CN108202775A - A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis - Google Patents
A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis Download PDFInfo
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- CN108202775A CN108202775A CN201810198131.3A CN201810198131A CN108202775A CN 108202775 A CN108202775 A CN 108202775A CN 201810198131 A CN201810198131 A CN 201810198131A CN 108202775 A CN108202775 A CN 108202775A
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- 238000005065 mining Methods 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000010276 construction Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 11
- 238000013461 design Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
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Classifications
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- 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
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- 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
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Abstract
The invention discloses a kind of double drive both arms, the small-sized mining robot crawler-type mobile platforms of concentric four axis, including paralell and the traveling crawler component being arranged at left and right sides of it, are arranged on the swing arm crawler components of front end, traveling crawler component includes：Driving spindle, driving motor, drive gear set, main Athey wheel, main crawler belt and directive wheel；Swing arm crawler components include：Arm shaft, swing arm motor, swing arm gear group, swing arm Athey wheel, swing arm crawler belt swing arm support plate, and two support front edge of board close fixed swing arm front-wheel；The driving motor of unilateral track assembly is arranged in the underlying space plane of swing arm motor and projects office driving spindle both sides；Driving motor, the swing arm motor of arranged on left and right sides correspond to respectively to be distributed into axial symmetry.The object of the present invention is to provide a kind of double drive both arms, the small-sized mining robot crawler-type mobile platforms of concentric four axis, and complicated small space in mine is facilitated to use, is allowed to occupied space smaller, movement is more convenient, and movement is more steady.
Description
Technical field
The invention belongs to ground mobile robot technical field, specially a kind of double drive both arms, concentric four axis is small-sized mining
Robot crawler-type mobile platform can cope with complicated landform, and narrow space environment road conditions are walked, especially suitable for ore deposit
As mobile vehicle in the tasks such as prospecting, the search and rescue at well scene, important first-hand information is provided for staff.
Background technology
After the accidents such as gas explosion, landslide occur for underground coal mine or under other disaster environment, ambient enviroment is by tight
It destroys again, disaster-stricken environmental information can not be transferred directly to rescue command center, and rescue personnel can not be engaged in rescue action, serious shadow
Rescue efficiency is rung, rescue personnel bears huge life risk.So calamity is collected under complex environment there is an urgent need to rescue robot
Difficult environmental information, and disaster environmental information is sent to rescue command center, be so badly in need of it is a kind of can be under complicated Minepit environment
Carry out mobile article carrying platform；And in equal loading device requirement, mobile platform is smaller more flexible, more adapts to multiple
Heterocycle border.
With being constantly progressive for science and technology, research and development of the mankind in automation equipment are more and more intelligent, such as nobody drives
Sail automobile, intelligent robot etc.；But also there are more areas for improvement in the development and application of small-sized mining robot：
The prior art uses the following two kinds type of drive mostly.
1st, Chinese Patent Application No. CN201610710117.8, the patent of publication number CN106275115A, discloses one kind
Six crawler belts, four swing arm rescue robot, the transmission mode used participate in its Figure of description 3, are Bevel Gear Transmission, use
The transmission mode that tiles side by side, needs to occupy more horizontal platform space, it is difficult to accomplish the simplification of drive apparatus；And
Equivalent motor drives, and the output of Bevel Gear Transmission torque is less than roller gear not as good as roller gear, the stationarity of transmission.
2nd, Chinese Patent Application No. CN200920218549.2, publication number CN201516604U disclose a kind of modularization
Track rocker-arm type colliery underground robotic explorer uses synchronous belt to be driven, and synchronous belt technology drives electric motor
Dynamic spacing there are certain requirements（It needs to keep appropriately distance that could use synchronous belt between driving wheel, driven wheel）, to space
Accordance with tolerance determine that its is not suitable for robot platform small form factor requirements.
In view of to the deficiencies in the prior art, applicant R＆D team is optimized small-sized mining robot platform and sets
Meter is allowed to occupied space smaller, and movement is more convenient, and movement is more steady.
