CN106627820A - Crawler robot swing arm driving device - Google Patents
Crawler robot swing arm driving device Download PDFInfo
- Publication number
- CN106627820A CN106627820A CN201611179510.5A CN201611179510A CN106627820A CN 106627820 A CN106627820 A CN 106627820A CN 201611179510 A CN201611179510 A CN 201611179510A CN 106627820 A CN106627820 A CN 106627820A
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- CN
- China
- Prior art keywords
- swing arm
- wheel
- driving
- support wheel
- crawler
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- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a crawler robot swing arm driving device. The crawler robot swing arm driving device includes a crawler robot main body and a crawler device, the crawler robot main body is arranged above the crawler device, the two sides of one end in the crawler device are provided with driving wheels, the front sides of the driving wheels are internally provided with two rows of walking wheels, rotating shafts of the driving wheels are connected with a driving device, the driving device is arranged in the crawler robot main body, the driving wheels are parallel to the two rows of walking wheels, and the outsides of one row of walking wheels, away from the driving wheels, are connected with swing arm main bodies. A driving motor is adopted to control the swing arm main bodies to rotate so that swing arm main bodies can stretch out and retract at the two sides of the robot main body, the ability of surmounting obstacles can changed according to the situation, and miniaturization and light weight of robots walking on the ground are achieved; a transmission mechanism is simplified, the transmission failure rate is reduced, the weight of a swing arm device is reduced, and the energy consumption of a system is reduced.
Description
Technical field
The present invention relates to caterpillar robot technical field, more particularly to a kind of caterpillar robot swing arm drive device.
Background technology
Mobile robot has been widely used in work high above the ground, for example, clear up the exterior wall of skyscraper, build height
Layer building, to large ship spray painting, storage cabinet etc. of monitoring nuclear power plants because these work are general all critically important, but
The danger of extreme again.With the progress and the social demand of the mankind of science and technology, ground mobile robot is widely used to life
Different field living such as military surveillance, safety are explosive etc..
Run into that external environmental condition is severe, road bumpiness is uneven and compared with high obstacle cannot across when, conventional machines people
Just seem there are many limitation, it is impossible to complete the tasks such as rescue, detection well, the caterpillar robot with swing arm can realize ground
The obstacle detouring of face mobile robot, across functions such as irrigation canals and ditches, speeling stairways, but traditional swing arm driving mechanism is excessively complicated, increase
Add the weight of swing arm, increased the length of robot, increased the energy consumption of system, it is impossible to realize the little of ground mobile robot
Type, lightness, are that we design a kind of caterpillar robot swing arm drive device to solve the above problems this.
The content of the invention
The invention aims to shortcoming present in prior art is solved, and a kind of caterpillar robot swing arm for proposing
Driving means.
To achieve these goals, present invention employs following technical scheme：
A kind of caterpillar robot swing arm drive device, including track machines human agent and crawler attachment, the caterpillar robot master
Body is arranged at the top of crawler attachment, and one end both sides in the crawler attachment are provided with driving wheel, the driving wheel front side
In be provided with two row's road wheels, the rotary shaft of the driving wheel is connected with driving means, and driving means are installed on tracked machine
The inside of device human agent, the driving wheel is parallel to each other with two row's road wheels, passes through away from row's road wheel outside of driving wheel
Shaft coupling is connected with swing arm main body, and the swing arm main body includes inner support wheel, outer support wheel, swing arm pole and swing arm wheel, wherein,
The inner support wheel, the inner support wheel is connected with outer support wheel, the inner support away from the side of road wheel by coupling lever
One end of swing arm pole is fixed with coupling lever between wheel and outer support wheel, the other end of the swing arm pole passes through connecting shaft
Bar is connected with the swing arm wheel being symmetrically arranged with, and swing arm crawler belt, institute are wound with the outside of the inner support wheel, outer support wheel and swing arm wheel
The center for stating outer support wheel is connected with the output shaft of motor.
Preferably, the external diameter of the inner support wheel, outer support wheel and road wheel is equal, both plays a supporting role, while
It is synchronous with road wheel holding.
Preferably, the motor drives the rotation of outer support wheel so that swing arm main body can rotate in-Du Nei, inner support
Wheel is connected with road wheel so that swing arm main body has driving force.
Preferably, the crawler attachment includes traveling crawler and movable base plate, and the road wheel, driving wheel are mounted on
Traveling crawler is wound with the both sides of movable base plate, and the road wheel and driving wheel of both sides.
Preferably, the driving means are 6td series diesels.
Preferably, length of the length of the swing arm main body less than crawler attachment.
Compared with prior art, the invention has the beneficial effects as follows：The present invention controls the rotation of swing arm main body using motor
Turn so that swing arm main body can stretch out and withdraw in the both sides of robot body, can according to circumstances change the ability of leaping over obstacles,
And shorten the overall length of robot, realize miniaturization, the lightness of ground mobile robot；The driving force of swing arm main body
There is provided by the driving means in robot body, traveling crawler transmits driving force to swing arm crawler belt, simplifies transmission mechanism, reduces
Drive failures rates, alleviate the weight of swinging arm device, reduce the energy consumption of system.
