CN106184469B - Double Worm gear mechanism deformable shock-resistant running parts and firefighting movable platform with it - Google Patents

Double Worm gear mechanism deformable shock-resistant running parts and firefighting movable platform with it Download PDF

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Publication number
CN106184469B
CN106184469B CN201610675370.4A CN201610675370A CN106184469B CN 106184469 B CN106184469 B CN 106184469B CN 201610675370 A CN201610675370 A CN 201610675370A CN 106184469 B CN106184469 B CN 106184469B
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China
Prior art keywords
worm gear
component
gear
worm
wheel
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CN106184469A (en
Inventor
李允旺
李伟
葛世荣
郑宇巍
夏新春
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D61/00Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/023Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected longitudinally
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/04Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
    • B60G21/045Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on different axles on the same side of the vehicle, i.e. the left or the right side
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00Indexing codes relating to suspension types
    • B60G2200/40Indexing codes relating to the wheels in the suspensions
    • B60G2200/422Driving wheels or live axles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2202/00Indexing codes relating to the type of spring, damper or actuator
    • B60G2202/40Type of actuator
    • B60G2202/43Mechanical actuator
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40Auxiliary suspension parts; Adjustment of suspensions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/80Interactive suspensions; arrangement affecting more than one suspension unit
    • B60G2204/83Type of interconnection
    • B60G2204/8302Mechanical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60GVEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00Indexing codes relating to the type of vehicle
    • B60G2300/32Track vehicles

Abstract

The invention discloses a kind of double Worm gear mechanism deformable shock-resistant running parts, including rack, reclining apparatus, cyclic train component, walking component;Reclining apparatus is connected with rack, and uses double Worm gear mechanisms, and deformation driving assembly driving worm screw drives two worm gear rotations;Cyclic train component includes sun gear, rocker arm, planetary gear, damper element, and sun gear is coaxially connected with worm gear, and rocker arm is coaxially pivotly connected with sun gear;Planetary gear is two, and planetary gear is pivotly connected with rocker arm, and planetary gear is meshed with sun gear;Damper element is connected with rack and rocker arm respectively;And cyclic train component is two, is arranged symmetrically, two walking components are connected with two planetary gears respectively.The invention also provides the firefighting movable platforms with double Worm gear mechanism deformable shock-resistant running parts, can be used for designing fire-fighting robot, so that robot ambulation portion is deformable and has damping property.

Description

Double Worm gear mechanism deformable shock-resistant running parts and firefighting movable platform with it
Technical field
The present invention relates to robotic technology field more particularly to a kind of double Worm gear mechanism deformable shock-resistant running parts and have Its firefighting movable platform.
Background technique
Applied to the mobile robot in the fields such as fire-fighting and rescue, detection investigation, need to face complicated terrain environment, therefore It is required that robot should have good terrain adaptability, passability and kinetic stability.It is some to disappear by taking fire-fighting robot as an example Anti- robot will complete fire, the environment detection of dangerization explosion scene and sampling work, and such fire-fighting robot needs to enter ground The explosion of shape complexity and scene of fire, this requires that fire-fighting robot has good terrain trafficability.The requirement of some landform Robot head room with higher is wanted, to prevent obstacle card resistance robot chassis;Some landform require robot have compared with Low position of centre of gravity increases the ground connection of robot to provide good stability, when such as climbing slope.And current robot row Posture cannot be adjusted according to the variation of landform by walking portion, therefore obstacle climbing ability is affected with terrain trafficability.Such as patent (patent Number: 200810023553.3) a kind of rocker type four-wheel robot that proposes, the performance with passive adaptation landform, but its Running part is fixed running part, cannot need to adjust its angle according to landform.When the oblique of heavy grade is climbed by the robot When slope, because position of centre of gravity is higher, it is easy to happen rolling;When the robot therefrom between across compared with high obstacle object when, if free height Degree be less than barrier, then can not by or occur card resistance.If can be according to the feature of terrain obstruction, robot (such as fire-fighting robot) The running part of mobile platform can initiatively change its angle, shape, high with the whole height, the center of gravity that change robot moving platform Degree, ground connection size, head room, then can be improved terrain trafficability, adaptability and the fortune of the mobile platform using this running part Dynamic stability.Meanwhile under complicated orographic condition, road surface, which is often compared, jolts, mobile platform by when will receive it is larger Impact force, the performance of instrument entrained by robot will be will affect in this way, also influence institute collecting sample to a certain extent Stability.If mobile platform has shock-absorbing function, certain impact can be absorbed, to improve displacement stationarity, is reduced Failure rate and prolong the service life, and more stable platform can be provided for detection, sampling.
