CN106342046B - A kind of rocking arm crawler travelling device - Google Patents
A kind of rocking arm crawler travelling deviceInfo
- Publication number
- CN106342046B CN106342046B CN200710081781.1A CN200710081781A CN106342046B CN 106342046 B CN106342046 B CN 106342046B CN 200710081781 A CN200710081781 A CN 200710081781A CN 106342046 B CN106342046 B CN 106342046B
- Authority
- CN
- China
- Prior art keywords
- rocking arm
- track assembly
- arm track
- support axle
- bevel type
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
The present invention provides a kind of rocking arm crawler travelling device that robot manipulating task uses that offers in security appliance field, this device has full landform adaptive capacity, by car body, tool seat, wireless remotely-controlled transceiver, straighforward operation terminal, right front rocking arm track assembly, right master rocker, battery pack, left master rocker, control cabinet, right support axle, left support axle, differential case, right back rocking arm track assembly, left back rocking arm track assembly, left front rocking arm track assembly composition, its advantage is that carrier remains 2 supports, carry out balance by differential attachment, can make four crawler belts all contact with ground in any situation, drive and ensured robot driving force completely by motor, also increased the security of mobile device.
Description
Technical field
The present invention relates to safety means technical field, be specifically related to one and offer robot manipulating taskThe rocking arm crawler travelling device using.
Background technology
At present, along with scientific and technical development, for fear of a large amount of casualties, various dangerDanger Work robot arises at the historic moment as danger removal robot, fire-fighting robot etc. Higher in order to haveManeuverability, be generally that dangerous school assignment robot is fixed on movable carrier, pass throughThe motion all around of mobile vehicle makes robot in hazardous area, complete the operation of various necessity.Robot mobile vehicle of a great variety, generally for example all adopts main running part: wheel,Crawler belts etc. are directly connected with rigidity of vehicle body. Because car body itself is rigid body, make so whole movingThe motion flexibility of mobile carrier is poor; In the time that mobile vehicle moves on scraggly ground or moreWhen barrier, usually there will be the liftoff phenomenon of the main running part of part, greatly reduce driving of mobile vehicleKinetic force even can cause mobile vehicle to topple under particular surroundings.
Summary of the invention
The object of the invention is, in order to overcome prior art Shortcomings, provides a kind of rocking arm to carry outBelt mobile device. Carrier assembly is grasped by car body, tool seat, wireless remote control transceiver, remote controlDo terminal, right front rocking arm track assembly, right master rocker, battery pack, left master rocker, control cabinet,Right support axle, left support axle, differential case, right back rocking arm track assembly, left back rocking arm are carried outBand assembly, left front rocking arm track assembly composition. Car body end face erecting tools seat, wireless remote control are receivedHair device; In car body, be provided with battery pack, control cabinet, differential case; Right front rocking arm track assembly,Right back rocking arm track assembly is arranged on respectively the two ends of right master rocker by bearing; Left front rocking arm is carried outBe arranged on respectively the two ends of left master rocker by bearing with assembly, left back rocking arm track assembly; RightBack shaft, left support axle are connected in respectively on right master rocker, left master rocker; Right support axle passes throughBearing is stretched in differential case through car body right side wall, and left support axle passes car by bearingBody left side wall is stretched in differential case; Whole car body by bearings at right support axle andOn left support axle, carry out balance by differential case.
Described right front rocking arm track assembly is carried out by driven Athey wheel, crawler belt, auxiliary rocking arm, activeBelt wheel, motor reducer group composition. Driven Athey wheel is connected to one end of auxiliary rocking arm by bearing,Motor reducer group is fixed on the other end of auxiliary rocking arm, and initiatively Athey wheel is connected to motor by keyOn the output shaft of decelerator group, driven Athey wheel, active Athey wheel are connected by crawler belt. RightIn rear arm track assembly, left back rocking arm track assembly, left front rocking arm track assembly, all comprise withThe identical parts of right front rocking arm track assembly, and there is the company identical with right front rocking arm track assemblyConnect, the kind of drive.
