CN107226147A - 4 wheel driven wheeled robot is used in industrial and mineral detection - Google Patents
4 wheel driven wheeled robot is used in industrial and mineral detection Download PDFInfo
- Publication number
- CN107226147A CN107226147A CN201710355307.7A CN201710355307A CN107226147A CN 107226147 A CN107226147 A CN 107226147A CN 201710355307 A CN201710355307 A CN 201710355307A CN 107226147 A CN107226147 A CN 107226147A
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- motor
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- support bar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/04—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting mechanically
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention relates to robotic technology field, 4 wheel driven wheeled robot is used in especially a kind of industrial and mineral detection, including chassis, the lower section both sides on chassis are rotatablely equipped with left socle and right support respectively, the two ends of left socle and right support are rotatably connected to a roller by connecting shaft, the lower surface on chassis is provided with Cheng Bo mechanisms, Cheng Bo mechanisms include the first motor, second motor, rotating shaft, hanging deck and support bar, first motor is fixed on the lower surface on chassis, axis of rotation is arranged on the lower surface on chassis, first motor is connected with axis of rotation, hanging deck is fixed in rotating shaft, second motor is fixed on hanging deck, support bar is slidably arranged on hanging deck, the output end of second motor is fixedly connected with leading screw, leading screw is connected with support bar screw-driven, the industrial and mineral detection 4 wheel driven wheeled robot of the present invention is with can passing freely through marsh, realize the movement of complicated landform, the task of various bad working environments can be competent at.
Description
Technical field
The present invention relates to robotic technology field, 4 wheel driven wheeled robot is used in especially a kind of industrial and mineral detection.
Background technology
With the popularization of robot, robot has applied to all trades and professions, available for the inspection exploration on industrial and mineral, rescue row
Quick-fried and extraordinary shooting etc., is that domestic industrial and mineral field of detecting is made that tremendous contribution, when robot is mobile in marsh, easily occurs
With being absorbed in marsh, in this case, robot can be absorbed in the situation that wheel original place is spinned, and cause robot for front-wheel or trailing wheel
It can not advance or retreat.
The content of the invention
The technical problem to be solved in the present invention is：In order to when solving that robot is mobile in marsh in the prior art, front-wheel
Or trailing wheel is with being easily trapped into marsh, robot is caused to be absorbed in the situation that wheel original place is spinned.
The technical solution adopted for the present invention to solve the technical problems is：4 wheel driven wheeled robot is used in a kind of industrial and mineral detection,
Including chassis, the lower section both sides on the chassis are rotatablely equipped with left socle and right support respectively, the left socle and right support
Two ends are rotatably connected to a roller by connecting shaft, and the lower surface on the chassis is provided with Cheng Bo mechanisms, the Cheng Bo mechanisms
Including the first motor, the second motor, rotating shaft, hanging deck and support bar, first motor is fixed on the lower surface on chassis, described turn
Axle is rotatably arranged on the lower surface on chassis, and first motor is connected with the axis of rotation, and the hanging deck is fixed in rotating shaft,
Second motor is fixed on hanging deck, and the support bar is slidably arranged on hanging deck, and the output end of second motor is fixed
Leading screw is connected with, the leading screw is connected with support bar screw-driven.
This programme when the roller of robot with being absorbed in marsh when, the first motor-driven rotatable shaft of Cheng Bo mechanisms is rotated so that
Support bar is drawn close to the roller for being absorbed in marsh ground, and then the second motor driving leading screw is rotated so that support bar is remote with respect to hanging deck,
Robot jack-up is weakened into the load-bearing for the roller for being absorbed in marsh ground by the way that support bar is protruding, then the first motor is rotated, by
The rotation of support bar, to the power of one, robot advance, by robot with supportting marsh.
Further, the one end of the support bar away from the second motor is provided with supporting plate.
Further, be respectively and fixedly provided with two motors on the inside of the left socle and right support, the motor with
Roller is corresponded, and is connected between the roller of motor corresponding thereto by drive.
Further, the transmission device includes driving wheel, driven pulley and belt, and the driving wheel is fixed on motor
Output end on, the driven pulley is fixed in connecting shaft, is connected between the driving wheel and driven pulley by belt transmission.
Further, it is fixed with the chassis on first reducing motors and second reducing motors, the left socle fixed
Have and the right longitudinal axis is fixed with the left longitudinal axis, the right support, the output end of the first reducing motors connects with the left longitudinal axis transmission
Connect, the output end of the second reducing motors is connected with the right longitudinal axis, and first reducing motors and second reducing motors are same
When driving left socle and during right support rotation, for the steering of robot, when first reducing motors driving left socle turn to
When right support is vertical or when second reducing motors driving right support turns to vertical with left socle, orthogonal left socle and the right side
Roller on support so that robot can not integrally be moved, is achieved in the braking of robot.
