CN106515898A - Flame-proof type obstacle-crossing robot - Google Patents
Flame-proof type obstacle-crossing robot Download PDFInfo
- Publication number
- CN106515898A CN106515898A CN201510585880.8A CN201510585880A CN106515898A CN 106515898 A CN106515898 A CN 106515898A CN 201510585880 A CN201510585880 A CN 201510585880A CN 106515898 A CN106515898 A CN 106515898A
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- car body
- flame
- wheel
- trident
- gear
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Abstract
The invention relates to an obstacle-crossing robot, specifically a flame-proof type obstacle-crossing robot. An optical fiber and a sensor are respectively mounted on a control system flame-proof vehicle body; at least one group of trifurcate wheel walking mechanisms are respectively mounted on the flame-proof vehicle body; the two trifurcate wheel walking mechanisms in each group are symmetrically mounted on the two sides of the flame-proof vehicle body; the trifurcate wheel walking mechanisms comprise motors, speed reducers, input shafts, trifurcate gear transmission cases and loading rollers; the motors are connected with one ends of the input shafts through the speed reducers; the other ends of the input shafts are rotationally connected with the trifurcate gear transmission cases; one parts, positioned in the trifurcate gear transmission cases, of the input shafts are linked with sun gears; a plurality of idle gears are uniformly distributed on the periphery of the sun gears in a circumferential direction; gearbox output shafts, which are as same as the loading rollers in number, are uniformly distributed on the peripheries of the idle gears in the circumferential direction; and one end of each gearbox output shaft is linked with a planet gear, and the other end of each gearbox output shaft goes through the case body to be linked with the loading roller. The invention has the advantages of standard flame-proof form, good obstacle-crossing effect, great power and the like.
Description
Technical field
The present invention relates to barrier-surpassing robot, specifically a kind of flame-proof type barrier-surpassing robot, fit
For the detection in calamity after-explosion gaseous environment hazardous area.
Background technology
Currently, it is various because the explosion accident that fire, gas leakage cause happens occasionally.For example it is each
Plant mine safety accidents, residential building gas explosion accident, on August 12nd, 1
The special fire disaster explosion accident that Tianjin Rui Hai companies hazardous chemical warehouse occurs, causes
Serious life and property loss and severe social influence.As disaster field is in confused situation, rescue
The subsequent explosion for helping process initiation happens occasionally, and causes generation rescue personnel wrecked in speedily carrying out rescue work
Situation.If the automation equipment using alternative people before rescue gos deep into disaster scene, with regard to energy
Implement high efficiency rescue on the premise of rescue personnel's safety is guaranteed, reduce personnel to greatest extent
And property loss.Therefore develop the high obstacle climbing ability robot of flame-proof type and there is very big necessity.
The content of the invention
Go deep into the demand detected by disaster scene to meet automation equipment replacement people, this
Bright purpose is to provide a kind of flame-proof type barrier-surpassing robot.
The purpose of the present invention is achieved through the following technical solutions：
The present invention includes optical fiber cabin, trident wheel walking mechanism, sensor and the control being hinged
System flame proof car body, energy resource system flame proof car body, wherein optical fiber cabin and sensor are separately mounted to
Control system on control system flame proof car body, in the sensor and control system flame proof car body
It is connected, detectable signal is by the optical fiber output in the optical fiber cabin；The control system flame proof car
Least one set trident wheel walking mechanism is separately installed with body and energy resource system flame proof car body, per group
Two trident wheel walking mechanisms be symmetrically arranged on control system flame proof car body or energy resource system every
The both sides of quick-fried car body；The trident wheel walking mechanism include motor, decelerator, input shaft, three
Fork-shaped gear and BOGEY WHEEL, the motor and decelerator are separately mounted to control system flame proof
Inside and outside car body or energy resource system flame proof car body, the motor passes through decelerator and input shaft
One end be connected, the other end of the input shaft is connected with the rotation of trident gear；It is described
The part that input shaft is located in trident gear interlocks sun gear, outside the sun gear
Enclose and be along the circumferential direction evenly equipped with multiple idle pulleys being rotationally connected with casing, and in each idle pulley
Periphery is along the circumferential direction evenly equipped with and BOGEY WHEEL quantity identical gearbox output shaft, described in each
Gearbox output shaft is rotationally connected with casing respectively, and one end interlocks a planetary gear, the other end by
The casing is passed, and gearing has a BOGEY WHEEL, the input shaft by sun gear, idle pulley and
Planetary gear is engaged successively, drives each BOGEY WHEEL to rotate.