Invention content
The purpose of the present invention is carried out in view of the above problems, providing a kind of double small-sized mining robots of both arms, concentric four axis that drive
Belt mobile platform facilitates complicated small space in mine to use, is allowed to occupied space smaller, and movement is more convenient, and movement is more
Add steady.
In order to achieve the above object, the technical solution adopted by the present invention is：A kind of double drive both arms, the small-sized mining machine of concentric four axis
Device people's crawler-type mobile platform, it includes paralell（1）And the traveling crawler component at left and right sides of it is arranged on, before being arranged on
The swing arm crawler components at end, wherein, traveling crawler component includes：It is in the arm shaft that internal layer is solid construction（6）And set
Mounted in hollow driving spindle thereon（7）, the driving spindle（7）Mounted on first bearing seat（8）With second bearing seat（9）It
Between it is fixed rotatable, and in first bearing seat（8）With second bearing seat（9）Between driving spindle（7）On to be set with driving secondary
Gear（71）And and driving motor（4）The drive gear of end（41）It is meshed；Driving spindle（7）Stretch out paralell（1）Position
It puts and is provided with main Athey wheel（2）And main crawler belt mounted thereto（21）, main crawler belt（21）The other end be mounted on be oriented to
Wheel（22）On.
Swing arm crawler components include：Arm shaft（6）And arm shaft（6）Inside end is provided with swing arm pinion（61）
With swing arm motor（5）On swing arm gear（51）Engagement；The arm shaft（6）Outside passes through fixed swing arm Athey wheel（3）Peace
Equipped with swing arm crawler belt（31）；Swing arm Athey wheel（3）It is sleeved on driving spindle（7）Outside end on, swing arm Athey wheel（3）Both sides
It is respectively fixed with swing arm medial support plate（36）With swing arm lateral branch fagging（35）, and two support front edge of board close fixed swing arm
Front-wheel（32）；Swing arm crawler belt（31）Mounted on swing arm Athey wheel（3）With swing arm front-wheel（32）Between.
The driving motor of unilateral track assembly（4）It is arranged on swing arm motor（5) in underlying space plane and projection office
Driving spindle（7）Both sides；The driving motor of arranged on left and right sides（4）, swing arm motor（5) it corresponds to and is distributed into axial symmetry respectively.
Further, the driving spindle（7）It is sleeved on arm shaft（6）On, the first bearing seat from inside（8）Prolong always
Reach the swing arm Athey wheel in outside（3）Place.
Further, the main Athey wheel（2）With directive wheel（22）Between be tensioned by support plate, and single main crawler belt
（21）On directive wheel（22）To be coaxially separately positioned on main crawler belt in groups（21）Both sides.
Further, the swing arm lateral branch fagging（35）It is provided with boss in the outer part（351）, and boss（351）Setting
In arm shaft（6）Axis line location.
Further, driving spindle（7）It is sleeved on arm shaft（6）Both ends at be both provided with sleeve bearing（72）, and outside
Side sleeve bearing（72）Locate arm shaft（6）On be cased with swing arm end seal（34）, swing arm end seal（34）It is fastened on swing arm Athey wheel（3）
On.
Further, in paralell（1）The second bearing seat in outside（9）Place is provided with axle envelope set（92）, it is fastened on
Two bearing bracket（9）On.
Further, the swing arm medial support plate（36）With swing arm lateral branch fagging（35）Between swing arm crawler belt（31）'s
Inside edge is fixedly installed moping pulley（33）.
Further, the main Athey wheel（2）Outside driving spindle（7）It is upper to pass through small round nut（23）It is fixed.
Further, the driving motor（4）, swing arm motor（5）Motor side towards paralell（1）Inside.
Further, the paralell（1）Be divided into be in front end for installing the drive areas of transmission parts（11）With
And it is in the expansion area for bearing function equipment of end（12）.
Beneficial effects of the present invention：The present invention provides a kind of double drive both arms, the small-sized mining robot crawler belts of concentric four axis
Formula mobile platform facilitates complicated small space in mine to use, is allowed to occupied space smaller, and movement is more convenient, and movement is more
Steadily.