Described differential case is by right main bevel type differential gear, 2 auxiliary bevel type differential gears, left masterBevel type differential gear, gear housing composition. Gear housing is fixedly connected with casing, and right support axle is logicalCrossing bearing becomes the turning cylinder of right main bevel type differential gear, left support axle through gear housing right side wallPassing gear housing left side wall by bearing becomes the turning cylinder of left main bevel type differential gear, and 2 auxiliaryBevel type differential gear carries out the flank of tooth with right main bevel type differential gear, left main bevel type differential gear respectively and nibbles simultaneouslyClose, the power transmission shaft of 2 auxiliary bevel type differential gears is arranged in the bearing of differential case.
Described control cabinet inside is provided with 1 processor and 4 drivers. Processor is logicalCross holding wire and be connected with wireless remote control transceiver, simultaneous processor is by computer bus and 4Driver is connected, and 4 drivers are respectively by holding wire and right front rocking arm track assembly, right backDecelerating through motor in rocking arm track assembly, left back rocking arm track assembly, left front rocking arm track assemblyDevice group is connected, and wireless remote control transceiver, processor, driver, motor reducer group are all passed throughPower line is connected with battery pack, by battery-powered.
Structure of the present invention has full landform adaptive capacity, and its advantage is that carrier remains 2Support, carrys out balance by differential attachment, can make four crawler belts all contact with ground in any situation,Drive and ensured robot driving force completely by motor, also increased the safety of mobile vehicleProperty.
Brief description of the drawings
Fig. 1 a is rocking arm crawler-type mobile carrier schematic diagram
Fig. 1 b is rocking arm crawler-type mobile carrier schematic top plan view
Fig. 2 is rocking arm crawler-type mobile carrier differential case schematic diagram
Fig. 3 is rocking arm crawler-type mobile carrier control cabinet schematic diagram
Detailed description of the invention
As shown in the figure, the present invention is by car body 1, tool seat 2, wireless remote control transceiver 3, remote controlOperating terminal 4, right front rocking arm track assembly 5, right master rocker 11, battery pack 13, Zuo ZhuyaoArm 16, control cabinet 17, right support axle 21, left support axle 22, differential case 23, the right side26 groups of rear arm track assemblies 24, left back rocking arm track assembly 25, left front rocking arm track assemblyBecome. Car body 1 end face erecting tools seat 2, wireless remote control transceiver 3; In car body 1, be provided with electricityPond group 13, control cabinet 17, differential case 23; Right front rocking arm track assembly 5, right back shakingArm track assembly 24 is arranged on respectively the two ends of right master rocker 11 by bearing; Left front rocking arm is carried outBand assembly 26, left back rocking arm track assembly 25 are arranged on left master rocker 16 by bearing respectivelyTwo ends; Right support axle 21, left support axle 22 are connected in respectively right master rocker 11, Zuo ZhuyaoOn arm 16; Right support axle 21 passes car body 1 right side wall by bearing and is stretched over differential caseIn 23, left support axle 22 passes car body 1 left side wall by bearing and is stretched over differential case 23In; Whole car body 1 by bearings on right support axle 21 and left support axle 22, by poorMoving gear case 23 carrys out balance.
Right front rocking arm track assembly 5 by driven Athey wheel 6, crawler belt 7, auxiliary rocking arm 8, initiativelyAthey wheel 9, motor reducer group 10 form. Driven Athey wheel 6 is connected to auxiliary by bearingOne end of rocking arm 8, motor reducer group 10 is fixed on the other end of auxiliary rocking arm 8, initiatively carries outBelt wheel 9 is connected to by key on the output shaft of motor reducer group 10, driven Athey wheel 6,Initiatively Athey wheel 9 is connected by crawler belt 7. Right back rocking arm track assembly 24, left back rocking armIn track assembly 25, left front rocking arm track assembly 26, all comprise and right front rocking arm track assembly 5Identical parts, and there is connection, the kind of drive identical with right front rocking arm track assembly 5.
