CN108407610A - A kind of four-wheel drive robot chassis of chain drive - Google Patents
A kind of four-wheel drive robot chassis of chain drive Download PDFInfo
- Publication number
- CN108407610A CN108407610A CN201810373962.XA CN201810373962A CN108407610A CN 108407610 A CN108407610 A CN 108407610A CN 201810373962 A CN201810373962 A CN 201810373962A CN 108407610 A CN108407610 A CN 108407610A
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- Prior art keywords
- drive
- wheel
- chain
- shaft
- driving
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Links
- 230000007246 mechanism Effects 0.000 claims abstract description 41
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 18
- 230000008878 coupling Effects 0.000 claims abstract description 10
- 238000010168 coupling process Methods 0.000 claims abstract description 10
- 238000005859 coupling reaction Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 229910001094 6061 aluminium alloy Inorganic materials 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000009194 climbing Effects 0.000 abstract description 3
- 238000007689 inspection Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/34—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles
- B60K17/342—Arrangement or mounting of transmissions in vehicles for driving both front and rear wheels, e.g. four wheel drive vehicles having a longitudinal, endless element, e.g. belt or chain, for transmitting drive to wheels
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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 kind of four-wheel drive robot chassis of chain drive, a kind of four-wheel drive robot chassis of chain drive, including bottom plate and four driving wheels, the rectangular distribution of four driving wheels is arranged on the bottom plate, it is respectively arranged with driving mechanism on the driving wheel that a pair is diagonally distributed, it is respectively arranged with chain-drive mechanism in two driving mechanisms, chain-drive mechanism drives another driving wheel of the same side to rotate, driving mechanism includes the brshless DC motor set gradually, planetary reducer and corner speed reducer, it is connected with shaft coupling on the transmission shaft of corner speed reducer, the other end of shaft coupling is connected with the first drive shaft, the other end connection of first drive shaft is on the drive wheel.The movement of apparatus of the present invention is flexible, and load capacity is strong, has stronger obstacle climbing ability, and road surface adaptability is good, and turning radius is small, by controlling the differential of wheel, it can be achieved that any angle turns to.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of four-wheel drive robot chassis of chain drive.
Background technology
Substation is the core of power grid, is to ensure entire electricity net safety stable to electric station equipment routine patrol and detection
The key of operation.In large-scale electric system, crusing robot equipment is commonly used to replace traditional manual inspection, is based on inspection
The automatic detection system of robot is, it can be achieved that unattended.But existing inspection robot often will appear fluctuation of service, climb
Slope, obstacle climbing ability are poor, and the turning radius of crusing robot is big, and steering is unstable, and the flexibility of crusing robot is low, does not adapt to
The shortcomings of complicated landform.
Invention content
It is an object of the invention to：Solve above-mentioned robot chassis, provide it is a kind of it is stable,
Climbing capacity is strong, is suitable for four-wheel drive robot of the robot chassis of underground pipe gallery inspection.
To achieve the goals above, the technical solution adopted by the present invention is：A kind of four-wheel drive robot of chain drive
Chassis, including bottom plate and four driving wheels, the rectangular distribution of described four driving wheels is arranged on the bottom plate, in a pair
It is respectively arranged with driving mechanism on the driving wheel being diagonally distributed, chain drive machine is respectively arranged in two driving mechanisms
Structure, the chain-drive mechanism drive another driving wheel of the same side to rotate.
Further, the driving mechanism includes that the brshless DC motor, planetary reducer and corner set gradually subtracts
Fast machine is connected with shaft coupling on the transmission shaft of the corner speed reducer, and the other end of the shaft coupling is connected with the first drive
The other end of moving axis, first drive shaft is connected on the driving wheel.
Further, the chain-drive mechanism includes sprocket wheel one, sprocket wheel two and chain, and the sprocket wheel one is arranged in institute
In the first drive shaft stated, it is connected with the second drive shaft on the sprocket wheel two, the other end of second drive shaft is connected to institute
On the driving wheel stated.