1st, two drivings are employed, two swing arms, double drive both arms designs, suitable for different road conditions demands, mobile platform can
It is adaptable.
2nd, employ the axis of concentric sleeve shaft design mode, concentric four axis, and driving motor and swing arm motor with
The axis Parallel Design of quill so that move more steady, transmission efficiency higher；There is no the axial force problem of bevel gear,
Also there is no toothed belt transmission efficiency is low, the problem of bumpy motion.
3rd, the form that two rows motor is staggeredly superimposed is employed, bevel gear horizontal Tile is avoided and occupies more space,
Simultaneously also there is no synchronous belt to the minimal distance requirement problem of centre-to-centre spacing.
4th, it is sleeved on arm shaft using driving spindle, the swing arm that outside is extended to from the first bearing seat of inside is carried out
At belt wheel, convenient for realizing being synchronized with the movement for swing arm crawler belt when driving motor rotates.
5th, be tensioned between the main Athey wheel of the present invention and directive wheel by support plate, and the directive wheel on single main crawler belt be into
Group is coaxially separately positioned on the both sides of main crawler belt, using the design of separated directive wheel, convenient for mitigating weight, while convenient for replacing dimension
Shield, reduces cost.And the gap between directive wheel when making winner's caterpillar drive stability it is more preferable.
6th, due to transmission parts concentrate on driving spindle, arm shaft shaft core position, whole device center of gravity can design and fall
On driving axial line, the mobile platform of concentric design can accomplish that smaller is more stable, be easily carried and moved in intricately condition.
7th, swing arm lateral branch fagging of the present invention is provided with boss in the outer part, and boss is arranged on the axis line location of arm shaft,
And boss is designed using round platform, covers swing arm Athey wheel, equipment is more stablized when driving pulley rotates.
It is 8th, versatile convenient for plant maintenance and quick despatch by the way of the present invention is distinguished using drive area and extension,
Service life of equipment is longer and maintenance cost is lower.
Description of the drawings
Fig. 1 is dimensional structure diagram of the present invention.
Fig. 2 is left view schematic diagram in Fig. 1.
Fig. 3 is schematic top plan view in Fig. 1.
Fig. 4 is internal structure schematic cross-sectional view of the present invention.
Fig. 5 is close-up schematic view at A in Fig. 4.
Fig. 6 illustrates for transmission component stereochemical structure of the present invention.
Fig. 7 be in Fig. 6 C to schematic diagram.
Fig. 8 be in Fig. 6 B to schematic diagram.
Label character described in figure is expressed as：1st, paralell；11st, drive area；12nd, expansion area；13rd, rack；
2nd, main Athey wheel；21st, main crawler belt；22nd, directive wheel；23rd, small round nut；
3rd, swing arm Athey wheel；31st, swing arm crawler belt；32nd, swing arm front-wheel；33rd, moping pulley；34th, swing arm end seal；35th, swing arm lateral branch
Fagging；351st, boss；36th, swing arm medial support plate；
4th, driving motor；41st, drive gear；
5th, swing arm motor；51st, swing arm gear；
6th, arm shaft；61st, swing arm pinion；
7th, driving spindle；71st, pinion is driven；72nd, sleeve bearing；
8th, first bearing seat；81st, clutch shaft bearing；9th, second bearing seat；91st, second bearing；92nd, axle envelope set.
Specific embodiment
In order to which those skilled in the art is made to more fully understand technical scheme of the present invention, below in conjunction with the accompanying drawings to the present invention into
Row detailed description, the description of this part is only exemplary and explanatory, should not there is any limitation to protection scope of the present invention
Effect.
