CN111055937A - Novel crawler robot - Google Patents

Novel crawler robot Download PDF

Info

Publication number
CN111055937A
CN111055937A CN201911394973.7A CN201911394973A CN111055937A CN 111055937 A CN111055937 A CN 111055937A CN 201911394973 A CN201911394973 A CN 201911394973A CN 111055937 A CN111055937 A CN 111055937A
Authority
CN
China
Prior art keywords
swing arm
wheel
box
gear reduction
transmission case
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911394973.7A
Other languages
Chinese (zh)
Inventor
熊杨寿
张乐然
黄康
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei University of Technology
Original Assignee
Hefei University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hefei University of Technology filed Critical Hefei University of Technology
Priority to CN201911394973.7A priority Critical patent/CN111055937A/en
Publication of CN111055937A publication Critical patent/CN111055937A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/06Endless track vehicles with tracks without ground wheels
    • B62D55/065Multi-track vehicles, i.e. more than two tracks
    • B62D55/0655Articulated endless track vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT 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
    • B60K17/00Arrangement or mounting of transmissions in vehicles
    • B60K17/04Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
    • B60K17/06Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing
    • B60K17/08Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing of change-speed gearing of mechanical type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D11/00Steering non-deflectable wheels; Steering endless tracks or the like
    • B62D11/02Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
    • B62D11/04Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/08Endless track units; Parts thereof

Abstract

The invention discloses a novel crawler robot, which comprises a transmission case, wherein a battery box is arranged on the transmission case, a worm gear reduction box and two arc bevel gear reduction boxes are arranged at one end of the transmission case, hollow main shafts are respectively arranged on the outer sides of the two arc bevel gear reduction boxes through arc bevel gears, a driving wheel is arranged at the other end of each hollow main shaft, a swing arm wheel is arranged on the outer side of each driving wheel through a long screw, a driven shaft is arranged at the other end of the transmission case, and first driven wheels are arranged at two ends of each driven shaft. This novel tracked robot adopts four tracks and each wheel to be connected in coordination, can be so that the car and ground one-tenth certain angle walking, and the climbing of tracked vehicle can be realized to the cooperation of swing arm board, swing arm wheel and worm gear reducing gear box, climbs stair, crosses functions such as sunken, and the rotation of multi-functional cloud platform adopts the one-level gear to realize, does not receive the influence of car motion state.

