CN109969276A - A kind of multiduty independent track drive unit - Google Patents
A kind of multiduty independent track drive unit Download PDFInfo
- Publication number
- CN109969276A CN109969276A CN201711455644.XA CN201711455644A CN109969276A CN 109969276 A CN109969276 A CN 109969276A CN 201711455644 A CN201711455644 A CN 201711455644A CN 109969276 A CN109969276 A CN 109969276A
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- China
- Prior art keywords
- module
- gear
- spur gear
- multiduty
- crawler belt
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- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 210000001226 toe joint Anatomy 0.000 claims description 12
- 239000012467 final product Substances 0.000 claims description 2
- 238000003801 milling Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Gear Transmission (AREA)
Abstract
The application belongs to driving unit, and in particular to a kind of multiduty independent track drive unit.A kind of multiduty independent track drive unit, including drive module, swing module and crawler belt, wherein drive module and swing module are hinged in end, crawler belt is along direction of motion covering drive module and swings module, outer surface pinch rollers are being set close to the position of drive module and swing module junction, crawler belt is passed through from the lower section of outer surface pinch rollers.The remarkable result of the application is: providing a kind of independent caterpillar driving unit to serve many purposes, the characteristics of making it have compact dimensions, having auxiliary joint, is deformable, can combine, both be adapted to there are Turbogrid plates, small stair, small holes even stair nuclear island ring corridor region, also it is adapted to the small spaces such as small pipeline region and channel bend, can be applicable to the like environment of other occasions.
Description
Technical field
The application belongs to driving unit, and in particular to a kind of multiduty independent track drive unit.
Background technique
After nuclear power station enables, radioactive environment is just in inside nuclear island always, with the increase of nuclear power station runing time, is needed
Numerous key positions is detected, be overhauled；When nuclear power station meets with an accidet, it is also necessary to the region that can not be reached to personnel
It is detected.With the development of specialized robot technology, these work more and more are gone to complete by robot.
Caterpillar type robot is one of mobile robot, and with power abundance, longer performance is good, and landform adapts to
The features such as ability is strong can be used as basic platform, stays in various detecting instruments, sensor or camera and enters in nuclear power station
Each position detected, overhauled, detected.For example, for there are Turbogrid plates, small stair, the small holes even nuclear islands of stair
Ring corridor region needs caterpillar robot to have auxiliary joint to realize obstacle crossing function；For the small spaces such as small pipeline region,
It needs the outer dimension of robot small, or even needs body deformable, to adapt to channel bend.
But existing caterpillar type robot, track drive structure function are more single；Crawler belt with auxiliary joint
Driving structure has preferable obstacle crossing function, but often flat between the motor and crawler belt rotary shaft of this kind of track drive structure
Row arrangement, width dimensions are larger, can not be adapted to the narrow regions such as small pipeline；The lesser track drive structure of structure size,
Though there is auxiliary joint, protrusion can be straightened in crawler belt when joint is swung, and be unfavorable for through channel bend, robot itself can not also weigh
Combination nova.
Summary of the invention
The application in view of the drawbacks of the prior art, provides a kind of multiduty independent track drive unit.
The application is achieved in that a kind of multiduty independent track drive unit, including drive module, swing module
And crawler belt, wherein drive module and swing module are hinged in end, and crawler belt is along direction of motion covering drive module and swings module,
It close to drive module and is swinging the position of module junction outer surface pinch rollers is set, crawler belt is from outer surface pinch rollers
Lower section passes through.
