CN110450869A - A kind of adaptive drive lacking caterpillar robot - Google Patents
A kind of adaptive drive lacking caterpillar robot Download PDFInfo
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- CN110450869A CN110450869A CN201910711377.0A CN201910711377A CN110450869A CN 110450869 A CN110450869 A CN 110450869A CN 201910711377 A CN201910711377 A CN 201910711377A CN 110450869 A CN110450869 A CN 110450869A
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- crawler belt
- planet
- wheel
- robot
- driving shaft
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 238000013016 damping Methods 0.000 claims description 10
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 description 8
- 230000009194 climbing Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000005265 energy consumption Methods 0.000 description 3
- 239000002360 explosive Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000004973 motor coordination Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
Abstract
The invention discloses a kind of adaptive drive lacking caterpillar robots, comprising: robot car body, the first main crawler belt, the second main crawler belt, the first planet crawler belt, the second planet crawler belt, the first driving shaft, the second driving shaft.First main crawler belt, the second main crawler belt, the first planet crawler belt, the second planet crawler belt are respectively symmetrically mounted on the two sides of robot car body, and the first, second planet crawler belt is mounted on the front end of robot.The power that first motor exports is transmitted on the first main crawler belt and the first planet crawler belt by the first driving shaft, and the power that the second motor exports is transmitted on the second main crawler belt and the second planet crawler belt by the second driving shaft, drives robot motion；In ground grading, front end is adjacent to ground as crawler belt and uses first, second planet crawler belt when driving, it can be overturn around the first, second driving shaft when encountering the obstacles such as step and realize passive adaptive obstacle detouring, only the functions such as traveling, steering, obstacle detouring can be realized by two motor drivens in the robot, alleviate own wt, reduce more Downtime, control cost is reduced, cruise duration is increased.
Description
Technical field
The invention belongs to robotic technology fields, are related to ground mobile robot, in particular to a kind of adaptive drive lacking
Caterpillar robot.
Background technique
Caterpillar mobile robot is because contact area is big during exercise, grounding pressure is small, turning radius is small, stable for it
The features such as and widely studied, and gradually be applied to anti-terrorism, it is explosive and it is military investigation etc. occasions.Patent
US6263989 and CN108216400A individually discloses a kind of caterpillar type robot, and two caterpillar robots are in the main shoe in its front end
The two sides of band are mounted with two swing arm crawler belts, are used to auxiliary robot obstacle detouring, respectively drive crawler belt and swing arm motion by motor,
Improve the passability and obstacle climbing ability of robot；It needs to put using remote control equipment control robot when two kinds of caterpillar robot obstacle detourings
Arm rotation, is adjusted to certain posture auxiliary robot and climbs up obstacle.On the one hand this obstacle detouring mode needs three motor coordination works
Make, increases the overall weight and energy consumption of robot；On the other hand, need to rely on sensor detection when encountering obstacle,
And by algorithm or it is artificial adjust robot pose, control is complicated, and more Downtime is longer.
Summary of the invention
The purpose of the present invention is to provide a kind of caterpillar robots of the adaptive obstacle detouring of drive lacking, reduce caterpillar robot
Driving motor quantity reduces caterpillar robot own wt, when caterpillar robot being allowed to have more superior obstacle climbing ability, continuation of the journey
Between, while passively adaptive landform can realize fast obstacle, control cost is reduced, reduces and gets over Downtime.
To solve the above problems, the invention provides the following technical scheme: a kind of adaptive drive lacking caterpillar robot includes:
Robot car body, the first main crawler belt, the second main crawler belt, the first planet crawler belt, the second planet crawler belt, the first driving shaft, second is main
Moving axis；The power that first motor exports is transmitted on the first main crawler belt and the first planet crawler belt by the first driving shaft, and second actively
The power that second motor exports is transmitted on the second main crawler belt and the second planet crawler belt by axis, drives robot motion；The first,
Two main crawler belts are driven by the first, second driving shaft respectively；First, second planet crawler belt is in drive lacking state；When first, second
In ground grading, front end is adjacent to ground as crawler belt and uses planet crawler belt when driving, can be around when encountering the obstacles such as step
One, the overturning of the second driving shaft realizes that passive adaptive obstacle detouring, the robot only can be realized traveling by two motor drivens, turn
To functions such as, obstacle detourings.