Currently used for fire, the fire-fighting robot of the environment detection of dangerization explosion scene and sampling work, do not had The design of the deformable running part of shock-absorbing function, thus, design a kind of deformable robot ambulation portion with shock-absorbing function And it is meaningful using the mobile platform especially firefighting movable platform of running part design.
Summary of the invention
Present invention seek to address that the technical problems existing in the prior art, for this purpose, the present invention provides a kind of double worm gear machines Structure deformable shock-resistant running part and firefighting movable platform with it, the running part can occur active deformation according to different terrain, make Using the adjustable whole height of its mobile platform, position of centre of gravity, adjusts it and be grounded size, while there is shock-absorbing function, with Improve its landform adaptability, obstacle performance and robust motion.
The specific technical proposal of the invention is: a kind of double Worm gear mechanism deformable shock-resistant running parts, comprising: rack;Angle modulation dress It sets, the reclining apparatus includes: pedestal, and the pedestal is connected with the rack;Double Worm gear mechanisms, double Worm gear mechanism packets Include: worm screw, the worm screw are pivotly connected with the pedestal;Worm gear, the worm gear are two, two worm wheel symmetricals It is located at the worm screw two sides and is engaged with the worm screw, two worm gears are pivotly connected with the pedestal;Deformation Driving assembly, the deformation driving assembly are connected with the worm screw and the worm screw are driven to rotate;Cyclic train component, the week Runner module is two, is arranged symmetrically, and the cyclic train component includes: sun gear, and the sun gear is two, Two sun gears are coaxially connected with two worm gears respectively, and are pivotly connected with the rack;Rocker arm, it is described Rocker arm is coaxially pivotly connected with the sun gear;Planetary gear, the planetary gear are two, the planet tooth Wheel is pivotly connected with the rocker arm, and the planetary gear is meshed with the sun gear;Damper element, the damping Element is connected with the rack and the rocker arm respectively;Walking component, the walking component are two, two walking components It is connected respectively with two planetary gears.
Preferably, double Worm gear mechanism deformable shock-resistant running parts of the invention, can also include angle detection module, it is described Angle detection module is connected with the deformation driving assembly to detect the worm gear corner.
Optionally, the angle detection module is encoder.
Optionally, double Worm gear mechanism deformable shock-resistant running parts of the invention, the damper element is spring damper, described Spring damper both ends are connected with the rack and the rocker arm respectively.
Optionally, double Worm gear mechanism deformable shock-resistant running parts of the invention, the walking component are running on wheels component, institute Stating running on wheels component includes: running on wheels assembly frame, and the running on wheels assembly frame is connected with the planetary gear;Wheel group Part, the vehicle wheel component are connected with the running on wheels assembly frame;Wheel actuator, the wheel actuator and the wheel group Part is connected, and the vehicle wheel component is driven to rotate.
Optionally, double Worm gear mechanism deformable shock-resistant running parts of the invention, the walking component are crawler-type traveling component, The crawler-type traveling component includes: track frame, and the track frame is connected with the planetary gear;Athey wheel, the Athey wheel It is connected with the track frame, the Athey wheel includes driving Athey wheel and driven Athey wheel;Crawler belt, the crawler belt envelope is described Outside Athey wheel, and it is meshed with the driving Athey wheel;Athey wheel actuator, the Athey wheel actuator and the driving crawler belt Wheel is connected, and the driving Athey wheel is driven to rotate.
Further, double Worm gear mechanism deformable shock-resistant running parts of the invention, the worm gear are equipped with worm gear shaft, and described The both ends of worm gear shaft are pivotly connected with the pedestal and stretch out the pedestal, the worm gear shaft the pedestal outside with The walking component is connected.
Further, double Worm gear mechanism deformable shock-resistant running parts of the invention are equipped with axis between the worm screw and the pedestal It holds, bearing is equipped between the both ends of the worm gear shaft and the pedestal.
Further, double Worm gear mechanism deformable shock-resistant running parts of the invention, the worm gear are imperfect tooth worm gear.
Further, double Worm gear mechanism deformable shock-resistant running parts of the invention, the deformation driving assembly include driving Part, the actuator are motor or hydraulic motor, or the motor by slowing down, or the hydraulic motor by slowing down.