A kind of multiduty independent track drive unit as described above, wherein the drive module includes as dynamic
The motor A of power core, motor A are fixed on side plate by motor mount, and the output shaft and bevel gear A toe joint of motor A bore tooth
Wheel A is successively fixed on side plate with spur gear A, spur gear B toe joint, spur gear A by bevel gear shaft, spur gear B and spur gear C
For in-line gears, for spur gear C successively with spur gear D and spur gear E toe joint, spur gear E and driving Athey wheel are in-line gears, are driven
Dynamic Athey wheel and crawler belt toe joint, and drive Athey wheel that can drive crawler belt, drive module further includes being separately positioned on side plate two
The support Athey wheel A and support Athey wheel B, the support Athey wheel A and support Athey wheel B at end are used to support crawler belt, are internal
Fixed gear is arranged in the end of side plate in gear assembly slot milling, which is used to connect with swing module, and fixed gear passes through
Hinging rotary axis is fixed on side plate, and outer surface pinch rollers are arranged in the position close to fixed gear.
A kind of multiduty independent track drive unit as described above, wherein the swing module includes as dynamic
The motor B of power core, motor B are arranged in be swung in the swing shell that side plate forms by two, the output shaft of motor B and bevel gear
C toe joint, bevel gear C and bevel gear D toe joint, bevel gear D and spur gear F are in-line gears, and common axis is rotary shaft, spur gear
F is engaged with fixed gear, because fixed gear is fixed, so spur gear F drives the entire module that swings to rotate around hinging rotary axis,
Sliding slot is set far from one end of spur gear F swinging module, tensioning block is set in the sliding slot, and tensioning block can be slided in sliding slot
Dynamic, setting holds out against spring and support Athey wheel module C below tensioning block.
A kind of multiduty independent track drive unit as described above, wherein further include the connection that several sizes do not wait
Plate.
A kind of multiduty independent track drive unit as described above, wherein the connecting plate is wide plate.
A kind of multiduty independent track drive unit as described above, wherein the connecting plate is fillet connecting plate,
And connecting plate is angled when connecting with two driving units, final product cross section is V-shaped.
The remarkable result of the application is: providing a kind of independent caterpillar driving unit to serve many purposes, makes it have
Compact dimensions have auxiliary joint, deformable, the characteristics of can combining, and have both been adapted to that there are Turbogrid plates, small stair, small
Hole even the nuclear island ring corridor region of stair are also adapted to the small spaces such as small pipeline region and channel bend, also
It can be adapted for the like environment of other occasions.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the drive mechanism schematic diagram of drive module；
Fig. 3 is the structural schematic diagram for swinging module；
Fig. 4 is the schematic diagram that the present invention is in deformation state；
One embodiment when Fig. 5 is obstacle detouring of the present invention；
Fig. 6 is one embodiment that the present invention is used for small pipeline；
Fig. 7 is one embodiment when the present invention passes through channel bend.
In figure: 1. drive modules, 2. swing modules, 3. crawler belts, 4. connecting plate A, 5. connecting plate B, 6. connecting plate C, and 7.
Rank, 8. small pipelines, 9. channel bends, 1001. side plates, 1002. motor A, 1003. motor mounts, 1004. bevel gear A,
1005. bevel gear B, 1006. bevel gear shafts, 1007. spur gear A, 1008. spur gear B, 1009. spur gear C, 1010. spur gears
D, 1011. driving Athey wheels, 1012. spur gear E, 1013. support Athey wheel A, 1014. support Athey wheel B, 1015. outer surfaces
Pinch rollers, 1016. hinging rotary axis, 1017. fixed gears, 2001. swing shells, 2002. swing side plates, 2003. motor B,
2004. bevel gear C, 2005. bevel gear D, 2006. rotary shafts, 2007. spur gear F, 2008. tensioning blocks, 2009. sliding slots,
2010. hold out against spring, 2011. support Athey wheel module C.
Specific embodiment
It is hinged relationship between drive module 1 and swing module 2 in Fig. 1, swinging module 2 can exist around hinge joint
It is rotated within the scope of certain angle, crawler belt 3 gets up drive module 1 and swing 2 integral coating of module, and crawler belt 3 is in total
Middle position.
1. drive module in figure, 2. swing modules, 3. crawler belts, 4. connecting plate A, 5. connecting plate B, 6. connecting plate C, and 7.