Robot car body includes chassis, covers on the shell on chassis, the bearing block being mounted on chassis, motor cabinet, and first
Bevel gear, second bevel gear, third hand tap gear and the 4th bevel gear；First, second motor is separately mounted on two motor cabinets；
First, second bevel gear is connected on the output shaft of the first, second motor, and by third, the 4th bevel gear by power
Pass to the first, second driving shaft.
The main crawler belt of robot first, the second main crawler belt are mirror, are symmetrically mounted on the left and right sides on robot chassis；
First main crawler belt includes: the first driving wheel, main crawler belt wheel carrier, driven wheel, damping, carrier wheel mechanism, strainer；Main shoe
The side on robot chassis is mounted on wheel carrier, crawler belt wheel carrier has front fork and rear fork, the first driving wheel is installed in front fork, after
Fork is equipped with driven wheel, is equipped with carrier wheel mechanism, damping between crawler belt wheel carrier front and rear fork；First driving wheel is mounted on
On first driving shaft, driven wheel is mounted on follower shaft, and follower shaft is mounted in the waist-shaped hole on crawler belt wheel carrier rear fork, In
Crawler belt wheel carrier rear fork two sides are equipped with strainer, realize the elastic adjustment of crawler belt；The first pin shaft, the second pin shaft of damping
It is installed on crawler belt wheel carrier；The upper end of damper is mounted on the second pin shaft, and damper lower end is mounted on bar, the upper end of bar
It is mounted on the first pin shaft；Third pin shaft is mounted in the corresponding hole in bar lower end, is equipped with Athey wheel at third pin shaft both ends.
First planet crawler belt, the second planet crawler belt are mounted on the first driving shaft, on the second driving shaft, to prevent the first planet
Occur interfering or rub between the first main crawler belt, the second main crawler belt when crawler belt, the second planet caterpillar drive, in the first main crawler belt
Thrust bearing is installed between the first planet crawler belt, the second main crawler belt and the second planet crawler belt.
First planet crawler belt includes: planet driving wheel, the first planetary gear, the second planetary gear, planetary wheel carrier, mandril, crawler belt,
First, second planetary gear is separately mounted to the two sides of planet driving wheel, and the axis of three wheels is generally aligned in the same plane, crawler belt peace
On the outside of three wheels；Planet driving wheel is mounted on driving shaft, and the first, second planetary gear is separately mounted to first, second
On planet wheel spindle, the first, second planetary gear is driven wheel, is installed between the first, second planetary gear and the first, second planet wheel spindle
There is bearing；Planet driving wheel, the first planetary gear, the second planetary gear two sides are fixed using planetary wheel carrier；For prevent planetary wheel carrier with
Friction is generated between first driving shaft, and flange bearing is installed between planetary wheel carrier and the first driving shaft；First, second planet
Wheel shaft is mounted in the waist type groove at planetary wheel carrier both ends, and the washer of tensioning bolt one end is covered on the first planet wheel spindle, is adjusted
Nut moves planet wheel spindle, adjusts the elastic of crawler belt；Mandril is installed between the planetary wheel carrier of planet driving wheel two sides,
For reinforcing planet crawler belt.
The beneficial effect of the application is mainly manifested in: first motor, the second motor transfer power to the first driving shaft,
On two driving shafts, first driving shaft drives the first main crawler belt, the first planet crawler belt, and the second driving shaft drives the second main shoe
Band, the second planet crawler belt make robot generate movement.Entire caterpillar robot only need two motors can be realized advance, after
It moves back, turn to, the functions such as obstacle detouring, motor usage quantity reduces the overall weight and energy consumption for reducing robot, helps to mention
Rise the course continuation mileage of robot；Adaptive obstacle climbing ability helps to reduce the difficulty of control algolithm and the tired journey of operator
Degree, reduces more Downtime.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
Other obvious modes of texturing are obtained according to these attached drawings.
A kind of overall structure figure of adaptive drive lacking caterpillar robot of Fig. 1.
A kind of kind of drive schematic diagram of adaptive drive lacking caterpillar robot of Fig. 2.