Through the above technical solutions, two can be driven mutually to nibble with the worm screw when worm screw rotation of double Worm gear mechanisms The worm gear closed oppositely rotates;Because two sun gears are connected with two worm gears respectively, work as institute When stating deformation driving assembly drive worm screw rotation, two sun gears can be rotated oppositely, therefore two and the sun The planetary gear that gear is meshed can be reversed rotation;Because two walking components are connected with two planetary gears, So can change the angle of two walking components, the deformation of running part is realized.If the number of teeth phase of two worm gears With, it can be achieved that two synchronized backswings of the walking component;If the number of teeth of two worm gears is not identical, it can be achieved that two institutes State the walking not synchronized backswing of component.Double Worm gear mechanisms have self-locking performance, can guarantee two sun gears in this way It does not rotate under the action of certain load.Further, because the rocker arm respectively with the sun gear and the row Star gear is pivotable to be connected, so the planetary gear can also make revolution motion around the sun gear.Simultaneously as institute It states and is equipped with the damper element between rack and the rocker arm, limit the planetary gear around the sun gear certain There is the rotation of damping in range, so that the walking component being connected with the planetary gear be made to have certain elastics wing model It encloses, makes running part that there is shock-absorbing function.
In the inventive solutions, the worm gear is imperfect tooth worm gear, therefore can reduce being produced into for worm gear Sheet and weight.
It in the inventive solutions, can also include angle detection module, the angle detection module and the change Shape driving assembly is connected to detect worm gear corner, thus the angle of detectable two walking components, convenient for running part Deformation control.According to optional technical solution, the angle detection module is encoder, and the encoder and the deformation drive Component is connected can detect the corner of the worm gear indirectly;According to other optional technical solutions, the encoder can be with institute Worm gear is stated coaxially to be connected to obtain the corner of the worm gear;In turn, two rows of the running part of the invention can be obtained Walk the angle of component.
In the inventive solutions, the walking component can be running on wheels component, because of two wheeled rows It walks assembly frame to be connected with two planetary gears respectively, so when the deformation driving assembly drives double Worm gear mechanisms When, two running on wheels components can backswing at the same speed, thus the angle of changeable two running on wheels components, The variation of the wheelspan change of two running on wheels components and the height of running part of the present invention can be achieved.
In the inventive solutions, the walking component can be crawler-type traveling component, because of two crawler belts Frame is connected with two planetary gears respectively, so when the deformation driving assembly drives double Worm gear mechanisms, two A crawler-type traveling component can oppositely be swung simultaneously, thus the angle of changeable two crawler-type traveling components, And then it can realize the variation of the ground contact length of two crawler-type traveling components and the height of running part of the present invention.
In addition, the invention also provides a kind of firefighting movable platforms comprising: main car body, double Worm gear mechanisms become Shape damping running part, and the rack of double Worm gear mechanism deformable shock-resistant running parts two sides with the main car body respectively It is connected.Through the above technical solutions, the reason due to using double Worm gear mechanism deformable shock-resistant running parts, firefighting movable platform Chassis height and position of centre of gravity can with the variation of the running part angle up and down adjustment, the firefighting movable platform described in this way Just can be had simultaneously according to the entire length for needing to adjust chassis, height of C.G. and firefighting movable platform of passed through landform Shock-absorbing function, terrain trafficability, adaptability and the kinetic stability of mobile platform is turned up.
It will obtain following using technical solution of the present invention the utility model has the advantages that (1) uses the reclining apparatus, the turnover Module and the damper element are taken turns, the two walking component angles and the running part of the running part are realized The adjusting of height, and make the walking component that there is a certain range of elastic deformability;(2) disappearing using the running part Anti-moving moving platform realizes the height on the chassis of mobile platform and the length adjustment of vehicle body, to improve the ground of mobile platform Shape passability and adaptability;(3) the walking component has a certain range of elastic deformability, to improve described in use The damping performance of the mobile platform of running part;(4) use it is of the invention can with fire-fighting robot and other field robot, with And mobile device.