Description of the drawings
Fig. 1 is a kind of structural representation of caterpillar robot swing arm drive device proposed by the present invention；
Fig. 2 is that structural representation is withdrawn in a kind of swing arm of caterpillar robot swing arm drive device proposed by the present invention；
Fig. 3 is a kind of top view of caterpillar robot swing arm drive device proposed by the present invention.
In figure：1 track machines human agent, 2 crawler attachments, 3 driving wheels, 4 road wheels, 5 inner support wheels, 6 outer support wheels, 7
Swing arm wheel, 8 swing arm crawler belts, 9 swing arm poles, 10 driving means.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.
Reference picture 1-3, a kind of caterpillar robot swing arm drive device, including track machines human agent 1 and crawler attachment 2,
Track machines human agent 1 is arranged at the top of crawler attachment 2, and crawler attachment 2 includes traveling crawler and movable base plate, road wheel
4th, driving wheel 3 is mounted on being wound with traveling crawler on the both sides of movable base plate, and the road wheel 4 and driving wheel 3 of both sides, crawler belt dress
Put one end both sides in 2 and be provided with driving wheel 3, in the front side of driving wheel 3 two row's road wheels 4, the rotation of driving wheel 2 are provided with
Axle is connected with driving means 10, and driving means 10 are installed on the inside of track machines human agent 1, and driving means 10 are 6td systems
Row Diesel engine, driving wheel 3 is parallel to each other with two row's road wheels 4, and away from the outside of row's road wheel 4 of driving wheel 3 connection is passed through
Axle device is connected with swing arm main body, and, less than the length of crawler attachment 2, swing arm main body includes inner support wheel 5, outer for the length of swing arm main body
Support wheel 6, swing arm pole 9 and swing arm wheel 7, the external diameter of inner support wheel 5, outer support wheel 6 and road wheel 4 is equal, both plays and props up
Support is acted on, while keep synchronous with road wheel 4, wherein, inner support wheel 5, inner support wheel 5 passes through connection away from the side of road wheel 4
Axostylus axostyle is connected with outer support wheel 6, and the one of swing arm pole 9 is fixed with the coupling lever between inner support wheel 5 and outer support wheel 6
End, the other end of swing arm pole 9 is connected with the swing arm wheel 7 being symmetrically arranged with by coupling rod, and motor drives outer support wheel 5
Rotation so that swing arm main body can rotate in 0-160 degree, and inner support wheel 6 is connected with road wheel 4 so that swing arm main body has drives
Power, the outside of inner support wheel 5, outer support wheel 6 and swing arm wheel 7 is wound with swing arm crawler belt 8, and the center of outer support wheel 5 is connected with drive
The output shaft of dynamic motor.
When in use, driving means 10 drive driving wheel 3 to the present invention, and for whole caterpillar robot power is provided, and walking is carried out
Power is reached road wheel 4 by band, is connected with inner support wheel 5 away from row's road wheel 4 of driving wheel 3, and for swing arm main body drive is provided
Power, outer support wheel 6 is connected with motor, and control swing arm main body carries out turning for angle in the both sides of track machines human agent 1
Dynamic, in normal road, swing arm main body is reclaimed as the parastate of crawler attachment 2（As shown in Figure 1）, this state, diminution
The length of track machines human agent 1, reduces volume and causes traveling convenient, and it is more convenient to turn, and is needing across obstacle
When, swing arm main body extends the leading portion of swing arm main body, and obliquely（As shown in Figure 2）, this state so that track machines human agent 1
Leading portion can easily jump onto barrier and pass through, improve the ability that device tackles rough ground, the driving force of swing arm main body by
Driving means 10 in robot body are provided, and traveling crawler transmits driving force to swing arm crawler belt, simplifies transmission mechanism, reduces
Drive failures rates, alleviate the weight of swing arm main body, reduce the energy consumption of system.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, technology according to the present invention scheme and its
Inventive concept equivalent or change in addition, all should be included within the scope of the present invention.
Claims (6)
1. a kind of caterpillar robot swing arm drive device, including track machines human agent（1）And crawler attachment（2）, its feature exists
In the track machines human agent（1）It is arranged at crawler attachment（2）Top, the crawler attachment（2）Interior one end both sides are equal
It is provided with driving wheel（3）, the driving wheel（3）Two row's road wheels are provided with front side（4）, the driving wheel（2）Rotation
Axle is connected with driving means（10）, and driving means（10）It is installed on track machines human agent（1）Inside, the driving wheel
（3）With two row's road wheels（4）It is parallel to each other, away from driving wheel（3）Row's road wheel（4）Outside is connected with pendulum by shaft coupling
Arm main body, the swing arm main body includes inner support wheel（5）, outer support wheel（6）, swing arm pole（9）With swing arm wheel（7）, wherein, institute
State inner support wheel（5）, the inner support wheel（5）Away from road wheel（4）Side outer support wheel is connected with by coupling lever（6）,
The inner support wheel（5）With outer support wheel（6）Between coupling lever on be fixed with swing arm pole（9）One end, the swing arm
Pole（9）The other end swing arm wheel being symmetrically arranged with is connected with by coupling rod（7）, the inner support wheel（5）, outer support wheel
（6）With swing arm wheel（7）Outside be wound with swing arm crawler belt（8）, the outer support wheel（5）Center be connected with the output of motor
Axle.