A kind of main pedrail mechanism schematic diagram of adaptive drive lacking caterpillar robot of Fig. 3.
A kind of strainer schematic diagram of adaptive drive lacking caterpillar robot of Fig. 4.
A kind of damping schematic diagram of adaptive drive lacking caterpillar robot of Fig. 5.
A kind of explosive view of the planet pedrail mechanism of adaptive drive lacking caterpillar robot of Fig. 6.
A kind of adaptive drive lacking caterpillar robot of Fig. 7 ascends the process schematic of step under planet crawler belt auxiliary.
A kind of schematic diagram that adaptive drive lacking caterpillar robot is run in continuous step of Fig. 8.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
As depicted in figs. 1 and 2, adaptive drive lacking caterpillar robot includes: robot car body (1), the first main crawler belt
(2), the second main crawler belt (3), the first planet crawler belt (4), the second planet crawler belt (5), the first driving shaft (6), the second driving shaft
(7)。
As shown in Fig. 2, the first main crawler belt (2), the second main crawler belt (3), the first planet crawler belt (4), the second planet crawler belt (5)
The two sides of robot car body (1) are mounted on, the first planet crawler belt (4), the second planet crawler belt (5) are mounted on the front end of robot；
The power that the first motor (1-1) installed on robot car body (1) exports is transmitted to the first cone by first driving shaft (6)
Gear (1-8) and third hand tap gear (1-7), and it is further transferred to the first driving wheel (2-1) and first of the first main crawler belt (2)
On the planet driving wheel (4-1) of planet crawler belt (4)；The power that similarly the second driving shaft (7) exports the second motor (1-2) transmits
Onto the second main crawler belt (3) and the second planet crawler belt (5), robot motion is driven；The main crawler belt of described first (2), the second master
Crawler belt (3) respectively needs a driving, respectively by the first driving shaft (6), the second driving shaft (7) Complete Bind；The first row
Star crawler belt (4), the second planet crawler belt (5) respectively there are two freedom degree, need two drivings, pass through the first driving shaft (6), the respectively
Two driving shafts (7) constrain one degree of freedom, another freedom degree is not restrained, and mechanism is in drive lacking state；First planet is carried out
Front end is adjacent to ground as crawler belt and uses when driving in ground grading for band (4), the second planet crawler belt (5), hinders when encountering step etc.
Adaptive obstacle detouring can be realized around the first driving shaft (6), the second driving shaft (7) overturning when hindering, the robot is only by two motors
The functions such as traveling, steering, obstacle detouring can be realized in driving.
As shown in Fig. 2, robot car body (1) includes vehicle body chassis of robot (1-3), the shell (1-4) on chassis is covered on,
The bearing block (1-5) being mounted on chassis (1-3), motor cabinet (1-6), first bevel gear (1-8), second bevel gear (1-10),
Third hand tap gear (1-7) and the 4th bevel gear (1-9)；There are two the motor cabinet (1-6) is total, it is mounted on robot chassis
On (1-3), first motor (1-1), the second motor (1-2), the first bevel gear (1- are separately installed on two motor cabinets
8), it is defeated by flat key connection to be separately mounted to first motor (1-1), the front end of the second motor (1-2) for second bevel gear (1-10)
On shaft, third hand tap gear (1-7), the 4th bevel gear (1-9) are separately mounted to the first driving shaft (6), the by flat key connection
On two driving shafts (7), first motor (1-1), the first bevel gear (1-8) on the second motor (1-2) output shaft, second bevel gear
(1-10) respectively with third hand tap gear (1-7), the 4th bevel gear (1-9) phase on the first driving shaft (6), the second driving shaft (7)
Power transmission is realized in mutually engagement；There are four the bearing blocks (1-5), is installed on robot chassis (1-3), for solid
Fixed first driving shaft (6), the second driving shaft (7).