Detailed description of the invention
Fig. 1 is the structural scheme of mechanism of double Worm gear mechanism deformable shock-resistant running parts according to an embodiment of the present invention;
Structural scheme of mechanism when Fig. 2 is walking component bumper and absorbing shock shown in FIG. 1;
Fig. 3 is the schematic front view of double Worm gear mechanism deformable shock-resistant running parts according to an embodiment of the present invention;
Fig. 4 is the stereoscopic schematic diagram of running on wheels component shown in Fig. 3;
Fig. 5 is the partial enlarged view in Fig. 4 at I;
Fig. 6 is the stereoscopic schematic diagram of the reclining apparatus of running on wheels component shown in Fig. 3;
Fig. 7 is the exploded perspective figure of the pedestal of reclining apparatus shown in Fig. 6;
Fig. 8 be running on wheels component shown in Fig. 3 removal main frame plate and the first half rocking arm of side cyclic train component and The stereoscopic schematic diagram of walking component;
The schematic front view that Fig. 9 is the angle of running on wheels component shown in Fig. 3 when being 180 degree;
Figure 10 is the schematic front view when angle of running on wheels component shown in Fig. 3 is smaller;
Figure 11 is the stereoscopic schematic diagram of crawler-type traveling component according to another embodiment of the present invention;
Figure 12 is the lower schematic front view of the center of gravity of crawler-type traveling component shown in Figure 11;
Figure 13 is the higher schematic front view of the center of gravity of crawler-type traveling component shown in Figure 11;
Figure 14 is the perspective view of crawler type firefighting movable platform according to an embodiment of the present invention;
Figure 15 is stereoscopic schematic diagram when wheeled firefighting movable platform shown in Figure 14 raises chassis by obstacle;
Figure 16 is stereoscopic schematic diagram when wheeled firefighting movable platform shown in Figure 11 reduces chassis;
Appended drawing reference:
1000 pairs of Worm gear mechanism deformable shock-resistant running parts;
2000 main car bodies;
1 rack;
11 main frame plates;
12 barrel couplers;
2 reclining apparatus;
21 pedestals;
211 pedestals;
Seat under 2111 worm screws;2112 worm gear axle bed mounting holes;
212 top covers;
The 2121 worm screw seats of honour;
213 worm gear axle beds;
2131 bearing end seats;2132 bearings;2133 end caps;
22 pairs of Worm gear mechanisms;
221 worm screws;
222 worm gears;
2221 worm gear shafts;2222 keys;
23 deformation driving assemblies;
231 actuators;232 drive connection parts;
3 weeks Rotating wheel modules;
31 sun gears;
32 rocker arms;
321 first half rocking arms;322 second half rocking arms;
33 planetary gears;
331 planetary gear shafts;
34 damper elements;
35 axle sleeves;
4 walking components;
41 running on wheels components;
411 running on wheels assembly frames;412 vehicle wheel components;413 wheel actuators;
42 crawler-type traveling components;
421 track frames;
422 Athey wheels;
4221 driving Athey wheels;4222 driven Athey wheels;
423 crawler belts;
424 Athey wheel actuators;
5 encoders;
Specific embodiment
The embodiment of the present invention is described below in detail, is exemplary, is only used for by reference to the embodiment that attached drawing describes It explains the present invention, and is not considered as limiting the invention.
Double Worm gear mechanism deformable shock-resistant running parts according to an embodiment of the present invention are described in detail below with reference to Fig. 1 to Figure 15 1000, which can be used for mobile platform, but not limited to this.
It is the structural scheme of mechanism of double Worm gear mechanism deformable shock-resistant running parts according to an embodiment of the present invention as shown in Figure 1, Figure 2, figure 3, Fig. 4 is the structural schematic diagram of double Worm gear mechanism deformable shock-resistant running parts designed by the structural scheme of mechanism according to Fig. 1.From figure In it is found that double Worm gear mechanism deformable shock-resistant running parts according to an embodiment of the present invention, comprising: rack 1, reclining apparatus 2, epicyclic wheel Module 3, walking component 4;Reclining apparatus 2 includes: pedestal 21, and pedestal 21 is connected with rack 1;Double Worm gear mechanisms 22, double worm gears Mechanism 22 includes: worm screw 221, and worm screw 221 is pivotly connected with pedestal 21;Worm gear 222, worm gear 222 are two, two worm gears 222 are symmetrically disposed in 221 two sides of worm screw and engage with worm screw 221, and two worm gears 222 are pivotly connected with pedestal 21; Driving assembly 23 is deformed, deformation driving assembly 23 is connected with worm screw 221 and worm screw 221 is driven to rotate;Cyclic train component 3, week Runner module 3 is two, is arranged symmetrically, and cyclic train component 3 includes: sun gear 31, sun gear 31 be two and Pivotly it is connected with rack 1;Sun gear 31, sun gear 31 be two, two sun gears 31 respectively with two worm gears 222 is coaxial connected, and is pivotly connected with rack 1;Rocker arm 32, rocker arm 32 and sun gear 31 coaxially pivotly phase Even;Planetary gear 33, planetary gear 33 be two, planetary gear 33 is pivotly connected with rocker arm 32, and planetary gear 33 and Sun gear 31 is meshed;Damper element 34, damper element 34 are connected with rack 1 and rocker arm 32 respectively;Walking component 4, walking Component 4 is two, and two walking components 4 are connected with two planetary gears 33 respectively.