As Figure 1-Figure 5, concrete structure of the invention is：A kind of double drive both arms, the small-sized mining robot of concentric four axis
Crawler-type mobile platform, it includes paralell 1 and the traveling crawler component being arranged at left and right sides of it, is arranged on the pendulum of front end
Arm track assembly, wherein, traveling crawler component includes：It is in the arm shaft 6 and be set on it that internal layer is solid construction
Hollow driving spindle 7, the driving spindle 7 be mounted on it is fixed rotatable between first bearing seat 8 and second bearing seat 9, and
Be set in driving spindle 7 between first bearing seat 8 and second bearing seat 9 driving pinion 71 and with the end of driving motor 4
The drive gear 41 at end is meshed；Driving spindle 7, which is stretched out on the position of paralell 1, is provided with main Athey wheel 2 and mounted on it
On main crawler belt 21, the other end of main crawler belt 21 is mounted on directive wheel 22.
Swing arm crawler components include：Arm shaft 6 and, 6 inside end of arm shaft is provided with swing arm pinion 61 and swing arm
Swing arm gear 51 on motor 5 engages；6 outside of arm shaft is equipped with swing arm crawler belt 31 by fixed swing arm Athey wheel 3；
Swing arm Athey wheel 3 is sleeved in the outside end of driving spindle 7, and 3 both sides of swing arm Athey wheel are respectively fixed with swing arm medial support
Plate 36 and swing arm lateral branch fagging 35, and two support front edge of board close fixed swing arm front-wheel 32；Swing arm crawler belt 31 is mounted on pendulum
Between arm Athey wheel 3 and swing arm front-wheel 32.
The driving motor 4 of unilateral track assembly is arranged in the underlying space plane of swing arm motor 5 and projects office driving
7 both sides of main shaft；Driving motor 4, the swing arm motor 5 of arranged on left and right sides correspond to respectively to be distributed into axial symmetry.Employ two rows electricity
The form that machine is staggeredly superimposed avoids bevel gear horizontal Tile and occupies more space, while also there is no synchronous belts to centre-to-centre spacing
Minimal distance requirement problem.
Preferably, the driving spindle 7 is sleeved on arm shaft 6, and outside is extended to from the first bearing seat 8 of inside
Swing arm Athey wheel 3 at.
Preferably, it is tensioned between the main Athey wheel 2 and directive wheel 22 by support plate, and leading on single main crawler belt 21
Both sides to wheel 22 to be coaxially separately positioned on main crawler belt 21 in groups.
Preferably, the swing arm lateral branch fagging 35 is provided with boss 351, and boss 351 is arranged on arm shaft 6 in the outer part
Axis line location.Boss is designed using round platform, covers swing arm Athey wheel, equipment is more stablized when driving pulley rotates.
As shown in Figure 4, Figure 5, it is preferred that driving spindle 7, which is sleeved at the both ends of arm shaft 6, is both provided with sleeve bearing 72,
And it is cased with swing arm end seal 34 at sleeve bearing 72 on arm shaft 6 on the outside, swing arm end seal 34 is fastened on swing arm Athey wheel 3.
Preferably, axle envelope set 92 is provided at the second bearing seat 9 in 1 outside of paralell, is fastened on second bearing seat 9
On.
Preferably, between the swing arm medial support plate 36 and swing arm lateral branch fagging 35 swing arm crawler belt 31 inner side edge edge
Place is fixedly installed moping pulley 33.
Preferably, it is fixed in the outside driving spindle 7 of the main Athey wheel 2 by small round nut 23.
Preferably, the motor side of the driving motor 4, swing arm motor 5 is towards 1 inside of paralell.It is so designed that, it is more square
Just vehicle platform movement is steady.
As shown in figs 6-8, it is transmission component structure diagram of the present invention, shows that driving motor 4, swing arm motor 5 are equal in figure
It is fixed in rack 13.It is fixed on paralell 1 in entire rack 13.
Preferably, the paralell 1 be divided into be in front end for install transmission parts drive area 11 and be in
The expansion area 12 for bearing function equipment of end.By the way of the present invention is distinguished using drive area and extension, convenient for equipment
Maintenance and quick despatch, versatile, service life of equipment is longer and maintenance cost is lower.