Rank, 8. small pipelines, 9. channel bends, 1001. side plates, 1002. driving motors, 1003. motor mounts, 1004. bevel gears
A, 1005. bevel gear B, 1006. bevel gear shafts, 1007. spur gear A, 1008. spur gear B, 1009. spur gear C, 1010. straight-tooth
D is taken turns, 1011. driving Athey wheels, 1012. spur gear E, 1013. support Athey wheel modules As, 1014. support Athey wheel module B,
1015. outer surface pinch rollers, 1016. hinging rotary axis, 1017. fixed gears.
The drive mechanism of driver module in Fig. 2, motor A1002 are mounted on side plate 1001 by motor mount 1003
On, bevel gear A1004 is directly installed on motor A1002, and under the driving of motor A, bevel gear A1004 imparts power to cone
Gear B 1005, bevel gear B1005 impart power to spur gear A1007 by rotary shaft 1006, and spur gear A1007 is by power
It is coaxially arranged to pass to spur gear B1008, spur gear C1009 and spur gear B1008, can synchronous rotary, pass through spur gear C1009
Spur gear D1010 is transmitted drive force to, spur gear D1010 imparts power to spur gear E1012, and spur gear 1012 is in two
Among a driving Athey wheel 1011, two driving Athey wheels 1011 and spur gear E1012 are coaxially arranged, can be driven with synchronous rotary
Dynamic Athey wheel 1011 can drive crawler belt 3 to move；Support Athey wheel modules A 1013 and support Athey wheel module B1014 are used to support
The movement of crawler belt 3 follows the movement of crawler belt 3 to carry out driven, and outer surface pinch rollers 1015 are used to push down the outer surface of crawler belt 3,
Hinging rotary axis 1016 and fixed gear 1017 are fixed relative to side plate 1001；
By a series of above power transmissions, the rotary motion of motor A1002 can be converted into the power of crawler belt 3, in turn
Drive entire unit motion.
Fig. 3 is the structural schematic diagram for swinging module, and it is the basis for swinging module 2 that shell 2001 is swung in figure, swings side plate
2002 are located by connecting with shell 2001 is swung, and motor B2003, which is mounted on, to be swung in shell 2001, and bevel gear C2004 is directly fixed
On motor B2003, the power of motor B2003 is passed to bevel gear D2005 by spur gear C2004, and bevel gear D2005 passes through rotation
Shaft 2006 imparts power to spur gear F2007, and spur gear F2007 is engaged with fixed gear 1017, because fixed gear 1017 is fixed
It is motionless, so spur gear F2007 drives the entire module 2 that swings to rotate around hinging rotary axis 1016, by controlling motor B2003
Rotation angle, can control swing module 2 hunting range；Tensioning block 2008 can slide back and forth in sliding slot 2009,
2 support Athey wheel modules As 1013 are installed on tight block 2008, meanwhile, tensioning block 2008 holds out against spring 2010 by two and withstands,
Supporting Athey wheel module C2011 and support Athey wheel modules A 1013, support crawler belt 3 is held out against when swinging the swing of module 2 jointly
Spring 2010 supports tensioning block 2008 to guarantee that crawler belt 3 is in tensioning state always.
In Fig. 4, swings module 2 and swung, form an angle with drive module 1, existed by tensioning block 2008
Slidable adjustment in sliding slot 2009, it is ensured that crawler belt 3 is tensioned, and by the pressuring action of outer surface pinch rollers 1015, carries out
Still drive module 1 is coated on 3 and swings the periphery of module 2, without exceptionally straight, protrusion.
In Fig. 5, connecting plate A4 connects two drive modules 1 side by side in parallel, swings module 2 and drive module 1 forms one
A angle swings the supported underneath of module 2 on step 7, before the synchronous hunting and drive module 1 for swinging module 2
Into may be implemented whole to climb up step.