2. a kind of caterpillar robot swing arm drive device according to claim 1, it is characterised in that the inner support wheel
（5）, outer support wheel（6）And road wheel（4）External diameter it is equal, both played a supporting role, while and road wheel（4）Keep same
Step.
3. a kind of caterpillar robot swing arm drive device according to claim 1, it is characterised in that the motor drives
Dynamic outer support wheel（5）Rotation so that swing arm main body can rotate in 0-160 degree, inner support wheel（6）With road wheel（4）Connection, makes
Obtain swing arm main body and there is driving force.
4. a kind of caterpillar robot swing arm drive device according to claim 1, it is characterised in that the crawler attachment
（2）Including traveling crawler and movable base plate, the road wheel（4）, driving wheel（3）The both sides of movable base plate are mounted on, and
The road wheel of both sides（4）And driving wheel（3）On be wound with traveling crawler.
5. a kind of caterpillar robot swing arm drive device according to claim 1, it is characterised in that the driving means
（10）For 6td series diesels.
6. a kind of caterpillar robot swing arm drive device according to claim 1, it is characterised in that the swing arm main body
Length is less than crawler attachment（2）Length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611179510.5A CN106627820A (en) | 2016-12-19 | 2016-12-19 | Crawler robot swing arm driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611179510.5A CN106627820A (en) | 2016-12-19 | 2016-12-19 | Crawler robot swing arm driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106627820A true CN106627820A (en) | 2017-05-10 |
Family
ID=58833676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611179510.5A Pending CN106627820A (en) | 2016-12-19 | 2016-12-19 | Crawler robot swing arm driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106627820A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107717941A (en) * | 2017-10-17 | 2018-02-23 | 深圳供电局有限公司 | A kind of geared cable ditch inspection operation Multifunctional mobile robot |
| CN109263738A (en) * | 2018-10-12 | 2019-01-25 | 广州国机智能电力科技有限公司 | A kind of substation inspection vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101007548A (en) * | 2007-01-29 | 2007-08-01 | 北京理工大学 | Small-sized four-peddrail mobile robot driving device |
| CN101746423A (en) * | 2008-11-28 | 2010-06-23 | 沈阳新松机器人自动化股份有限公司 | Search and rescue robot used in pit |
| CN202449091U (en) * | 2012-02-10 | 2012-09-26 | 黑龙江科技学院 | Platform for underground detection and rescue robot |
| CN102887181A (en) * | 2012-06-21 | 2013-01-23 | 西安交通大学 | Swinging arm drive device for tracked robot |
| JP2013112024A (en) * | 2011-11-25 | 2013-06-10 | Chiba Inst Of Technology | Moving body for unmanned running |
| CN104802802A (en) * | 2014-01-23 | 2015-07-29 | 南京聚特机器人技术有限公司 | Error identification method for zero adjustment for swing arm type tracked robot |
-
2016
- 2016-12-19 CN CN201611179510.5A patent/CN106627820A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101007548A (en) * | 2007-01-29 | 2007-08-01 | 北京理工大学 | Small-sized four-peddrail mobile robot driving device |
| CN101746423A (en) * | 2008-11-28 | 2010-06-23 | 沈阳新松机器人自动化股份有限公司 | Search and rescue robot used in pit |
| JP2013112024A (en) * | 2011-11-25 | 2013-06-10 | Chiba Inst Of Technology | Moving body for unmanned running |
| CN202449091U (en) * | 2012-02-10 | 2012-09-26 | 黑龙江科技学院 | Platform for underground detection and rescue robot |
| CN102887181A (en) * | 2012-06-21 | 2013-01-23 | 西安交通大学 | Swinging arm drive device for tracked robot |
| CN104802802A (en) * | 2014-01-23 | 2015-07-29 | 南京聚特机器人技术有限公司 | Error identification method for zero adjustment for swing arm type tracked robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107717941A (en) * | 2017-10-17 | 2018-02-23 | 深圳供电局有限公司 | A kind of geared cable ditch inspection operation Multifunctional mobile robot |
| CN109263738A (en) * | 2018-10-12 | 2019-01-25 | 广州国机智能电力科技有限公司 | A kind of substation inspection vehicle |
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| PB01 | 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 |
Application publication date: 20170510 |
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| WD01 | Invention patent application deemed withdrawn after publication |