The beneficial effects of the invention are as follows：The present invention industrial and mineral detection 4 wheel driven wheeled robot with can passing freely through marsh,
The movement of complicated landform is realized, the task of various bad working environments can be competent at.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the side schematic three dimensional views of industrial and mineral detection 4 wheel driven wheeled robot of the present invention；
Fig. 2 is the opposite side schematic three dimensional views of industrial and mineral detection 4 wheel driven wheeled robot of the present invention；
Front view when Fig. 3 is industrial and mineral detection 4 wheel driven wheeled robot braking of the present invention；
Schematic side view when Fig. 4 is industrial and mineral detection 4 wheel driven wheeled robot braking of the present invention；
Fig. 5 is that right support and driving wheel thereon and driven pulley show in industrial and mineral detection 4 wheel driven wheeled robot of the present invention
It is intended to.
In figure：1st, chassis, 2, left socle, 3, right support, 4, roller, the 5, first motor, the 6, second motor, 7, hanging deck, 8,
Support bar, 9, leading screw, 10, supporting plate, 11, motor, 12, driving wheel, 13, driven pulley, 14, belt, 15, first slows down electricity
Machine, 16, second reducing motors.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention, direction and with reference to (for example,
Upper and lower, left and right, etc.) can be only used for helping the description to the feature in accompanying drawing.Therefore, not adopted in restrictive, sense
With detailed description below, and claimed theme is only limited by appended claims and its equivalents
Scope.
Embodiment 1
As Figure 1-5,4 wheel driven wheeled robot, including chassis 1, the lower section both sides point on chassis 1 are used in a kind of industrial and mineral detection
It is not rotatablely equipped with left socle 2 and right support 3, the two ends of left socle 2 and right support 3 are rotatably connected to a rolling by connecting shaft
Wheel 4, the lower surface on chassis 1 is provided with Cheng Bo mechanisms, Cheng Bo mechanisms include the first motor 5, the second motor 6, rotating shaft, hanging deck 7 and
Support bar 8, the first motor 5 is fixed on the lower surface on chassis 1, and axis of rotation is arranged on the lower surface on chassis 1, the first motor 5 with
Axis of rotation is connected, and hanging deck 7 is fixed in rotating shaft, and the second motor 6 is fixed on hanging deck 7, and support bar 8 is slidably arranged in hanging deck 7
On, the output end of the second motor 6 is fixedly connected with leading screw 9, and leading screw 9 is connected with the screw-driven of support bar 8.
This programme when robot roller 4 with being absorbed in marsh when, the drive shafts of the first motor 5 of Cheng Bo mechanisms is rotated, and is made
Obtain support bar 8 to draw close to the roller 4 for being absorbed in marsh ground, then the second motor 6 driving leading screw 9 is rotated so that support bar 8 hangs relatively
Plate 7 is remote, protruding by robot jack-up by support bar 8, weakens the load-bearing for the roller 4 for being absorbed in marsh ground, and then first
Motor 5 is rotated, by the rotation of support bar 8, to the power of one advance of robot, by robot with supportting marsh.
The one end of support bar 8 away from the second motor 6 is provided with supporting plate 10.
The inner side of left socle 2 and right support 3 is respectively and fixedly provided with two motors 11, a pair of motor 11 and roller 4 one
Should, connected between the roller 4 of motor 11 corresponding thereto by drive, four motors 11 are operated alone
Four rolling 4, improves ability of the robot by complicated landform.
Transmission device includes driving wheel 12, driven pulley 13 and belt 14, and driving wheel 12 is fixed on the output of motor 11
On end, driven pulley 13 is fixed in connecting shaft, is connected between driving wheel 12 and driven pulley 13 by belt 14.
It is fixed with chassis 1 on first reducing motors 15 and second reducing motors 16, left socle 2 and is fixed with the left longitudinal axis, it is right
Be fixed with the right longitudinal axis on support 3, the output end of first reducing motors 15 is connected with the left longitudinal axis, second reducing motors 16 it is defeated
Go out end to be connected with the right longitudinal axis, first reducing motors 15 and second reducing motors 16 drive 3 turns of left socle 2 and right support simultaneously
When dynamic, the steering for robot；When first reducing motors 15 driving left socle 2 turn to vertical with right support 3 when or second
When the driving right support 3 of reducing motor 16 turns to vertical with left socle 2, the roller on orthogonal left socle 2 and right support 3
4 so that robot can not integrally be moved, the braking of robot is achieved in, wherein, first reducing motors 15 and second are slowed down electric
Machine 16 refers both to the conglomerate of reductor and motor.