In Fig. 6, connecting plate B5 is integral with certain inclination angle connection by two drive modules 1, swings module 2 and driving
Module 1 draws a straight line, and the outer surface of crawler belt 3 is contacted with the inner wall of small pipeline 8, supports to being integrally formed.
In Fig. 7, connecting plate C6 connects two drive modules 1 side by side in parallel, swings shape between module 2 and drive module 1
At an angle, it to adapt to the tendency of channel bend 9, is contacted below the outer surface of crawler belt 3 with the inner surface of channel bend 9, band
Dynamic entirety moves in channel bend 9.In detail in this figure as can be seen that if crawler belt 3 is taut without outer surface pinch rollers 1015
Tightly, elbow place may not crossed.
Claims (6)
1. a kind of multiduty independent track drive unit, it is characterised in that: including drive module (1), swing module (2) and carry out
Band (3), wherein drive module (1) and swing module (2) are hinged in end, and crawler belt (3) covers drive module (1) along the direction of motion
With swing module (2), outer surface pinch rollers are being set close to the position of drive module (1) and swing module (2) junction
(1015), crawler belt (3) is passed through from the lower section of outer surface pinch rollers (1015).
2. a kind of multiduty independent track drive unit as described in claim 1, it is characterised in that: the drive module
It (1) include motor A (1002) as power core, motor A (1002) is fixed on side plate by motor mount (1003)
(1001) on, the output shaft of motor A (1002) and bevel gear A (1004) toe joint, bevel gear A (1004) successively with spur gear A
(1007), spur gear B (1008) toe joint, spur gear A (1007) are fixed on side plate (1001) by bevel gear shaft (1006), directly
Gear B (1008) and spur gear C (1009) are in-line gears, spur gear C (1009) successively with spur gear D (1010) and spur gear
E (1012) toe joint, spur gear E (1012) and driving Athey wheel (1011) are in-line gears, drive Athey wheel (1011) and crawler belt
(3) toe joint, and drive Athey wheel (1011) that can drive crawler belt (3), drive module (1) further includes being separately positioned on side plate
(1001) the support Athey wheel A (1013) at both ends and support Athey wheel B (1014), support Athey wheel A (1013) and support are carried out
Belt wheel B (1014) is used to support crawler belt (3), and for internal gear assembly slot milling, in the end of side plate (1001), setting is fixed
Gear (1017), the fixed gear (1017) are used to connect with swing module (2), and fixed gear (1017) passes through hinging rotary axis
(1016) it is fixed on side plate (1001), outer surface pinch rollers (1015) is set in the position close to fixed gear (1017).
3. a kind of multiduty independent track drive unit as claimed in claim 1 or 2, it is characterised in that: the swing
Module (2) includes the motor B (2003) as power core, and motor B (2003) is arranged by two swing side plate (2002) groups
At swing shell (2001) in, the output shaft of motor B (2003) and bevel gear C (2004) toe joint, bevel gear C (2004) and cone
Gear D (2005) toe joint, bevel gear D (2005) and spur gear F (2007) are in-line gears, and common axis is rotary shaft
(2006), spur gear F (2007) is engaged with fixed gear (1017), because fixed gear (1017) is fixed, so spur gear F
(2007) it drives entire swing module (2) to rotate around hinging rotary axis (1016), is swinging module (2) far from spur gear F
(2007) sliding slot (2009) are arranged in one end, and tensioning block (2008) are arranged in the sliding slot (2009), and tensioning block (2008) can be with
The sliding in sliding slot (2009), setting holds out against spring (2010) and support Athey wheel module C below tensioning block (2008)
(2011)。
4. a kind of multiduty independent track drive unit as described in claim 1, it is characterised in that: further include several sizes
Not equal connecting plate.
5. multiduty independent track drive unit as claimed in claim 4 a kind of, it is characterised in that: the connecting plate is
Wide plate.