Wherein：In the other end insertion casing of the input shaft, and pass through bearing and body pivot
Connection, the sun gear are bonded with the input shaft；Each described idle pulley is set in one admittedly
On dead axle, each fixing axle is fixed on the casing, and the idle pulley passes through bearing and fixation
Axle rotates connection；Each gear output shaft is connected with body pivot by bearing, the planet
Wheel and BOGEY WHEEL are bonded with the gear output shaft respectively；The input shaft, each fixing axle
And the longitudinal center line of each gearbox output shaft is parallel to each other；
The BOGEY WHEEL is three, and the line between three BOGEY WHEEL centers of circle is equilateral triangle,
Two of which BOGEY WHEEL is located at lower section, and another BOGEY WHEEL is above；When the trident tooth
When the input and output speed reducing ratio of wheel transmission case is less than 1, each BOGEY WHEEL is met after hindering around described defeated
Enter axle revolution；The rear and front end of the control system flame proof car body is respectively provided with one group of trident wheel row
Mechanism is walked, front end and the control system flame proof car body of the energy resource system flame proof car body are hinged, after
End is provided with one group of trident wheel walking mechanism；The reducer output shaft of the decelerator passes through shaft coupling
Device is connected with one end of input shaft.
Advantages of the present invention with good effect is：
1. flame proof formal Specification.The design of flame proof car body of the present invention is according to current various flame proof marks
In standard, the requirement of most harsh strict colliery electrical installation explosion-proof criteria is carried out, as colliery is used
The explosion-proof criteria of energy resource system is complicated compared with ordinary appliances, and energy resource system is separated with control system
Come, the flame proof car body being hinged using two sections realizes each independent flame proof form.
2. walking mechanism is using trident wheel walking travel mechanism.The trident wheel walking of the present invention is moved
Motivation structure is three groups, left and right is each three, is arranged symmetrically, and this trident wheel walking mechanism can be real
Automatic revolution after existing active self-rotating, chance obstacle, can adapt to intricately effectively across obstacle-overpass
Shape ability is strong.
3. power is big.Due to the highest electricity of the mining lithium battery that used by coal mine explosion-proof standard
Press as 48V, limited by voltage, so high-tension high-power motor cannot be adopted；The present invention
Using multiple trident wheel walking mechanisms, one walking mechanism of every group of Motor drive.So as to improve
The general power of robot；Same speed is realized moving forward and backward, and differential is realized turning.
4. car body of the present invention takes the design form of flame proof, while with property that is dust-proof, paddling
Energy.
5. the present invention is arranged on the decelerator in trident wheel walking mechanism outside flame proof car body,
And motor is then arranged on flame proof vehicle body, such flame proof vehicle body is only limitted to install electrical equipment unit
Device, purely mechanic drive mechanism are all located at outside flame proof car body, have been effectively saved flame proof car body
Volume, significantly alleviate weight.