Further, chain-drive mechanism further includes the strainer being arranged on chain, and the strainer includes branch
Seat, tightener sprocket, tensioning shaft, sliding block and adjusting screw, the bearing are fixed on the bottom plate, the tightener sprocket
It is arranged on the tensioning shaft, on the tensioning shaft installation sliding block, the sliding block is slidably mounted on described
On bearing, it is provided with adjusting screw on the sliding block, fastening round nut is provided on the tensioning shaft.
Further, it is respectively arranged with bearing support block in first drive shaft and second drive shaft, institute
It is provided with deep groove ball bearing in the bearing support block stated.
Further, the second driving the tip of the axis is provided with end shaft pressuring plate, compression is provided on the end shaft pressuring plate
Screw.
Further, bottom plate is 6061 aluminium alloy plates, and driving wheel is vacuum rubber wheel, the first drive shaft and the second drive shaft
For 40Cr steel, sprocket wheel one and sprocket wheel two are 45 steel.
By adopting the above-described technical solution, the beneficial effects of the invention are as follows：What the use two of the present invention was diagonally arranged
Driving mechanism is connected two driving wheels of homonymy by a set of chain-drive mechanism, is synchronized and is driven by a set of driving mechanism,
Make two driving wheels of homonymy while rotating；By controlling start and stop, rotating forward, the reversion of motor, robot bottom is realized in both sides combination
The advance of disk retreats.
Driving mechanism in the present invention is using brshless DC motor, the knot of planetary reducing motor and corner speed reducer
It closes, controls the rotating speed of both sides wheel by controlling motor, the rotating speed of two side drive wheels is made to differ, it is poor that two side drive wheels are presented
Speed realizes that robot any angle turns to.It is provided with strainer on chain, ensures the reasonable tension of chain, makes the same side
Two driving wheels keep moving synchronously in rotating forward, reversion and counter motion.
The movement on the four-wheel drive robot chassis of chain drive of the present invention is flexible, and load capacity is strong, has stronger get over
Barrier ability, road surface adaptability is good, and turning radius is small, by controlling the differential of wheel, it can be achieved that any angle turns to.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the schematic front view of the present invention；
Fig. 3 is the structural schematic diagram of the strainer of the present invention；
Fig. 4 is the schematic front view of the strainer of the present invention；
Reference numeral：1- bottom plates, 2- driving mechanisms, 21- brshless DC motors, 22- planetary reducers, 23- corners slow down
Machine, 3- chain-drive mechanisms, 31- sprocket wheels one, 32- sprocket wheels two, 33- chains, 4- strainers, 41- bearings, 42- tightener sprockets,
43- tensioning shafts, 44- sliding blocks, 45- adjusting screws, 5- driving wheels, the first drive shafts of 6-, the second drive shafts of 7-, 8- shaft couplings, 9-
Bearing support block.
Specific implementation mode
Referring to Fig.1-4, embodiments of the present invention are illustrated.
A kind of four-wheel drive robot chassis of chain drive, including bottom plate 1 and four driving wheels 5, described four drives
The rectangular distribution of driving wheel 5 is arranged on the bottom plate 1, is respectively set in a pair of driving wheels 5 being diagonally distributed on the bottom plate 1
There is driving mechanism 2, chain-drive mechanism 3 is respectively arranged in two driving mechanisms 2, the chain-drive mechanism 3 drives
Another driving wheel 5 of the same side rotates.
Preferably, the driving mechanism 2 includes the brshless DC motor 21 set gradually, planetary reducer 22 and turns
Angle speed reducer 23 is connected with shaft coupling 8 on the transmission shaft of the corner speed reducer 23, and the other end of shaft coupling 8 is connected with first
The other end of drive shaft 6, first drive shaft 6 is connected on the driving wheel 5.