Differential case 23 is by 12,2 auxiliary bevel type differential gears 14 of right main bevel type differential gear, a left sideMain bevel type differential gear 15, gear housing 18 form. Gear housing 18 connects with casing 1 is fixingConnect, right support axle 21 passes gear housing 18 right side walls by bearing becomes the differential cone tooth of right masterThe turning cylinder of wheel 12, left support axle 22 passes gear housing 18 left side walls by bearing to be becomeThe turning cylinder of left main bevel type differential gear 15,2 auxiliary bevel type differential gear 14 whiles and right master respectivelyBevel type differential gear 12, left main bevel type differential gear 15 carry out flank engagement, 2 auxiliary differential cone teethThe power transmission shaft of wheel 14 is arranged in the bearing of differential case 23.
Control cabinet 17 inside are provided with 19 and 4 drivers 20 of 1 processor. Processor19 are connected with wireless remote control transceiver 3 by holding wire, and simultaneous processor 19 passes through computerBus is connected with 4 drivers 20, and 4 drivers 20 are respectively by holding wire and right front shakingArm track assembly 5, right back rocking arm track assembly 24, left back rocking arm track assembly 25, left frontMotor reducer group in rocking arm track assembly 26 10 is connected, and wireless remote control transceiver 3, locatesReason device 19, driver 20, motor reducer group 10 are all by power line and battery pack 13 phasesConnect, powered by battery pack 13.
Straighforward operation terminal 4 is positioned at the safety area outside mobile vehicle, when wireless remote control transmitting-receivingDevice 3 receives after the instruction of straighforward operation terminal 4, and signal arrives control cabinet through wire transmissionProcessor 19 in 17 carries out information processing, and control signal after treatment is passed through respectively driverThe 20 motor reducer groups 10 of controlling in each rocking arm crawler belt group are moved. With right front rocking arm crawler beltAssembly 5 is example, the rotation of motor reducer group 10, and its output shaft must drive initiatively crawler beltWheel 9 rotates, and initiatively Athey wheel 9 drives driven Athey wheel 6 another around auxiliary rocking arm 8 by crawler belt 7One end axial rotation. Be arranged on 4 rocking arm track assemblies at master rocker two ends, left and right by controlVelocity of rotation, can realize the actions such as mobile vehicle advances, retreats, turning.
In the time that mobile device travels in rugged plane, must cause 4 rocking arm crawler beltsAssembly, in different height, makes right master rocker 11 and left master rocker 16 produce relative rotation,Under the transmission of right support axle 21 and left support axle 22, right bevel gear 12 and left angular wheel15 relatively rotate, and make gear housing 18 produce one turn by 2 auxiliary bevel type differential gears 14Angle, is the corner of car body 1. Visible mobile vehicle is by right support axle 21 and left support axle2 supports of 22 and the coordination of differential case 23, make car body 1 turn certain angle, and make4 rocking arm track assemblies can both contact with rugged plane.
The various information of mobile device body and surrounding environment are by the processor 19 in control cabinet 17Collect and process, feed back to distant manipulation by wireless remote control transceiver 3 and make terminal 4, make operationMember understands mobile vehicle state and ambient condition information in time, and then guarantees that operator can be accurateThe safe action of errorless manipulation mobile vehicle.
In the time that installation in tool seat 2 can be got rid of the manipulator of explosive, system can be used as oneExplosive-removal robot uses; In the time a Fire branch being installed in tool seat 2, system can be used as oneIndividual fire-fighting robot uses. In the time a removal of mines device being installed in tool seat 2, system can be used asA removal of mines robot uses.
Claims (6)
1. a rocking arm crawler travelling device, by car body (1), tool seat (2), wirelessRemote control transceiver (3), straighforward operation terminal (4), right front rocking arm track assembly (5), right masterRocking arm (11), battery pack (13), left master rocker (16), control cabinet (17), right support axle(21), left support axle (22), differential case (23), right back rocking arm track assembly (24),Left back rocking arm track assembly (25), left front rocking arm track assembly (26) composition; Its feature existsIn, car body (1) end face erecting tools seat (2), wireless remote control transceiver (3), establish insideThere are battery pack (13), control cabinet (17), differential case (23); Right front rocking arm crawler belt groupPart (5), right back rocking arm track assembly (24) are arranged on right master rocker (11) by bearing respectivelyTwo ends; Left front rocking arm track assembly (26), left back rocking arm track assembly (25) are logical respectivelyCross the two ends that bearing is arranged on left master rocker (16); Right support axle (21), left support axle (22)Be connected in respectively on right master rocker (11), left master rocker (16); Right support axle (21) is logicalCross bearing and be stretched in differential case (23) through car body (1) right side wall, left support axle(22) passing car body (1) left side wall by bearing is stretched in differential case (23).