Description of the drawings
Fig. 1 is the integral installation distribution structure schematic diagram of the present invention；
Fig. 2 is the scheme of installation of trident wheel walking mechanism of the present invention；
Fig. 3 is the transmission schematic diagram of trident gear of the present invention；
Wherein：1 is control system flame proof car body, and 2 is optical fiber cabin, and 3 is energy resource system flame proof
Car body, 4 is trident wheel walking mechanism, and 5 is sensor, and 6 is trident gear, 7
For BOGEY WHEEL, 8 is input shaft, and 9 is reducer output shaft, and 10 is shaft coupling, and 11 are deceleration
Device, 12 is motor, and 13 is sun gear, and 14 is fixing axle, and 15 is idle pulley, and 16 is gear
Case output shaft, 17 is planetary gear, and 18 is casing.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in figure 1, the present invention includes control system flame proof car body 1, the optical fiber cabin 2, energy
System flame proof car body 3, trident wheel walking mechanism 4 and sensor 5, wherein optical fiber cabin 2 is installed
On the top of control system flame proof car body 1, independently of control system flame proof car body 1 outside；Sensing
Device 5 is arranged on the front end of control system flame proof car body 1, sensor 5 and control system flame proof car
Control system (control system of the present invention is prior art) in body 1 is connected, detectable signal
By the optical fiber output in optical fiber cabin 2.Control system flame proof car body 1 and energy resource system flame proof car
Body 3 is hinged, on control system flame proof car body 1 and energy resource system flame proof car body 3 respectively
Least one set trident wheel walking mechanism 4, per group of 4 pairs, two trident wheel walking mechanisms are installed
Title is installed on the left and right sides of control system flame proof car body 1 or energy resource system flame proof car body 3；This
Totally three groups of the trident wheel walking mechanism 4 of embodiment, the rear and front end of control system flame proof car body 1
One group of trident wheel walking mechanism 4, the front end of energy resource system flame proof car body 3 and control are respectively installed
System flame proof car body 1 is hinged, and rear end is provided with one group of trident wheel walking mechanism 4.
As shown in Fig. 2 trident wheel walking mechanism 4 includes motor 12, decelerator 11, shaft coupling
Device 10, input shaft 8, trident gear 6 and BOGEY WHEEL 7, each trident wheel are walked
Motor 12 in mechanism 4 is each attached to control system flame proof car body 1 or energy resource system flame proof car
On bottom surface inside body 3, decelerator 11 is fixed on control system flame proof car body 1 or energy system
Lower surface outside 3 bottom surface of system flame proof car body, and be connected with the output end of motor 12, subtract
The reducer output shaft 9 of fast device 11 is connected with one end of input shaft 8 by shaft coupling 10,
The other end of input shaft 8 is rotated with trident gear 6 and is connected, and is passed in trident gear
Multiple BOGEY WHEELs 7 are evenly equipped with dynamic case 6 along the circumferential direction, the BOGEY WHEEL 7 of the present embodiment is three
It is individual.
As shown in figure 3, casing of the other end of input shaft 8 by trident gear 6
18 central authorities penetrate, and by bearing be arranged on casing 18 on, can opposite case 18 rotate.
The part that input shaft 8 is located in trident gear 6 is arranged with bonded with input shaft 8
Sun gear 13, interlock with input shaft 8.It is along the circumferential direction uniform in the periphery of sun gear 13
There are multiple idle pulleys 15 (the present embodiment is three), each idle pulley 15 is engaged with sun gear 13
It is driven, and each idle pulley 15 is set in a fixing axle 14.Every fixing axle 14
It is each attached on casing 18, idle pulley 15 is rotated with fixing axle 14 by bearing and is connected.Each
15 periphery of idle pulley is along the circumferential direction evenly equipped with and 7 quantity identical gearbox output shaft of BOGEY WHEEL
16, the gearbox output shaft 16 of the present embodiment is three, and every gearbox output shaft 16 leads to
Bearing is crossed on casing 18, one end is located in trident gear 6, and is arranged
There is the planetary gear 17 with 15 engaged transmission of idle pulley, the planetary gear 17 and gearbox output shaft 16
One end it is bonded；The other end of gearbox output shaft 16 is passed by casing 18, with BOGEY WHEEL
18 is bonded.The axial centre of input shaft 8, each fixing axle 14 and each gearbox output shaft 16
Line is parallel to each other.