According to Fig. 1 and structural scheme of mechanism shown in Fig. 2, when worm screw 221 rotates, two symmetrical snails being engaged with Wheel 222 oppositely rotates at the same speed, since sun gear 31 and worm gear 222 are coaxially connected, so sun gear 31 synchronizes instead To rotation, therefore the planetary gear 33 being engaged with rotates, and drives the generation of walking component 4 being connected with planetary gear 33 It swings to the angle of two walking components 4 of change, realizes the deformation of running part.Further, because double Worm gear mechanisms 22 have There is self-locking performance, can guarantee that two sun gears 31 do not rotate under the action of certain load in this way, since rocker arm 32 is distinguished With sun gear 31 and planetary gear 33 is pivotable is connected, so planetary gear 33 can also make revolution fortune around sun gear 31 It is dynamic.Simultaneously as being equipped with damper element 34 between rack 1 and rocker arm 32, limits planetary gear 33 and exist around sun gear 31 There is the rotation of damping in a certain range, to make the walking component 4 being connected with planetary gear 33 in the impact by power, there is one Fixed elastics wing range makes running part have shock-absorbing function.In Fig. 1, embodiment shown in Fig. 2, the number of teeth of two worm gears 22 Identical as modulus, the number of teeth of four sun gears 31 is identical as modulus, and the number of teeth of four planetary pinion gears 33 is identical as modulus.
The structural schematic diagram of the stereoscopic schematic diagram of reclining apparatus according to figure 6 and pedestal shown in Fig. 7, it is specific and Speech, pedestal 21 include pedestal 211, top cover 212 and worm gear axle bed 213;The bottom of pedestal 211 is equipped with seat 2111 under worm screw, pedestal 211 side is equipped with worm gear axle bed mounting hole 2112;Top cover 212 is equipped with the worm screw seat of honour 2121, and top cover 212 and pedestal 211 are logical Threaded connector connection is crossed, a cabinet is formed;Worm gear axle bed 213 is mounted on worm gear axle bed mounting hole 2112, and worm gear axle bed 213 include bearing end seat 2131, bearing 2132 and end cap 2133;Bearing end seat 2131 is connected through a screw thread part phase with pedestal 21 Even;Bearing 2132 is set in bearing end seat 2131;End cap 2133 is coaxially connected through a screw thread part phase with bearing end seat 2131 Even, and to bearing 2132 axial limiting is carried out.According to Fig. 6, Fig. 7, shown in reclining apparatus 2 double Worm gear mechanisms 22 worm screw 221 are installed under the worm screw of pedestal 21 between seat 2111 and the worm screw seat of honour 2121, and under worm screw 221 and worm screw between seat 2111 and snail Bearing is equipped between bar 221 and the worm screw seat of honour 2121;The worm gear 222 of double Worm gear mechanisms 22 is equipped with worm gear shaft 2221, and worm gear The both ends of axis 2221 are pivotly connected with pedestal 21 and stretch out pedestal 21, outside and sun tooth of the worm gear shaft 2221 in pedestal 21 Wheel 31 is connected.In the present embodiment, the both ends of worm gear shaft 2221 are respectively arranged in two worm gear axle beds 213, and worm gear shaft 2221 Bearing by bearing 2132;Specifically, worm gear shaft 2221 and worm gear 222 pass through key 2222 and are connected to one in the present embodiment It rises, as shown in Figure 5.Through the above technical solution with structure, pedestal 211 of the worm screw 221 of double Worm gear mechanisms 22 by pedestal 21 Limit with top cover 212 moves pivotally, and worm gear 222 is pivoted in the limit for the worm gear axle bed 213 for being mounted on 21 two sides of pedestal Movement;In this way, above structure constitutes the transmission device of a set of double worm gears of single worm screw, the biography of worm screw 221 Yu worm gear 222 ensure that It is dynamic.In the present embodiment, deformation driving assembly 23 includes actuator 231 and drive connection part 232, and actuator 231 passes through driving Connector 232 is fixedly connected with the top cover 212 of pedestal 21, and actuator 231 is connected with worm screw 221 and worm screw 221 is driven to rotate.
According to some embodiments of the present invention, actuator 231 is motor or hydraulic motor, or passes through the motor to slow down, or By the hydraulic motor of deceleration.Fig. 3, embodiment shown in Fig. 4 actuator 231 use through deceleration motor.