As shown in Figure 1, the first main crawler belt (2), the second main crawler belt (3) are mirror, it is mounted on robot chassis (1-3)
The left and right sides；As shown in figure 3, the first main crawler belt (2) includes: the first driving wheel (2-1), main crawler belt wheel carrier (2-2), driven wheel
(2-3), damping (2-4), carrier wheel mechanism (2-5), strainer (2-6)；Main crawler belt wheel carrier (2-2) is installed by nut
In the side of robot chassis (1-3), crawler belt wheel carrier (2-2) has front fork and rear fork, and the first driving wheel (2- is equipped in front fork
1), rear fork is equipped with driven wheel (2-3), is equipped with carrier wheel mechanism (2-5), damping between crawler belt wheel carrier (2-2) front and rear fork
Mechanism (2-4)；First driving wheel (2-1) is mounted on the first driving shaft (6), the first driving wheel (2-1) and the first driving shaft (6)
Between by flat key connect, sleeve is installed in the two sides the first driving wheel (2-1), axially position is carried out to it；Driven wheel (2-3)
It is mounted on follower shaft (2-7), is connected between driven wheel (2-3) and follower shaft (2-7) by bearing, follower shaft (2-
7) it is mounted in the waist-shaped hole (2-2-1) on crawler belt wheel carrier (2-2) rear fork,
As shown in figure 4, strainer (2-6) is installed in crawler belt wheel carrier rear fork two sides, the tensioning of the strainer (2-6)
Washer on bolt (2-6-1) is mounted on follower shaft, and bolt is mounted in the through-hole in main crawler belt wheel carrier Rear Ends/Dropouts portion, is passed through
Adjusting nut (2-6-2) is moved forward and backward driven wheel (2-3), realizes the elastic adjustment of crawler belt；
As shown in figure 5, the first pin shaft (2-4-1) of damping (2-4), the second pin shaft (2-4-2) are installed in crawler belt
On wheel carrier (2-2), pin shaft both ends are fixed by circlip；The upper end of damper (2-4-3) is mounted on the second pin shaft (2-4-2),
Two sides are positioned by sleeve, and the lower end damper (2-4-3) is mounted on bar (2-4-6), and the upper end of bar (2-4-6) is mounted on first
On pin shaft (2-4-1), the bar two sides (2-4-6) are positioned by sleeve；Third pin shaft (2-4-5) is mounted on the lower end bar (2-4-6) phase
In the hole answered, Athey wheel (2-4-4) is installed at the both ends third pin shaft (2-4-5), to keep Athey wheel (2-4-4) rotation smooth,
Bearing is installed between Athey wheel (2-4-4) and third pin shaft (2-4-5), utilizes circlip in the outside of Athey wheel (2-4-5)
It is fixed.
As shown in Fig. 2, the first planet crawler belt (4), the second planet crawler belt (5) are mounted on the first driving shaft (6), second actively
On axis (7), for prevent the first planet crawler belt (4), the second planet crawler belt (5) movement when with the first main crawler belt (2), the second main crawler belt
(3) occur interfering or rubbing between, in the first main crawler belt (2) and the first planet crawler belt (4), the second main crawler belt (3) and the second row
Thrust bearing (8) are installed between star crawler belt (5).
As shown in Figure 2 and Figure 6, the first planet of robot crawler belt (4), the second planet crawler belt (5) are mirror, the first row
Star crawler belt (4) includes: planet driving wheel (4-1), the first planetary gear (4-2-1), the second planetary gear (4-2-2), planetary wheel carrier (4-
9), mandril (4-3), crawler belt, the first planetary gear (4-2-1), the second planetary gear (4-2-2) are separately mounted to planet driving wheel (4-
1) two sides, and the axis of three wheels is generally aligned in the same plane, crawler belt is mounted on the outside of three wheels；The planet driving wheel
(4-1) is mounted on driving shaft (6), is connected by flat key therebetween；First planetary gear (4-2-1), the second planet
Wheel (4-2-2) is separately mounted to the first planet wheel spindle (4-4-1), on the second planet wheel spindle (4-4-2), the first planetary gear (4-2-
1), the second planetary gear (4-2-2) is driven wheel, the first planetary gear (4-2-1), the second planetary gear (4-2-2) and the first planetary gear
Bearing (4-5) is installed between axis (4-4-1), the second planet wheel spindle (4-4-2)；The planet driving wheel (4-1), the first row
Star-wheel (4-2-1), the second planetary gear two sides (4-2-2) are fixed using planetary wheel carrier (4-9), using sleeve respectively to planet active
Take turns (4-1), the first planetary gear (4-2-1), the second planetary gear (4-2-2) progress axially position；For prevent planetary wheel carrier (4-9) with
Friction is generated between first driving shaft (6), and flange bearing (4- is installed between planetary wheel carrier (4-9) and the first driving shaft (6)
10)；First planet wheel spindle (4-4-1), the second planet wheel spindle (4-4-2) are mounted on the waist at the both ends planetary wheel carrier (4-9)
In type groove, the washer of the one end tensioning bolt (4-7) is covered on the first planet wheel spindle (4-4-1), adjusting nut (4-6) makes planet
Wheel shaft (4-4-2) is moved, and is adjusted the elastic of crawler belt and is tightened nut (4-11) for the first planet wheel spindle after tensioning is completed
(4-4-1) is fixed；It is equipped with mandril (4-3), utilizes between the planetary wheel carrier (4-9) of described two sides planet driving wheel (4-1)
Screw (4-8) is fixed.