Preferably, the chain-drive mechanism 3 includes sprocket wheel 1, sprocket wheel 2 32 and chain 33, the sprocket wheel 1
Be arranged in first drive shaft 6, be connected with the second drive shaft 7 on the sprocket wheel 2 32, second drive shaft 7 it is another
One end is connected on the driving wheel 5.
Preferably, it is provided with strainer 4 on chain-drive mechanism 3, chain 33 is made to keep nervous shape in transmission process
State, the strainer 4 include bearing 41, tightener sprocket 42, tensioning shaft 43, sliding block 44 and adjusting screw 45, the bearing 41
It is fixed on the bottom plate 1, the tightener sprocket 42 is arranged on the tensioning shaft 43, the tensioning shaft 43 installation
On the sliding block 44, the sliding block 44 is slidably mounted on the bearing 41, and tune is provided on the sliding block 44
Screw 45 is saved, fastening round nut is provided on the tensioning shaft 43.
Preferably, it is driven to improve the stability in the first drive shaft 6 and 7 rotation process of the second drive shaft and extending first
The service life of moving axis 6 and the second drive shaft 7 is provided with bearing support in first drive shaft 6 and the second drive shaft 7
Seat 9, and deep groove ball bearing is provided in bearing support block 9, the load capacity of deep groove ball bearing is strong, can bear larger bear
It carries, ensures the normal operation of bearing.
Preferably, the end of second drive shaft 7 is provided with end shaft pressuring plate, is provided on the end shaft pressuring plate
Housing screw holds shaft pressuring plate and housing screw that sprocket wheel 2 32 can be prevented to be detached from the second drive shaft 7 in rotation process, improves chain
The job stability of transmission mechanism 3.
Preferably, to mitigate the weight of bottom plate 1 and improving the corrosion resistance of bottom plate 1, the bottom plate 1 closes for 6061 aluminium
The corrosion resistance of golden plate, 6061 aluminium alloy plates is good, and density is small.First drive shaft 6 and second drive shaft 7 are
40Cr steel, the sprocket wheel 1 and sprocket wheel 2 32 are 45 steel.
Preferably, the driving wheel 5 is vacuum rubber wheel, and the puncture resistance of vacuum rubber wheel is good, also with superelevation
Wearability, adhesive ability is strong, is conducive to damping, is suitable for more complex landform using vacuum rubber Lun Nengshi robots.
The operation principle on the four-wheel drive robot chassis of chain drive of the present invention：Start the brushless direct-current of driving mechanism 2
Motor 21 after the rotating speed of brshless DC motor 21 is once slowed down by planetary reducer 22, slows down by corner speed reducer 23,
The transmission shaft of corner speed reducer 23 is connected in the first drive shaft 6, and the first drive shaft 6 leads to shaft coupling 8 and corner speed reducer 23
It is driven axis connection, the rotation of the first drive shaft 6, the driving wheel 5 and sprocket wheel 1 being connected in the first drive shaft 6 are with the first driving
Axis 6 rotates, and sprocket wheel 1 drives chain 33 to operate, and sprocket wheel 2 32 is made to rotate, and sprocket wheel 2 32 drives the rotation of the second drive shaft 7, even
The driving wheel 5 being connected in the second drive shaft 7 rotates therewith, which travels forward, after starting driving mechanism 2, the two of homonymy
A driving wheel 5 rotates simultaneously；By controlling the rotation direction of the brshless DC motor 21 of driving mechanism 2, the present invention is realized
The forward or backward of device controls the velocity of rotation of the brshless DC motor 21 of two driving mechanisms 2, makes the driving of both sides respectively
The rotating speed of wheel 5 differs, and differential is presented in the driving wheel 5 of both sides, and the device is made to turn, and changes the direction of motion, by reasonably controlling
The rotating speed for making two driving mechanisms 2, can realize the device pivot turn.