Double Worm gear mechanism deformable shock-resistant running parts according to an embodiment of the present invention, worm gear 222 are imperfect tooth worm gear, should The number of teeth of imperfect tooth worm gear only needs to engage with worm screw 221 and reaches two extreme positions, both can guarantee 222 turns of worm gear in this way The size meet demand at angle, and can reduce the weight of worm gear 222, processing cost.
Through the above scheme, when deformation driving assembly 23 drives the worm screw 221 of double Worm gear mechanisms 22 to rotate, two can be driven The worm gear 222 being meshed therewith reversely rotates at the same speed;Since sun gear 31 and worm gear 222 are coaxially connected, so sun tooth The rotation of synchronous backward occurs for wheel 31, therefore the planetary gear 33 being engaged with rotates, what drive was connected with planetary gear The angle for swinging to change walking component 4 occurs for walking component 4, realizes the deformation of running part, because double Worm gear mechanisms 22 have There is self-locking performance, can guarantee that two sun gears 31 do not rotate under the action of certain load in this way.
Double Worm gear mechanism deformable shock-resistant running parts according to some embodiments of the present invention can also include that angle detects mould Block, the angle detection module are encoder 5, and encoder 5 is connected and can detect indirectly with the actuator 231 of deformation driving assembly 23 The corner of worm gear 222 out, the embodiment as shown in Fig. 3, Fig. 4, Fig. 6;According to other some embodiments, encoder 5 and snail Wheel 222, which is coaxially connected, obtains the angle of two walking components 4 to obtain the corner of worm gear 222.
According to some embodiments of the present invention, as shown in Fig. 4, Fig. 8, rack 1 includes: main frame plate 11, and main frame plate 11 is two Block;Barrel coupler 12, two pieces of main frame plates are connected by barrel coupler 12.Cyclic train component 3 is two, is in symmetrical cloth It sets, the sun gear 31 of each cyclic train component 3 is two, and is separately mounted to the both ends of worm gear shaft 2221, and and worm gear Axis 2221 is fixedly connected, such two sun gear 31 and worm gear 222 synchronize rotate coaxially.Rocker arm 32 includes the first half rocking arm 321, the Two half rocking arms 322, the first half rocking arm 321 are connected through a screw thread part with the second half rocking arm 322 and are connected, and form frame structure, rocker arm 32, which adopt a split structure design, is easily installed;One end of rocker arm 32 is sleeved on worm gear shaft 2221, can pivot with sun gear 31 Turn ground to be connected.Planetary gear 33 is two, and planetary gear 33 is pivotly connected with the other end of rocker arm 32, and planetary gear 33 It is meshed with sun gear 31.Damper element 34 is connected with rack 1 and rocker arm 32 respectively.In order to which above-mentioned knot can be clearly seen Structure removes reclining apparatus 2 (remaining worm gear shaft 2221), encoder 5, the main frame plate 11 of side and the side second of running part Half rocking arm 322 etc., as shown in Figure 8.
According to some embodiments of the present invention, as shown in Figure 4, Figure 5, sun gear 31 passes through key 2222 and worm gear shaft 2221 It is connected, specifically, one end of sun gear 31 is withstood on the shaft shoulder of worm gear shaft 2221, one end is withstood on axle sleeve 35, axle sleeve 35 Other end is connected with rocker arm 32, and the other end of rocker arm 32 is connected with rack 1, and nut is connected through a screw thread with worm gear shaft 2221 And be fastened on the other end of rack 1, in this way, sun gear 31 is fixedly connected with worm gear shaft 2221, rocker arm 32 and rack 1 are real It is now pivotally attached to, in this way, worm screw 221 drives two worm gears 222 that worm gear shaft 2221 and sun gear 31 is driven to rotate together.It is each The planetary gear 33 of a cyclic train component 3 is two, is realized pivotably with the two sides of rocker arm 32 by planet wheel spindle 331 respectively Ground is connected, while being meshed respectively with two sun gears 31.331 both ends of planetary gear shaft are equipped with threaded line, and stretch out rocker arm 32 outsides, are connect with 331 both ends of planetary gear shaft using nut and carry out axial limiting.Component 4 of walking is fixed with planetary gear 33 Connection, in Fig. 4, embodiment shown in Fig. 8, planetary gear 33 is integrated with the design of running on wheels assembly frame 411.Each skidding It walks component 4 and is all provided with and be connected with rocker arm 32, rack 1 there are two damper element 34;Make planetary gear 33 around sun tooth in this way Wheel 31 has the rotation of damping in a certain range, so that the walking component 4 being connected with planetary gear 33 is rushed by power When hitting, there is certain elastics wing range, makes running part that there is shock-absorbing function.