BOGEY WHEEL 7 is three, and the line between three 7 centers of circle of BOGEY WHEEL is equilateral triangle,
Two of which BOGEY WHEEL 7 is located at lower section, and another BOGEY WHEEL 7 is above.
The present invention operation principle be：
Motor 12 in each trident wheel walking mechanism 4 is powered by energy resource system, by slowing down
Device 11, input shaft 8 drive sun gear 13 to rotate, sun gear 13, idle pulley 15, planetary gear
17 are meshed successively, and then drive three BOGEY WHEELs 7 synchronous in the same direction by gear-box output 16
Rotation, implements the walking of barrier-surpassing robot.Because each trident wheel walking mechanism 4 possesses independent
Motor 12, identical rotating speed realize advancing or retreat that differential is realized turning.
When the input and output speed reducing ratio of trident gear 6 is less than 1, three are so can guarantee that
After fork wheel walking mechanism 4 meets obstacle, three BOGEY WHEELs 7 are around 8 automatic revolution of input shaft, it is ensured that
Barrier-surpassing robot successfully crossing over blockage.
18 BOGEY WHEELs 7, BOGEY WHEEL 7 are had in six trident wheel walking mechanisms 4 of the invention
Tire be commercial products, purchase in Xianyang the Yellow River rubber for tire Co., Ltd filled polyurethane,
Become mining tyres, specification 2.50-4.
The present invention has the explosion-proof function of isolation, can go deep into explosive gas atmosphere and be detected,
The subsequent explosion for itself causing can be isolated；Simultaneously adapt to the complicated landform after calamity, with obstacle detouring,
Across irrigation canals and ditches, the ability such as climb, paddle.
Claims (7)
1. a kind of flame-proof type barrier-surpassing robot, it is characterised in that：Including optical fiber cabin (2), three
Fork wheel walking mechanism (4), sensor (5) and control system flame proof car body (1) being hinged,
Energy resource system flame proof car body (3), wherein optical fiber cabin (2) and sensor (5) are separately mounted to
In control system flame proof car body (1), sensor (5) and control system flame proof car body (1)
Interior control system is connected, and detectable signal is by the optical fiber output in optical fiber cabin (2)；
It is separately installed with control system flame proof car body (1) and energy resource system flame proof car body (3)
Least one set trident wheel walking mechanism (4), per group of two tridents wheel walking mechanism (4) are right
Title is installed on the both sides of control system flame proof car body (1) or energy resource system flame proof car body (3)；
Described trident wheel walking mechanism (4) include motor (12), decelerator (11), input shaft (8),
Trident gear (6) and BOGEY WHEEL (7), the motor (12) and decelerator (11)
It is separately mounted to the inside and outside of control system flame proof car body (1) or energy resource system flame proof car body (3)
Both sides, described motor (12) are connected with one end of input shaft (8) by decelerator (11),
The other end of the input shaft (8) is rotated with trident gear (6) and is connected；It is described defeated
Entering part gearing of the axle (8) in trident gear (6) has sun gear (13),
The periphery of the sun gear (13) is along the circumferential direction evenly equipped with and multiple is rotationally connected with casing (18)
On idle pulley (15), and be along the circumferential direction evenly equipped with and hold in each described idle pulley (15) periphery
Roller (7) quantity identical gearbox output shaft (16), each described gearbox output shaft (16)
Be rotationally connected with casing (18) respectively, one end interlocks a planetary gear (17), the other end by
Casing (18) pass, and gearing has the BOGEY WHEEL (7), and described input shaft (8) lead to
Cross sun gear (13), idle pulley (15) and planetary gear (17) to engage successively, drive each described
BOGEY WHEEL (7) is rotated.