2. a kind of rocking arm crawler travelling device according to claim 1, its feature existsIn, right front rocking arm track assembly (5) is by driven Athey wheel (6), crawler belt (7), auxiliary rocking arm(8), initiatively Athey wheel (9), motor reducer group (10) form, driven Athey wheel (6)Be connected to one end of auxiliary rocking arm (8) by bearing, motor reducer group (10) is fixed on auxiliaryThe other end of rocking arm (8), initiatively Athey wheel (9) is connected to motor reducer group (10) by keyOutput shaft on, driven Athey wheel (6), initiatively Athey wheel (9) is connected by crawler belt (7)Connect.
3. a kind of rocking arm crawler travelling device according to claim 1 and 2, its spyLevy and be, right back rocking arm track assembly (24), left back rocking arm track assembly (25), left front shakingIn arm track assembly (26), comprise the parts identical with right front rocking arm track assembly (5), andThere is connection, the kind of drive identical with right front rocking arm track assembly (5).
4. a kind of rocking arm crawler travelling device according to claim 1, its feature existsIn, differential case (23) is by right main bevel type differential gear (12), 2 auxiliary bevel type differential gears(14), left main bevel type differential gear (15), gear housing (18) composition, gear housing (18)Be fixedly connected with casing (1), right support axle (21) passes gear housing (18) by bearingRight side wall becomes the turning cylinder of right main bevel type differential gear (12), and left support axle (22) passes through axleHold the turning cylinder that becomes left main bevel type differential gear (15) through gear housing (18) left side wall,2 auxiliary bevel type differential gears (14) are while and right main bevel type differential gear (12), left main poor respectivelyDynamic bevel gear (15) carries out flank engagement, the power transmission shaft peace of 2 auxiliary bevel type differential gears (14)Be contained in the bearing of differential case (23).
5. a kind of rocking arm crawler travelling device according to claim 1, its feature existsIn, signal processor (19) is connected with wireless remote control transceiver (3), simultaneously by calculatingMachine bus is connected with 4 drivers (20), is powered by battery pack (13).
6. a kind of rocking arm crawler travelling device according to claim 1 or 5, its spyLevy and be, 4 drivers (20) respectively by holding wire and right front rocking arm track assembly (5),Right back rocking arm track assembly (24), left back rocking arm track assembly (25), left front rocking arm crawler belt groupMotor reducer group (10) in part (26) is connected, and is powered by battery pack (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710081781.1A CN106342046B (en) | 2007-07-13 | 2007-07-13 | A kind of rocking arm crawler travelling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710081781.1A CN106342046B (en) | 2007-07-13 | 2007-07-13 | A kind of rocking arm crawler travelling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106342046B true CN106342046B (en) | 2012-03-14 |
Family
ID=57797791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200710081781.1A Expired - Fee Related CN106342046B (en) | 2007-07-13 | 2007-07-13 | A kind of rocking arm crawler travelling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106342046B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109122644A (en) * | 2018-10-30 | 2019-01-04 | 四川农业大学 | A kind of greenhouse automatic job plant protection robot |
| CN110154059A (en) * | 2019-06-21 | 2019-08-23 | 浙江神汽电子商务有限公司 | A kind of intelligent sound robot |
-
2007
- 2007-07-13 CN CN200710081781.1A patent/CN106342046B/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109122644A (en) * | 2018-10-30 | 2019-01-04 | 四川农业大学 | A kind of greenhouse automatic job plant protection robot |
| CN109122644B (en) * | 2018-10-30 | 2024-04-05 | 四川农业大学 | Automatic operation plant protection robot for greenhouse |
| CN110154059A (en) * | 2019-06-21 | 2019-08-23 | 浙江神汽电子商务有限公司 | A kind of intelligent sound robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR03 | Grant of secret patent right | ||
| DC01 | Secret patent status has been lifted | ||
| DCSP | Declassification of secret patent | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120314 Termination date: 20210713 |