Two sets of driving mechanisms being diagonally arranged of use of the present invention, by a set of link chain mechanism by two driving wheels of homonymy
It connects, is synchronized and driven by a set of driving mechanism, by controlling start and stop, rotating forward, the reversion of motor, machine is realized in both sides combination
Advance, retrogressing, the turning on people chassis.Driving mechanism in the present invention is using brshless DC motor, planetary reducing motor
With the combination of corner speed reducer, the differential of both sides wheel is controlled by controlling motor, realizes that robot any angle turns to.
Be provided with chain tensioning mechanism on chain, ensure the reasonable tension of chain, make the driving wheel of the same side two rotating forward, reversion and
When counter motion, keep moving synchronously.
The movement on the four-wheel drive robot chassis of chain drive of the present invention is flexible, and load capacity is strong, has stronger get over
Barrier ability, road surface adaptability is good, and turning radius is small, by controlling the differential of wheel, it can be achieved that any angle turns to.
Claims (10)
1. a kind of four-wheel drive robot chassis of chain drive, it is characterised in that：Including bottom plate (1) and four driving wheels (5),
The rectangular distribution of four driving wheels (5) is arranged on the bottom plate (1), in the driving wheel (5) that a pair is diagonally distributed
On be respectively arranged with driving mechanism (2), chain-drive mechanism (3) is respectively arranged in two driving mechanisms (2), it is described
Chain-drive mechanism (3) drives another driving wheel (5) rotation of the same side.
2. the four-wheel drive robot chassis of chain drive according to claim 1, it is characterised in that：The driving machine
Structure (2) includes the brshless DC motor (21), planetary reducer (22) and corner speed reducer (23) set gradually, the corner
Shaft coupling (8) is connected on the transmission shaft of speed reducer (23), the other end of the shaft coupling (8) is connected with the first drive shaft
(6), the other end of first drive shaft (6) is connected on the driving wheel (5).
3. the four-wheel drive robot chassis of chain drive according to claim 1, it is characterised in that：The chain drive
Mechanism (3) includes sprocket wheel one (31), sprocket wheel two (32) and chain (33), and the sprocket wheel one (31) is arranged to be driven described first
On moving axis (6), the second drive shaft (7) is connected on the sprocket wheel two (32), the other end of second drive shaft (7) is connected to
On the driving wheel (5).
4. the four-wheel drive robot chassis of chain drive according to claim 1, it is characterised in that：The chain drive
Mechanism (3) further includes the strainer (4) being arranged on chain (33).
5. the four-wheel drive robot chassis of chain drive according to claim 4, it is characterised in that：The tensioning device
Structure (4) includes bearing (41), tightener sprocket (42), tensioning shaft (43), sliding block (44) and adjusting screw (45), the bearing
(41) it is fixed on the bottom plate (1), the tightener sprocket (42) is arranged on the tensioning shaft (43),
On mandrel (43) the installation sliding block (44), the sliding block (44) is slidably mounted on the bearing (41), described
Sliding block (44) on be provided with adjusting screw (45).
6. the four-wheel drive robot chassis of chain drive according to claim 5, it is characterised in that：In the tensioning
Axis is provided with fastening round nut on (43).
7. the four-wheel drive robot chassis of chain drive according to claim 1, it is characterised in that：Described first
Bearing support block (9) is respectively arranged in drive shaft (6) and second drive shaft (7), the bearing support block (9) is interior
It is provided with deep groove ball bearing.
8. the four-wheel drive robot chassis of chain drive according to claim 1, it is characterised in that：Described second
The end of drive shaft (7) is provided with end shaft pressuring plate, and housing screw is provided on the end shaft pressuring plate.
9. the four-wheel drive robot chassis of chain drive according to claim 1, it is characterised in that：The driving wheel
(5) it is vacuum rubber wheel.