The present invention in order to narration simplicity about driving motor 4, swing arm motor 5 and Electric control and electric power system into
It has gone and has slightly removed, herein the non-emphasis for the present invention, and the prior art can realize the independent or common operating of each driving, therefore
It is omitted herein, is not influenced the understanding of the present invention and technology point protection.
When specifically used, as shown in Figure 1, Figure 4, Figure 5, normal road condition is under normal conditions, and swing arm crawler components are recovered to
It is normal to advance behind vehicle body；But it proceeds to and encounters general size gully not usually, swing arm motor 5 is opened, and passes through swing arm pinion
51 drive arm shafts 6 rotate, and so as to which swing arm crawler components opening be driven to forward extend out, swing arm crawler components can be with vertical direction
360 degree of rotations, the action of swing arm motor 5 and traveling crawler component are mutually isolated.The small-sized mining robot crawler type of the present invention is moved
The turning of moving platform is realized by the differential rotation of left and right driving motor 4 with the rotation of original place 360 and turned to.Paralell 1 is divided into place
In front end for installing the drive area 11 of transmission parts and being in the expansion area 12 for bearing function equipment of end, just
In the equipment for installing various models on demand on paralell 1, versatility is stronger, and is hardly damaged transmission parts, to transmission
It influences small.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or equipment including a series of elements not only include those elements, and
And it further includes other elements that are not explicitly listed or further includes intrinsic for this process, method, article or equipment institute
Element.
Specific case used herein is expounded the principle of the present invention and embodiment, the explanation of above example
It is merely used to help understand the method and its core concept of the present invention.The above is only the preferred embodiment of the present invention, should
When pointing out, due to the finiteness of literal expression, and objectively there are unlimited concrete structure, for the common skill of the art
For art personnel, without departing from the principle of the present invention, several improvement, retouching or variation can also be made, can also incited somebody to action
Above-mentioned technical characteristic is combined in the right way；These improve retouching, variation or combination or the not improved structure by invention
Think and technical solution directly applies to other occasions, be regarded as protection scope of the present invention.
Claims (10)
1. a kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis, it includes paralell（1）And it sets
The traveling crawler component at left and right sides of it is put, is arranged on the swing arm crawler components of front end, which is characterized in that
Traveling crawler component includes：It is in the arm shaft that internal layer is solid construction（6）And the hollow driving of suit on it
Main shaft（7）, the driving spindle（7）Mounted on first bearing seat（8）With second bearing seat（9）Between it is fixed rotatable, and
First bearing seat（8）With second bearing seat（9）Between driving spindle（7）On be set with driving pinion（71）It is and electric with driving
Machine（4）The drive gear of end（41）It is meshed；Driving spindle（7）Stretch out paralell（1）Position on be provided with main Athey wheel
（2）And main crawler belt mounted thereto（21）, main crawler belt（21）The other end be mounted on directive wheel（22）On；
Swing arm crawler components include：Arm shaft（6）And arm shaft（6）Inside end is provided with swing arm pinion（61）With pendulum
Arm motor（5）On swing arm gear（51）Engagement；The arm shaft（6）Outside passes through fixed swing arm Athey wheel（3）It is equipped with
Swing arm crawler belt（31）；Swing arm Athey wheel（3）It is sleeved on driving spindle（7）Outside end on, swing arm Athey wheel（3）Distinguish both sides
It is fixed with swing arm medial support plate（36）With swing arm lateral branch fagging（35）, and two support front edge of board close fixed swing arm front-wheel
（32）；Swing arm crawler belt（31）Mounted on swing arm Athey wheel（3）With swing arm front-wheel（32）Between；
The driving motor of unilateral track assembly（4）It is arranged on swing arm motor（5) in underlying space plane and projection office drives
Main shaft（7）Both sides；The driving motor of arranged on left and right sides（4）, swing arm motor（5) it corresponds to and is distributed into axial symmetry respectively.