As shown in fig. 7, robot does not have to expend time adjustment machine when caterpillar robot encounters obstacle in the process of running
The planet crawler belt of device people, i.e., using the rolling auxiliary robot obstacle detouring of two planet crawler belts.Specific embodiment is as follows: working as shoe
When encountering step in carrying machine people's operational process, the robot front end of the first, second planet crawler belt (4,5) and platform in a process
The vertical face contact of rank, under the promotion of the main crawler belt of robot first, second (2,3), the first, second planet crawler belt (4,5) by
Reaction force to step vertical plane is also gradually increased, until the driving wheel of the first, second planet crawler belt (4,5) is enabled to stop turning
Dynamic, the power of the first, second motor (1-1,1-2) is transmitted on planetary wheel carrier (4-9) by the first, second driving shaft (6,7), is made
First, second planet crawler belt (4,5) generates rotation around front end the first driven wheel (4-2-1) core wheel, and robot is lifted；In mistake
The side of the first, second planet crawler belt (4,5) is overlapped with step vertical plane when journey c, with the first, second main crawler belt (2,3)
It constantly pushes, the first, second planet crawler belt (4,5) is turned on step (process d), the front end of the first, second main crawler belt (2,3)
After taking the edge of step, robot success climb steps are made under the action of the first, second main crawler belt (2,3) and step edge
(process e) completes step and climbs obstacle detouring.The process of the robot climbing step obstacle detouring does not need to detect and control robot
With the posture of planet crawler belt, it is only necessary to which driving two motors to travel forward can be realized passive adaptive obstacle detouring, and two motors
It is arranged in the front end of robot, the center of gravity of robot complete machine is forward, it helps the obstacles such as step, slope are climbed by robot.
As shown in figure 8, the reasonable structure size of robot can guarantee machine when robot is run in continuous step
Main crawler belt (the 2,3) ground contact length of people first, second is greater than the distance between P, Q two o'clock on three-level step, and planet crawler belt is grounded
Length is also greater than distance between two-stage step；When robot is when climbing continuous step, remain the first, second main crawler belt (2,
3) be at least in contact with the edge of two steps, robot can on step continuous operation, and then reduce robot repeat
Climb time and energy consumption.
Claims (5)
1. a kind of adaptive drive lacking caterpillar robot characterized by comprising robot car body (1), the first main crawler belt (2),
Second main crawler belt (3), the first planet crawler belt (4), the second planet crawler belt (5), the first driving shaft (6), the second driving shaft (7)；
The main crawler belt of described first (2), the second main crawler belt (3), the first planet crawler belt (4), the second planet crawler belt (5) are mounted on machine
The two sides of device people car body (1), the first planet crawler belt (4), the second planet crawler belt (5) are mounted on the front end of robot；Described
The power that the first motor (1-1) installed on robot car body (1) exports is transmitted to first bevel gear (1- by one driving shaft (6)
8) and third hand tap gear (1-7), and the first driving wheel (2-1) and the first planet shoe of the first main crawler belt (2) are further transferred to
On the planet driving wheel (4-1) of band (4)；Similarly the power that the second motor (1-2) exports is transmitted to second by the second driving shaft (7)
On main crawler belt (3) and the second planet crawler belt (5), robot motion is driven；The main crawler belt of described first (2), the second main crawler belt (3)
It is each to need a driving, respectively by the first driving shaft (6), the second driving shaft (7) Complete Bind；The first planet crawler belt
(4), respectively there are two two freedom degrees, needs drivings for the second planet crawler belt (5), respectively actively by the first driving shaft (6), second
Axis (7) constrains one degree of freedom, another freedom degree is not restrained, and mechanism is in drive lacking state；First planet crawler belt (4),
In ground grading, front end is adjacent to ground as crawler belt and uses second planet crawler belt (5) when driving, the energy when encountering the obstacles such as step
It is enough to realize that adaptive obstacle detouring, the robot are only by two motor drivens around the first driving shaft (6), the second driving shaft (7) overturning
The functions such as traveling, steering, obstacle detouring can be achieved.