10. the four-wheel drive robot chassis of chain drive according to claim 1, it is characterised in that：Bottom plate (1) is
6061 aluminium alloy plates, first drive shaft (6) and second drive shaft (7) are 40Cr steel, the sprocket wheel one
(31) and sprocket wheel two (32) is 45 steel.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710693343 | 2017-08-14 | ||
| CN2017106933434 | 2017-08-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108407610A true CN108407610A (en) | 2018-08-17 |
Family
ID=63136519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810373962.XA Pending CN108407610A (en) | 2017-08-14 | 2018-04-24 | A kind of four-wheel drive robot chassis of chain drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108407610A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109435687A (en) * | 2018-10-29 | 2019-03-08 | 苏州履坦智能科技有限公司 | A kind of novel wheel-type vehicle multistage chain conveyer and steering mechanism |
| CN109552036A (en) * | 2018-10-29 | 2019-04-02 | 苏州履坦智能科技有限公司 | A kind of multistage chain-drive mechanism of wheeled vehicle |
| CN110073806A (en) * | 2019-06-14 | 2019-08-02 | 广东海洋大学 | It is a kind of for harvesting the device of pineapple automatically |
| CN111531522A (en) * | 2020-06-11 | 2020-08-14 | 南京聚特机器人技术有限公司 | Wheeled robot that patrols and examines in narrow space |
| CN112976006A (en) * | 2021-03-05 | 2021-06-18 | 上海电器科学研究所（集团）有限公司 | Track inspection robot for urban comprehensive pipe gallery |
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| CN106711823A (en) * | 2017-03-22 | 2017-05-24 | 四川阿泰因机器人智能装备有限公司 | Power polling robot |
| CN206246621U (en) * | 2016-11-08 | 2017-06-13 | 天奇自动化工程股份有限公司 | Stretcher |
| CN208602322U (en) * | 2017-08-14 | 2019-03-15 | 四川阿泰因机器人智能装备有限公司 | A kind of four-wheel drive robot chassis of chain drive |
-
2018
- 2018-04-24 CN CN201810373962.XA patent/CN108407610A/en active Pending
Patent Citations (10)
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| JP2000219132A (en) * | 1999-01-29 | 2000-08-08 | Sumikin Kansai Kogyo Kk | Small curved line passing carrier truck |
| JP2011105029A (en) * | 2009-11-12 | 2011-06-02 | Ihi Aerospace Co Ltd | Traveling robot |
| CN101797936A (en) * | 2010-03-26 | 2010-08-11 | 浙江大学 | Wheel swinging-type compound drive device for miniature mobile robot |
| JP2012125911A (en) * | 2010-11-26 | 2012-07-05 | Nsk Ltd | Legged robot |
| CN201881894U (en) * | 2010-12-15 | 2011-06-29 | 浙江中控研究院有限公司 | Four-wheel differential drive type travel mechanism |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109435687A (en) * | 2018-10-29 | 2019-03-08 | 苏州履坦智能科技有限公司 | A kind of novel wheel-type vehicle multistage chain conveyer and steering mechanism |
| CN109552036A (en) * | 2018-10-29 | 2019-04-02 | 苏州履坦智能科技有限公司 | A kind of multistage chain-drive mechanism of wheeled vehicle |
| CN109552036B (en) * | 2018-10-29 | 2021-07-06 | 苏州履坦智能科技有限公司 | Multistage chain transmission mechanism for wheeled vehicle |
| CN109435687B (en) * | 2018-10-29 | 2021-10-15 | 苏州履坦智能科技有限公司 | Novel multistage chain transmission and steering mechanism for wheeled vehicle |
| CN110073806A (en) * | 2019-06-14 | 2019-08-02 | 广东海洋大学 | It is a kind of for harvesting the device of pineapple automatically |
| CN110073806B (en) * | 2019-06-14 | 2023-07-14 | 广东海洋大学 | A device for automatically harvesting pineapples |
| CN111531522A (en) * | 2020-06-11 | 2020-08-14 | 南京聚特机器人技术有限公司 | Wheeled robot that patrols and examines in narrow space |
| CN112976006A (en) * | 2021-03-05 | 2021-06-18 | 上海电器科学研究所（集团）有限公司 | Track inspection robot for urban comprehensive pipe gallery |
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Application publication date: 20180817 |