle the most according to claim 9 Athey wheel robot, it is characterised in that described 3rd drive shaft passes
Two sides of described 3rd framework, described 3rd drive shaft is provided with the 3rd drive tooth, and described 3rd driven gear is arranged on
3rd framework is outer and fixes connection in the 3rd drive shaft end, and described 3rd driven gear passes through belt drives 4 wheel driven motivation
Structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610719027.5A CN106114663A (en) | 2016-08-24 | 2016-08-24 | A kind of triangle Athey wheel robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610719027.5A CN106114663A (en) | 2016-08-24 | 2016-08-24 | A kind of triangle Athey wheel robot |
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| Publication Number | Publication Date |
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| CN106114663A true CN106114663A (en) | 2016-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610719027.5A Pending CN106114663A (en) | 2016-08-24 | 2016-08-24 | A kind of triangle Athey wheel robot |
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| CN (1) | CN106114663A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018035746A1 (en) * | 2016-08-24 | 2018-03-01 | 李玉婷 | Triangular crawler wheel robot |
-
2016
- 2016-08-24 CN CN201610719027.5A patent/CN106114663A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018035746A1 (en) * | 2016-08-24 | 2018-03-01 | 李玉婷 | Triangular crawler wheel robot |
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