2. a kind of adaptive drive lacking caterpillar robot according to claim 1, it is characterised in that: the robot car
Body (1) includes vehicle body chassis of robot (1-3), covers on the shell (1-4) on chassis, the bearing block being mounted on chassis (1-3)
(1-5), motor cabinet (1-6), first bevel gear (1-8), second bevel gear (1-10), third hand tap gear (1-7) and the 4th cone tooth
It takes turns (1-9)；
There are two the motor cabinet (1-6) is total, it is mounted on robot chassis (1-3), is separately installed on two motor cabinets
First motor (1-1), the second motor (1-2), the first bevel gear (1-8), second bevel gear (1-10) are connected by flat key
Connect be separately mounted to first motor (1-1), the second motor (1-2) front end output shaft on, third hand tap gear (1-7), the 4th cone
Gear (1-9) is separately mounted to the first driving shaft (6), on the second driving shaft (7) by flat key connection, first motor (1-1), the
First bevel gear (1-8), second bevel gear (1-10) on two motors (1-2) output shaft respectively with the first driving shaft (6), second
Third hand tap gear (1-7), the intermeshing of the 4th bevel gear (1-9) on driving shaft (7), realize power transmission；The bearing
There are four seats (1-5), is installed on robot chassis (1-3), for fixing the first driving shaft (6), the second driving shaft (7).
3. a kind of adaptive drive lacking caterpillar robot according to claim 1, it is characterised in that: the robot
One main crawler belt (2), the second main crawler belt (3) are mirror, are mounted on the left and right sides of robot chassis (1-3)；Described
One main crawler belt (2) is it is characterised by comprising: the first driving wheel (2-1), main crawler belt wheel carrier (2-2), driven wheel (2-3), damping machine
Structure (2-4), carrier wheel mechanism (2-5), strainer (2-6)；
The main crawler belt wheel carrier (2-2) is mounted on the side of robot chassis (1-3) by nut, and crawler belt wheel carrier (2-2) has
Front fork and rear fork are equipped with the first driving wheel (2-1) in front fork, and rear fork is equipped with driven wheel (2-3), in crawler belt wheel carrier (2-
2) it is equipped between front and rear fork carrier wheel mechanism (2-5), damping (2-4)；
First driving wheel (2-1) is mounted on the first driving shaft (6), the first driving wheel (2-1) and the first driving shaft (6)
Between by flat key connect, sleeve is installed in the two sides the first driving wheel (2-1), axially position is carried out to it；
The driven wheel (2-3) is mounted on follower shaft (2-7), is passed through between driven wheel (2-3) and follower shaft (2-7)
Bearing connection, follower shaft (2-7) is mounted in the waist-shaped hole (2-2-1) on crawler belt wheel carrier (2-2) rear fork, after crawler belt wheel carrier
Fork two sides are equipped with strainer (2-6), and the washer on the tensioning bolt (2-6-1) of the strainer (2-6) is mounted on driven
On wheel shaft, bolt is mounted in the through-hole in main crawler belt wheel carrier Rear Ends/Dropouts portion, makes driven wheel (2-3) by adjusting nut (2-6-2)
It is moved forward and backward, realizes the elastic adjustment of crawler belt；
The first pin shaft (2-4-1), the second pin shaft (2-4-2) of the damping (2-4) are installed in crawler belt wheel carrier (2-2)
On, pin shaft both ends are fixed by circlip；The upper end of damper (2-4-3) is mounted on the second pin shaft (2-4-2), and two sides pass through set
Cylinder positioning, the lower end damper (2-4-3) are mounted on bar (2-4-6), and the upper end of bar (2-4-6) is mounted on the first pin shaft (2-4-
1) on, the bar two sides (2-4-6) are positioned by sleeve；Third pin shaft (2-4-5) is mounted in the corresponding hole in lower end bar (2-4-6),
Athey wheel (2-4-4) is installed at the both ends third pin shaft (2-4-5), to keep Athey wheel (2-4-4) rotation smooth, in Athey wheel
Bearing is installed between (2-4-4) and third pin shaft (2-4-5), is fixed in the outside of Athey wheel (2-4-5) using circlip.