6. multiduty independent track drive unit as claimed in claim 4 a kind of, it is characterised in that: the connecting plate is
Fillet connecting plate, and when connecting plate is connect with two driving units, is angled, final product cross section is V-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455644.XA CN109969276A (en) | 2017-12-27 | 2017-12-27 | A kind of multiduty independent track drive unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455644.XA CN109969276A (en) | 2017-12-27 | 2017-12-27 | A kind of multiduty independent track drive unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109969276A true CN109969276A (en) | 2019-07-05 |
Family
ID=67074224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711455644.XA Pending CN109969276A (en) | 2017-12-27 | 2017-12-27 | A kind of multiduty independent track drive unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109969276A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112356935A (en) * | 2020-11-26 | 2021-02-12 | 河北工业大学 | Load dispersion wall-climbing robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2652765Y (en) * | 2003-09-26 | 2004-11-03 | 吉林大学 | Changeable crawler walking machinery |
| CN200954839Y (en) * | 2006-09-01 | 2007-10-03 | 孙亚新 | Modularized electric caterpillar |
| KR100835952B1 (en) * | 2008-01-16 | 2008-06-09 | (주)엔티렉스 | Independence driving module for robot |
| CN201186680Y (en) * | 2008-04-18 | 2009-01-28 | 中国矿业大学 | Swinging rod type wheel track combined robot |
| CN103318288A (en) * | 2013-06-03 | 2013-09-25 | 上海大学 | Synchronous belt driving type full tracked robot |
| CN103481957A (en) * | 2013-09-05 | 2014-01-01 | 中国矿业大学 | W-shaped caterpillar hanger bracket for caterpillar movable platform |
| CN103672289A (en) * | 2013-12-17 | 2014-03-26 | 王军 | Pipeline robot with adjustable crawler belt angle |
| CN204184483U (en) * | 2014-11-18 | 2015-03-04 | 中国人民解放军91872部队青岛研究室 | For the barrier-surpassing robot of narrow space |
| CN206475957U (en) * | 2016-12-28 | 2017-09-08 | 深圳供电局有限公司 | Modularized robot suitable for narrow space |
| CN207860304U (en) * | 2017-12-27 | 2018-09-14 | 核动力运行研究所 | A kind of multiduty independent track drive unit |
-
2017
- 2017-12-27 CN CN201711455644.XA patent/CN109969276A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2652765Y (en) * | 2003-09-26 | 2004-11-03 | 吉林大学 | Changeable crawler walking machinery |
| CN200954839Y (en) * | 2006-09-01 | 2007-10-03 | 孙亚新 | Modularized electric caterpillar |
| KR100835952B1 (en) * | 2008-01-16 | 2008-06-09 | (주)엔티렉스 | Independence driving module for robot |
| CN201186680Y (en) * | 2008-04-18 | 2009-01-28 | 中国矿业大学 | Swinging rod type wheel track combined robot |
| CN103318288A (en) * | 2013-06-03 | 2013-09-25 | 上海大学 | Synchronous belt driving type full tracked robot |
| CN103481957A (en) * | 2013-09-05 | 2014-01-01 | 中国矿业大学 | W-shaped caterpillar hanger bracket for caterpillar movable platform |
| CN103672289A (en) * | 2013-12-17 | 2014-03-26 | 王军 | Pipeline robot with adjustable crawler belt angle |
| CN204184483U (en) * | 2014-11-18 | 2015-03-04 | 中国人民解放军91872部队青岛研究室 | For the barrier-surpassing robot of narrow space |
| CN206475957U (en) * | 2016-12-28 | 2017-09-08 | 深圳供电局有限公司 | Modularized robot suitable for narrow space |
| CN207860304U (en) * | 2017-12-27 | 2018-09-14 | 核动力运行研究所 | A kind of multiduty independent track drive unit |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112356935A (en) * | 2020-11-26 | 2021-02-12 | 河北工业大学 | Load dispersion wall-climbing robot |
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