2. the flame-proof type barrier-surpassing robot as described in claim 1, it is characterised in that：It is described
In other end insertion casing (18) of input shaft (8), and by bearing and casing (18)
Connection is rotated, sun gear (13) are bonded with the input shaft (8)；Each is described lazy
Wheel (15) is set on a fixing axle (14), and each fixing axle (14) are fixed in
On casing (18), described idle pulley (15) are rotated with fixing axle (14) by bearing and are connected
Connect；Each the gear output shaft (16) are rotated with casing (18) by bearing and are connected, described
Planetary gear (17) and BOGEY WHEEL (7) are bonded with the gear output shaft (16) respectively.
3. the flame-proof type barrier-surpassing robot as described in claim 2, it is characterised in that：It is described
The axle of input shaft (8), each fixing axle (14) and each gearbox output shaft (16)
It is parallel to each other to center line.
4. the flame-proof type barrier-surpassing robot as described in claim 1 or 2, it is characterised in that：
Described BOGEY WHEEL (7) are three, and the line between three BOGEY WHEEL (7) centers of circle is equilateral three
Angular, two of which BOGEY WHEEL (7) is located at lower section, and another BOGEY WHEEL (7) is above.
5. the flame-proof type barrier-surpassing robot as described in claim 1 or 2, it is characterised in that：
It is when the input and output speed reducing ratio of trident gear (6) is less than 1, each described
BOGEY WHEEL (7) revolves round the sun around the input shaft (8) after meeting barrier.
6. the flame-proof type barrier-surpassing robot as described in claim 1 or 2, it is characterised in that：
The rear and front end of control system flame proof car body (1) is respectively provided with one group of trident wheel vehicle with walking machine
Structure (4), front end and control system flame proof car body (1) of energy resource system flame proof car body (3)
It is hinged, rear end is provided with one group of trident wheel walking mechanism (4).
7. the flame-proof type barrier-surpassing robot as described in claim 1 or 2, it is characterised in that：
The reducer output shaft (9) of decelerator (11) passes through shaft coupling (10) and input shaft
(8) one end is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510585880.8A CN106515898A (en) | 2015-09-15 | 2015-09-15 | Flame-proof type obstacle-crossing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510585880.8A CN106515898A (en) | 2015-09-15 | 2015-09-15 | Flame-proof type obstacle-crossing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106515898A true CN106515898A (en) | 2017-03-22 |
Family
ID=58348620
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510585880.8A Pending CN106515898A (en) | 2015-09-15 | 2015-09-15 | Flame-proof type obstacle-crossing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106515898A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202264834U (en) * | 2011-10-24 | 2012-06-06 | 常熟理工学院 | Obstacle-surmounting rescue vehicle |
| CN103407510A (en) * | 2013-08-21 | 2013-11-27 | 上海工程技术大学 | Deformable planet wheel robot with left body and right body hinged |
| CN203958366U (en) * | 2014-04-25 | 2014-11-26 | 东北大学 | A kind of under-driven adaptive obstacle detouring train |
| CN104890752A (en) * | 2015-06-15 | 2015-09-09 | 华中科技大学 | Planet wheel type obstacle surmounting robot |
| CN204937301U (en) * | 2015-09-15 | 2016-01-06 | 中国科学院沈阳自动化研究所 | A kind of flame-proof type barrier-surpassing robot |
-
2015
- 2015-09-15 CN CN201510585880.8A patent/CN106515898A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202264834U (en) * | 2011-10-24 | 2012-06-06 | 常熟理工学院 | Obstacle-surmounting rescue vehicle |
| CN103407510A (en) * | 2013-08-21 | 2013-11-27 | 上海工程技术大学 | Deformable planet wheel robot with left body and right body hinged |
| CN203958366U (en) * | 2014-04-25 | 2014-11-26 | 东北大学 | A kind of under-driven adaptive obstacle detouring train |
| CN104890752A (en) * | 2015-06-15 | 2015-09-09 | 华中科技大学 | Planet wheel type obstacle surmounting robot |
| CN204937301U (en) * | 2015-09-15 | 2016-01-06 | 中国科学院沈阳自动化研究所 | A kind of flame-proof type barrier-surpassing robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170322 |