The above-mentioned desirable embodiment according to the present invention is enlightenment, and by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention'.This invention it is technical
Scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (5)
1. 4 wheel driven wheeled robot is used in a kind of industrial and mineral detection, it is characterised in that：Including chassis (1), the lower section two of the chassis (1)
Side is rotatablely equipped with left socle (2) and right support (3) respectively, and the two ends of the left socle (2) and right support (3) pass through connection
Axle is rotatably connected to a roller (4), and the lower surface of the chassis (1) is provided with Cheng Bo mechanisms, and the Cheng Bo mechanisms include first
Motor (5), the second motor (6), rotating shaft, hanging deck (7) and support bar (8), first motor (5) are fixed under chassis (1)
Surface, the axis of rotation is arranged on the lower surface of chassis (1), and first motor (5) is connected with the axis of rotation, described
Hanging deck (7) is fixed in rotating shaft, and second motor (6) is fixed on hanging deck (7), and the support bar (8) is slidably arranged in outstanding
On plate (7), the output end of second motor (6) is fixedly connected with leading screw (9), and the leading screw (9) passes with support bar (8) screw thread
Dynamic connection.
2. 4 wheel driven wheeled robot is used in industrial and mineral detection according to claim 1, it is characterised in that：The support bar (8) is remote
One end from the second motor (6) is provided with supporting plate (10).
3. 4 wheel driven wheeled robot is used in industrial and mineral detection according to claim 1, it is characterised in that：The left socle (2) and
Two motors (11) are respectively and fixedly provided with the inside of right support (3), the motor (11) corresponds with roller (4), drives
Connected between the dynamic roller (4) of motor (11) corresponding thereto by drive.
4. 4 wheel driven wheeled robot is used in industrial and mineral detection according to claim 3, it is characterised in that：The transmission device includes
Driving wheel (12), driven pulley (13) and belt (14), the driving wheel (12) are fixed in the output end of motor (11), institute
State driven pulley (13) to be fixed in connecting shaft, be driven and connected by belt (14) between the driving wheel (12) and driven pulley (13)
Connect.
5. 4 wheel driven wheeled robot is used in industrial and mineral detection according to claim 1, it is characterised in that：It is solid on the chassis (1)
Surely have and be fixed with the left longitudinal axis, the right support on first reducing motors (15) and second reducing motors (16), the left socle (2)
(3) the right longitudinal axis is fixed with, the output end of the first reducing motors (15) is connected with the left longitudinal axis, and described second subtracts
The output end of speed motor (16) is connected with the right longitudinal axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710355307.7A CN107226147A (en) | 2017-05-19 | 2017-05-19 | 4 wheel driven wheeled robot is used in industrial and mineral detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710355307.7A CN107226147A (en) | 2017-05-19 | 2017-05-19 | 4 wheel driven wheeled robot is used in industrial and mineral detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107226147A true CN107226147A (en) | 2017-10-03 |
Family
ID=59933333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710355307.7A Pending CN107226147A (en) | 2017-05-19 | 2017-05-19 | 4 wheel driven wheeled robot is used in industrial and mineral detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107226147A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109677504A (en) * | 2017-10-18 | 2019-04-26 | 宏碁股份有限公司 | Mobile device and mobile system |
| CN111319589A (en) * | 2020-03-11 | 2020-06-23 | 北京全路通信信号研究设计院集团有限公司 | Overturn-preventing chassis |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202012011102U9 (en) * | 2012-11-19 | 2013-09-05 | Sergey Ventsel | Device for providing a jump to a vehicle |
| CN203237311U (en) * | 2013-01-09 | 2013-10-16 | 西华大学 | Hydraulic bionic leg crawler-type chassis |
| CN104494721A (en) * | 2014-12-02 | 2015-04-08 | 中国矿业大学 | Mecanum wheel-based rocker omnidirectional mobile platform |
| CN205113288U (en) * | 2015-11-20 | 2016-03-30 | 扬州通海专用车配件有限公司 | Motor drive semi -trailer supporting device |
-
2017
- 2017-05-19 CN CN201710355307.7A patent/CN107226147A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE202012011102U9 (en) * | 2012-11-19 | 2013-09-05 | Sergey Ventsel | Device for providing a jump to a vehicle |
| CN203237311U (en) * | 2013-01-09 | 2013-10-16 | 西华大学 | Hydraulic bionic leg crawler-type chassis |
| CN104494721A (en) * | 2014-12-02 | 2015-04-08 | 中国矿业大学 | Mecanum wheel-based rocker omnidirectional mobile platform |
| CN205113288U (en) * | 2015-11-20 | 2016-03-30 | 扬州通海专用车配件有限公司 | Motor drive semi -trailer supporting device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109677504A (en) * | 2017-10-18 | 2019-04-26 | 宏碁股份有限公司 | Mobile device and mobile system |
| CN111319589A (en) * | 2020-03-11 | 2020-06-23 | 北京全路通信信号研究设计院集团有限公司 | Overturn-preventing chassis |
| CN111319589B (en) * | 2020-03-11 | 2022-03-08 | 北京全路通信信号研究设计院集团有限公司 | Overturn-preventing chassis |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171003 |
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| RJ01 | Rejection of invention patent application after publication |