According to some embodiments of the present invention, walking component 4 is running on wheels component 41, as shown in Figure 3, Figure 4, wheeled row Walking component 41 includes running on wheels assembly frame 411, and running on wheels assembly frame 411 is connected with planetary gear 33;Vehicle wheel component 412, Vehicle wheel component 412 is connected with running on wheels assembly frame 411;Wheel actuator 413, wheel actuator 413 and 412 phase of vehicle wheel component Even, and vehicle wheel component 412 is driven to rotate.
Fig. 9 is the state diagram that running part angle is in 180 degree, at this point, the length of the running part is maximum, and center of gravity is lower; Figure 10 is state diagram when running on wheels component angle reaches smaller, at this point, the length of the running part is minimum, center of gravity compared with It is high.In other some embodiments, the worm gear 222 of double Worm gear mechanisms 22 is full teeth worm gear, in this way, the wheel of the running part The pivot angle variation range of formula walking component is larger, and in some designs, the running on wheels component of the running part can be in Fig. 9 Shown in position is upward, downward both direction is swung.
Optionally, according to an embodiment of the invention, wheel actuator 413 is that motor, hydraulic motor or process are slowed down Motor or hydraulic motor.Fig. 3, embodiment shown in Fig. 4 wheel actuator 413 use through deceleration motor.
Other embodiments according to the present invention, walking component 4 can also be crawler-type traveling component 42.As Figure 11, Figure 12, In embodiment shown in Figure 13, crawler-type traveling component 42 includes: track frame 421, and track frame 421 is connected with planetary gear 33; Athey wheel 422, Athey wheel 422 are connected with track frame 421, and Athey wheel 422 includes driving Athey wheel 4221 and driven Athey wheel 4222;Crawler belt 423,423 envelope of crawler belt are meshed outside Athey wheel 422, and with driving Athey wheel 4221;Athey wheel actuator 424, Athey wheel actuator 424 is connected with driving Athey wheel 4221, and driving Athey wheel 4221 is driven to rotate.Figure 11, Figure 12, figure In embodiment shown in 13, flexible element is used between Athey wheel actuator 424 and driving Athey wheel 4221 and is driven, specifically, institute It states flexible element transmission and uses chain drive, toothed belt transmission can also be used in the flexible element transmission.In some other embodiment In, it can also be using coaxial be connected transmission or gear drive between Athey wheel actuator 424 and driving Athey wheel 4221.
Figure 12, Figure 13, which are crawler-type traveling components, is in the state diagram under different angles in two track units, Tu12Zhong, The ground contact length of crawler-type traveling component of the invention is big, convenient for being carried out at this time by soft landform convenient for passing through the landform such as channel Belt walking component center of gravity is low, also can get preferable stability;In Figure 13, the ground connection of crawler-type traveling component of the invention is long Degree is smaller, and convenient for turning to, center of gravity is higher at this time.
It is more according to the present invention as shown in Figure 14, Figure 15, Figure 16 the invention also provides a kind of firefighting movable platform Embodiment, firefighting movable platform of the invention include main car body 2000;Double Worm gear mechanism deformable shock-resistant running parts 1000, running part 1000 be two, and is respectively provided at 2000 two sides of main car body and is connected with main car body 2000.Figure 14 illustrates a kind of crawler type and disappears Anti-moving moving platform, Figure 15, Figure 16 illustrate a kind of wheeled firefighting movable platform.
Since firefighting movable platform is equipped with double Worm gear mechanism deformable shock-resistant running parts 1000, when running part 1000 is driving When reversed synchronized variation occurs for angle under the driving of part 231, the length of wagon of firefighting movable platform changes accordingly, disappears simultaneously The chassis height of anti-moving moving platform also changes, in this way, the chassis height and length of wagon of firefighting movable platform be it is adjustable, When firefighting movable platform encounters barrier obstacle detouring can be carried out by adjusting chassis height;When firefighting movable platform on the slope When mobile, reducing chassis height can be improved the stability of mobile platform, topple to avoid platform.Therefore, double Worm gear mechanisms are equipped with The firefighting movable platform of deformable shock-resistant running part 1000 has better terrain trafficability, stability and adaptability.
As shown in Figure 15, Figure 16, Figure 15 is that the firefighting movable platform of double Worm gear mechanism deformable shock-resistant running parts 1000 passes through The state diagram of chassis height is promoted when compared with high obstacle, Figure 16 is that there is the firefighting movable platform of running on wheels component to reduce chassis height Degree is compared by Figure 15, Figure 16 with improving the state diagram of the stability of firefighting movable platform as can be seen that double Worm gear mechanisms deform and subtract The firefighting movable platform for shaking running part 1000 can adapt to the road surface with the obstacle that is uneven by adjusting the height on chassis.