4. a kind of adaptive drive lacking caterpillar robot according to claim 1, it is characterised in that: first planet
Crawler belt (4), the second planet crawler belt (5) are mounted on the first driving shaft (6), on the second driving shaft (7), to prevent the first planet crawler belt
(4), when the second planet crawler belt (5) moves occur interfering or rub between the first main crawler belt (2), the second main crawler belt (3), the
Thrust bearing is installed between one main crawler belt (2) and the first planet crawler belt (4), the second main crawler belt (3) and the second planet crawler belt (5)
(8)。
5. the first planet of robot crawler belt (4) according to claim 1, the second planet crawler belt (5) are mirror；It is described
The first planet crawler belt (4) characterized by comprising planet driving wheel (4-1), the first planetary gear (4-2-1), the second planet
Take turns (4-2-2), planetary wheel carrier (4-9), mandril (4-3), crawler belt, the first planetary gear (4-2-1), the second planetary gear (4-2-2) point
It is not mounted on the two sides of planet driving wheel (4-1), and the axis of three wheels is generally aligned in the same plane, crawler belt is mounted on three wheels
Outside；The planet driving wheel (4-1) is mounted on driving shaft (6), is connected by flat key therebetween；The first row
Star-wheel (4-2-1), the second planetary gear (4-2-2) are separately mounted to the first planet wheel spindle (4-4-1), the second planet wheel spindle (4-4-
2) on, the first planetary gear (4-2-1), the second planetary gear (4-2-2) are driven wheel, the first planetary gear (4-2-1), the second planetary gear
Bearing (4-5) is installed between (4-2-2) and the first planet wheel spindle (4-4-1), the second planet wheel spindle (4-4-2)；The row
Star driving wheel (4-1), the first planetary gear (4-2-1), the second planetary gear two sides (4-2-2) are fixed using planetary wheel carrier (4-9), benefit
Axially position is carried out to planet driving wheel (4-1), the first planetary gear (4-2-1), the second planetary gear (4-2-2) respectively with sleeve；
To prevent from generating friction between planetary wheel carrier (4-9) and the first driving shaft (6), in planetary wheel carrier (4-9) and the first driving shaft (6)
Between flange bearing (4-10) is installed；First planet wheel spindle (4-4-1), the second planet wheel spindle (4-4-2) are mounted on
In the waist type groove at the both ends planetary wheel carrier (4-9), the washer of the one end tensioning bolt (4-7) is covered at the first planet wheel spindle (4-4-1)
On, adjusting nut (4-6) moves planet wheel spindle (4-4-2), adjusts the elastic of crawler belt and tightens spiral shell after tensioning is completed
Female (4-11) is fixed by the first planet wheel spindle (4-4-1)；The planetary wheel carrier (4-9) of described two sides planet driving wheel (4-1) it
Between mandril (4-3) is installed, be fixed using screw (4-8).
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| CN201910711377.0A CN110450869A (en) | 2019-08-02 | 2019-08-02 | A kind of adaptive drive lacking caterpillar robot |
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| CN201910711377.0A CN110450869A (en) | 2019-08-02 | 2019-08-02 | A kind of adaptive drive lacking caterpillar robot |
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| CN114809169B (en) * | 2022-06-30 | 2022-09-27 | 徐州徐工筑路机械有限公司 | Rear axle balancing box of land leveler |
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