CN106314579A - Robot with triangular crawler wheels - Google Patents

Robot with triangular crawler wheels Download PDF

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Publication number
CN106314579A
CN106314579A CN201610718648.1A CN201610718648A CN106314579A CN 106314579 A CN106314579 A CN 106314579A CN 201610718648 A CN201610718648 A CN 201610718648A CN 106314579 A CN106314579 A CN 106314579A
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CN
China
Prior art keywords
gear
drive mechanism
drive
drives
triangle
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Pending
Application number
CN201610718648.1A
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Chinese (zh)
Inventor
李玉婷
Original Assignee
李玉婷
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Application filed by 李玉婷 filed Critical 李玉婷
Priority to CN201610718648.1A priority Critical patent/CN106314579A/en
Publication of CN106314579A publication Critical patent/CN106314579A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/06Endless track vehicles with tracks without ground wheels
    • B62D55/065Multi-track vehicles, i.e. more than two tracks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/08Endless track units; Parts thereof

Abstract

The invention discloses a robot with triangular crawler wheels. The robot comprises a main body and four triangular crawler wheels arranged on the main body, wherein a first motor is arranged in the main body; a first gear and a second gear which are concentric are arranged on a first rotary shaft of the first motor; the first gear drives a first triangular crawler wheel through a first drive mechanism; the second gear drives a second triangular crawler wheel through a second drive mechanism; the first drive mechanism drives a third drive mechanism through a first joint shaft; the second drive mechanism drives a fourth drive mechanism through a second joint shaft. The four triangular crawler wheels can be driven simultaneously through one motor, and the robot is exquisite in structure, ingenious in design, high in practicability, and suitable for climbing and crossing over obstacles.

Description

A kind of triangle Athey wheel robot
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 first motor, the first rotation of described first motor Axle is provided with the first gear and second gear of concentric, and described first gear drives the first triangle to carry out by the first drive mechanism Belt wheel, described two gears drive the second triangle Athey wheel by the second drive mechanism, and described first drive mechanism passes through first Moving axis drives the 3rd drive mechanism, described 3rd drive mechanism to drive the 3rd triangle Athey wheel, and described second drive mechanism is passed through Second universal driving shaft drives the 4th drive mechanism, described 4th drive mechanism to drive the 4th triangle Athey wheel.
Further, described first drive mechanism includes the first driven gear being connected with the first tooth belt.
Further, described first drive mechanism also includes fixing the first driving being connected with the first driven gear center Axle, described first drive shaft outer end snaps in the first triangle Athey wheel center, and described first drive shaft is provided with the first driving gear, Described first drive gear teeth wheel connects the first transfer gear, and described first transfer gear centre connects the first universal driving shaft.
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 drives gear, the first transfer gear to be arranged in the first framework, and described first driven gear sets Putting outer in the first framework and fixing with the first drive shaft end connection, described first universal driving shaft passes described first framework and first Transfer gear centre is fixing to be connected.
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 first drive shaft is rotationally connected by two sides of bearing and the first framework.
Due to the fact that the first gear and second gear of the concentric that the first rotary shaft by the first motor is provided with Drive the first drive mechanism and the second drive mechanism, then drive the 3rd driving machine through the first drive mechanism by the first universal driving shaft Structure, then drive the 4th drive mechanism through the second drive mechanism by the second universal driving shaft, only need a motor just can simultaneously drive four Individual triangle Athey wheel, fine structure, design ingenious, practical, it is suitable for climbing, crosses obstacle.
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
In describing the invention, it is to be understood that term " " center ", " laterally ", " on ", D score, "left", "right", The orientation of the instruction such as " vertically ", " level ", " top ", " end ", " interior ", " outward " or position relationship be based on orientation shown in the drawings or Position relationship, is for only for ease of the description present invention and simplifies description rather than instruction or imply that the device of indication or element must Must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.Additionally, art Language " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance or implicit indicate institute The quantity of the technical characteristic of instruction.Thus, define " first ", the feature of " second " can express or implicitly include one Or more this feature.In describing the invention, except as otherwise noted, " multiple " are meant that two or more. It addition, term " includes " and any deformation, it is intended that cover non-exclusive comprising.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " is installed ", " phase Even ", " connection " should be interpreted broadly, for example, it may be fixing connection, it is also possible to be to removably connect, or be integrally connected;Can To be mechanical connection, it is also possible to be electrical connection;Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi The connection of two element internals.For the ordinary skill in the art, can understand that above-mentioned term is at this with concrete condition Concrete meaning in 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 driven pulley 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 are connected by belt drives, the driven pulley groove of described first driven pulley 22 Being provided with drive groove 224 in the middle of 221, described belt is arranged in drive groove 224.Convenient driving triangle Athey wheel 2.
Described driving wheel 21 surface is provided with radially raised line, and drive groove 224 surface 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, as Stair climbing, pass by roughness pavement.
Described main body 1 is provided with image mechanism 3.Image data can be obtained, then check to user, it is adaptable to compare danger The place of danger, 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 (8)

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 first motor in described main body, the first rotary shaft of described first motor is provided with the first gear and second tooth of concentric Wheel, described first gear drives the first triangle Athey wheel by the first drive mechanism, and described two gears pass through the second drive mechanism Driving the second triangle Athey wheel, described first drive mechanism drives the 3rd drive mechanism by the first universal driving shaft, and the described 3rd drives Motivation structure drives the 3rd triangle Athey wheel, and described second drive mechanism drives the 4th drive mechanism by the second universal driving shaft, described 4th drive mechanism drives the 4th triangle 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 The first driven gear being connected with the first tooth belt.
A kind of triangle the most according to claim 1 Athey wheel robot, it is characterised in that described first drive mechanism is also wrapped Including and fix the first drive shaft being connected with the first driven gear center, described first drive shaft outer end snaps in the first triangle Athey wheel Center, described first drive shaft is provided with the first driving gear, and described first drive gear teeth wheel connects the first transfer gear, institute State the first transfer gear centre and connect the first universal driving shaft.
A kind of triangle the most according to claim 3 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 drives gear, the first transfer Gear is arranged in the first framework, and it is outer and fixing with the first drive shaft end even that described first driven gear is arranged on the first framework Connecing, described first universal driving shaft is connected through described first framework and the first transfer gear centre are fixing.
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 4 Athey wheel robot, it is characterised in that described first drive shaft passes through axle Hold two sides with the first framework to be rotationally connected.
CN201610718648.1A 2016-08-24 2016-08-24 Robot with triangular crawler wheels Pending CN106314579A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018035750A1 (en) * 2016-08-24 2018-03-01 李玉婷 Robot having triangular crawler wheels
WO2018035743A1 (en) * 2016-08-24 2018-03-01 李玉婷 Triangular track-and-wheel robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018035750A1 (en) * 2016-08-24 2018-03-01 李玉婷 Robot having triangular crawler wheels
WO2018035743A1 (en) * 2016-08-24 2018-03-01 李玉婷 Triangular track-and-wheel robot

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Application publication date: 20170111