In addition, having through the mobile platform of the running part 1000 of double Worm gear mechanism deformations in addition to for designing fire-fighting machine Outside people, the robot and other mobile devices of design other field can be also used for.
Although an embodiment of the present invention has been shown and described, those skilled in the art can be to these implementations Example carries out a variety of change, modification, replacement and modification, and the scope of the present invention is defined by the claims and their equivalents.

Claims (7)

1. a kind of double Worm gear mechanism deformable shock-resistant running parts characterized by comprising
Rack;
Reclining apparatus, the reclining apparatus include:
Pedestal, the pedestal are connected with the rack;
Double Worm gear mechanisms, double Worm gear mechanisms include:
Worm screw, the worm screw are pivotly connected with the pedestal;
Worm gear, the worm gear are two, are located at the worm screw two sides and engage with the worm screw to two worm wheel symmetricals, Two worm gears are pivotly connected with the pedestal;
Driving assembly is deformed, the deformation driving assembly is connected with the worm screw and the worm screw is driven to rotate;
Cyclic train component, the cyclic train component are two, are arranged symmetrically, the cyclic train component includes:
Sun gear, the sun gear are two, and two sun gears are coaxially connected with two worm gears respectively, and Pivotly it is connected with the rack;
Rocker arm, the rocker arm are coaxially pivotly connected with the sun gear;
Planetary gear, the planetary gear are two, and the planetary gear is pivotly connected with the rocker arm, and the planet Gear is meshed with the sun gear;
Damper element, the damper element are connected with the rack and the rocker arm respectively;
Walking component, the walking component are two, and two walking components are connected with two planetary gears respectively;
Further include: angle detection module, the angle detection module is connected with the deformation driving assembly to be turned to detect worm gear Angle;The angle detection module is encoder;
The damper element is spring damper, and the spring damper both ends are mutually cut with scissors with the rack and the rocker arm respectively It connects;The walking component is running on wheels component, and the running on wheels component includes:
Running on wheels assembly frame, the running on wheels assembly frame are connected with the planetary gear;
Vehicle wheel component, the vehicle wheel component are connected with the running on wheels assembly frame;
Wheel actuator, the wheel actuator are connected with the vehicle wheel component, and the vehicle wheel component is driven to rotate.
2. double Worm gear mechanism deformable shock-resistant running parts according to claim 1, which is characterized in that the walking component is to carry out Belt walking component, the crawler-type traveling component include:
Track frame, the track frame are connected with the planetary gear;
Athey wheel, the Athey wheel are connected with the track frame, and the Athey wheel includes driving Athey wheel and driven Athey wheel;
Crawler belt, the crawler belt envelope are meshed outside the Athey wheel, and with the driving Athey wheel;
Athey wheel actuator, the Athey wheel actuator are connected with the driving Athey wheel, and the driving crawler belt is driven to rotate It is dynamic.
3. double Worm gear mechanism deformable shock-resistant running parts according to claim 1, which is characterized in that the worm gear is equipped with snail Wheel shaft, and the both ends of the worm gear shaft are pivotly connected with the pedestal and stretch out the pedestal, the worm gear shaft is described The outside of pedestal is connected with the sun gear.
4. double Worm gear mechanism deformable shock-resistant running parts according to claim 3, which is characterized in that the worm screw and the base It is equipped with bearing between seat, bearing is equipped between the both ends of the worm gear shaft and the pedestal.
5. double Worm gear mechanism deformable shock-resistant running parts according to claim 3, which is characterized in that the worm gear and the snail Wheel shaft is fixedly connected, and the worm gear is imperfect tooth worm gear.
6. double Worm gear mechanism deformable shock-resistant running parts according to claim 1, which is characterized in that the deformation driving group Part includes actuator, and the actuator is motor or hydraulic motor.
7. a kind of firefighting movable platform characterized by comprising
Main car body;
Two double Worm gear mechanism deformable shock-resistant running parts of any of claims 1-6, and double Worm gear mechanisms become The rack of shape damping running part is connected with the two sides of the main car body respectively.
CN201610675370.4A 2016-08-16 2016-08-16 Double Worm gear mechanism deformable shock-resistant running parts and firefighting movable platform with it Active CN106184469B (en)

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CN107953937B (en) * 2017-12-01 2020-02-11 北京履坦科技有限公司 Improved structure of walking system of walking combined type mobile robot
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