2. a kind of double drive both arms according to claim 1, the small-sized mining robot crawler-type mobile platform of concentric four axis,
It is characterized in that, the driving spindle（7）It is sleeved on arm shaft（6）On, the first bearing seat from inside（8）Extend to outside
Swing arm Athey wheel（3）Place.
3. a kind of double drive both arms according to claim 1, the small-sized mining robot crawler-type mobile platform of concentric four axis,
It is characterized in that, the main Athey wheel（2）With directive wheel（22）Between be tensioned by support plate, and single main crawler belt（21）On lead
To wheel（22）To be coaxially separately positioned on main crawler belt in groups（21）Both sides.
4. a kind of double drive both arms according to claim 1, the small-sized mining robot crawler-type mobile platform of concentric four axis,
It is characterized in that, the swing arm lateral branch fagging（35）It is provided with boss in the outer part（351）, and boss（351）It is arranged on arm shaft
（6）Axis line location.
5. a kind of double drive both arms according to claim 1, the small-sized mining robot crawler-type mobile platform of concentric four axis,
It is characterized in that, driving spindle（7）It is sleeved on arm shaft（6）Both ends at be both provided with sleeve bearing（72）, and quill on the outside
It holds（72）Locate arm shaft（6）On be cased with swing arm end seal（34）, swing arm end seal（34）It is fastened on swing arm Athey wheel（3）On.
6. a kind of double drive both arms according to claim 1, the small-sized mining robot crawler-type mobile platform of concentric four axis,
It is characterized in that, in paralell（1）The second bearing seat in outside（9）Place is provided with axle envelope set（92）, it is fastened on second bearing seat
（9）On.
7. a kind of double drive both arms according to claim 1, the small-sized mining robot crawler-type mobile platform of concentric four axis,
It is characterized in that, the swing arm medial support plate（36）With swing arm lateral branch fagging（35）Between swing arm crawler belt（31）Inner side edge edge
Place is fixedly installed moping pulley（33）.
8. a kind of double drive both arms according to claim 1, the small-sized mining robot crawler-type mobile platform of concentric four axis,
It is characterized in that, the main Athey wheel（2）Outside driving spindle（7）It is upper to pass through small round nut（23）It is fixed.
9. a kind of double drive both arms according to any one of claims 1 to 8, the small-sized mining robot crawler type of concentric four axis
Mobile platform, which is characterized in that the driving motor（4）, swing arm motor（5）Motor side towards paralell（1）Inside.
10. a kind of double drive both arms according to any one of claims 1 to 8, the small-sized mining robot crawler type of concentric four axis
Mobile platform, which is characterized in that the paralell（1）Be divided into be in front end for installing the drive areas of transmission parts（11）
And it is in the expansion area for bearing function equipment of end（12）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810198131.3A CN108202775B (en) | 2018-03-12 | 2018-03-12 | Double-drive double-arm concentric four-axis crawler-type mobile platform for small mining robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810198131.3A CN108202775B (en) | 2018-03-12 | 2018-03-12 | Double-drive double-arm concentric four-axis crawler-type mobile platform for small mining robot |
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| CN108202775B CN108202775B (en) | 2024-02-13 |
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|---|---|---|---|---|
| CN110759244A (en) * | 2019-10-16 | 2020-02-07 | 山东中衡光电科技有限公司 | Intelligent platform for hoisting, mounting and dismounting in mine, and control system and method |
| CN111469941A (en) * | 2020-04-27 | 2020-07-31 | 张梅 | Robot-assisted swing arm system |
| CN111874118A (en) * | 2020-06-24 | 2020-11-03 | 河海大学常州校区 | Obstacle crossing robot based on wheel-track leg type chassis |
| CN111874113A (en) * | 2020-07-14 | 2020-11-03 | 西南科技大学 | Crawler-type walking obstacle avoidance mechanism |
| CN112744305A (en) * | 2021-02-03 | 2021-05-04 | 深圳亿嘉和科技研发有限公司 | Overturning arm of crawler robot |
| CN114044061A (en) * | 2021-11-27 | 2022-02-15 | 江苏丞工科技有限公司 | Stair climbing robot |
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