Description

Novel crawler robot
Technical Field
The invention relates to the field of robots, in particular to a novel crawler robot.
Background
When dangerous tasks such as anti-terrorism, explosive disposal, search, rescue, reconnaissance and the like are executed, a tracked robot is commonly used, in order to adapt to a complex and changeable environment, the tracked robot is required to have enough maneuvering capability, and a track deformation mechanism is a key factor related to the maneuvering capability of the tracked robot. The invention aims to solve the technical problem of how to realize the stable running of the crawler robot and adapt to various environments.
Disclosure of Invention
Solves the technical problem
Aiming at the defects of the prior art, the invention provides a novel crawler robot, which solves the problem of how to realize stable operation of the crawler robot and adapt to various environments.
Technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a novel track robot, includes the transmission case, installs the battery box on the transmission case, worm gear reducing gear box and two arc bevel gear reducing gear boxes are installed to the one end of transmission case, and hollow main shaft is installed through arc bevel gear respectively in the outside of two arc bevel gear reducing gear boxes, and the action wheel is installed to hollow main shaft's the other end, and the swing arm wheel is installed through the long screw in the outside of action wheel, the driven shaft is installed to the other end of transmission case, and first from the driving wheel is all installed at the both ends of driven shaft.
The worm and gear reduction box is located between the two arc bevel gear reduction boxes, the worm and gear reduction box is connected with the swing arm long shaft through a worm and gear mechanism, two ends of the swing arm long shaft respectively penetrate through the arc bevel gear reduction boxes, the hollow main shaft and the driving wheel in sequence and then are connected with the swing arm wheel, gaskets are further sleeved at two ends of the swing arm long shaft, a swing arm plate is installed between the gaskets and the driving wheel through bolts, and a second driven wheel is installed at one end, far away from the driving wheel, of the swing arm plate through a front wheel.
All the crawler belts are sleeved between the first driven wheel and the driving wheel and between the second driven wheel and the swing arm wheel, and anti-skidding teeth used for limiting are arranged on two sides of each crawler belt.
Further inject, the top of transmission case is equipped with the gear box, goes up in the gear box and installs the cloud platform swinging boom through one-level gear, and the other end fixed mounting of this cloud platform swinging boom has multi-functional cloud platform.
Compared with the prior art, the invention has the following beneficial effects:
1. four crawler belts are matched and connected with the wheels, so that the vehicle can walk at a certain angle with the ground;
2. the functions of climbing, climbing stairs, crossing pits and the like of the crawler can be realized by matching the swing arm plate, the swing arm wheel and the worm and gear reduction box;
3. the rotation of the multifunctional holder is realized by adopting a first-stage gear, and is not influenced by the motion state of the vehicle;
4. two motors on two arc bevel gear reduction boxes are adopted to simultaneously control the hollow main shaft, and the turning function of the crawler is realized.
Drawings
FIG. 1 is a schematic view of the overall structure of the crawler of the present invention;
FIG. 2 is a schematic view of a rotating arm structure of the holder according to the present invention;
FIG. 3 is a side elevational view of the transmission housing of the present invention;
FIG. 4 is a schematic view of a gearbox configuration of the present invention;
FIG. 5 is a schematic view of the transmission mechanism of the present invention;
FIG. 6 is a schematic view of an arc bevel gear structure according to the present invention;
FIG. 7 is a schematic view of the worm gear mechanism of the present invention;
FIG. 8 is a schematic view of the present invention with the transmission case removed;
fig. 9 is a schematic view of a swing arm wheel structure of the present invention.
In the figure: the device comprises a crawler 1, a swing arm plate 2, anti-skid teeth 3, a transmission case 4, a cradle head rotating arm 5, a multifunctional cradle head 6, a battery box 7, a gear box 8, a first-level gear 9, an arc bevel gear reduction box 10, a worm and gear reduction box 11, a hollow main shaft 12, a swing arm long shaft 13, an arc bevel gear 14, a gasket 15, a worm and gear mechanism 16, a driving wheel 17 and a swing arm wheel 18.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, the present invention provides a technical solution: the utility model provides a novel tracked robot, including transmission case 4, install battery box 7 on the transmission case 4, worm gear reducing gear box 11 and two arc bevel gear reducing gear boxes 10 are installed to the one end of transmission case 4, hollow main shaft 12 is installed through arc bevel gear 14 respectively in the outside of two arc bevel gear reducing gear boxes 10, the epaxial gear of motor output meshes with arc bevel gear 14 on the arc bevel gear reducing gear box 10, action wheel 17 is installed to the other end of hollow main shaft 12, there is swing arm wheel 18 in the outside of action wheel 17 through long screw installation, action wheel 17 and swing arm wheel 18 adopt long screw to link together, make the transmission more accurate, the driven shaft is installed to the other end of transmission case 4, first from the driving wheel is all installed at the both ends of driven shaft, adopt two motors on two arc bevel gear reducing gear boxes 10 to control two hollow main shafts 12 simultaneously and rotate.
The worm and gear reduction box 11 is located between two arc bevel gear reduction boxes 10, the worm and gear reduction box 11 is connected with the swing arm long shaft 13 through a worm and gear mechanism 16, two ends of the swing arm long shaft 13 respectively penetrate through the arc bevel gear reduction boxes 10 in sequence, the hollow main shaft 12 and the driving wheel 17 and then are connected with the swing arm wheel 18, the two ends of the swing arm long shaft 13 are further sleeved with gaskets 15, a swing arm plate 2 is installed between the gaskets 15 and the driving wheel 17 through bolts, and a second driven wheel is installed at one end, far away from the driving wheel 17, of the swing arm plate 2 through.
All the cover is equipped with track 1 between first follow driving wheel and the action wheel 17, the second is followed between driving wheel and the swing arm wheel 18, adopts four track 1 and each wheel to be connected mutually supporting, can make car and ground become certain angle walking, and the both sides of track 1 all are provided with and are used for spacing antiskid tooth 3, and what use is spacing to action wheel 17, swing arm wheel 18, first follow driving wheel and second both sides from the driving wheel, and the protection tracked vehicle normally traveles.
The top of transmission case 4 is equipped with gear box 8, installs the motor that is used for driving one-level gear 9 on the gear box 8, goes up in the gear box 8 and installs cloud platform swinging boom 5 through one-level gear 9, and this cloud platform swinging boom 5's other end fixed mounting has multi-functional cloud platform 6, and multi-functional cloud platform 6's rotation adopts one-level gear 9 to realize, does not receive the influence of car motion state.
In the novel crawler robot, the motors on the two arc bevel gear reduction boxes 10 control the two hollow main shafts 12 to rotate, the hollow main shafts 12 drive the two driving wheels 17 to rotate, and the driving wheels 17 are connected with the swing arm wheel 18 so as to enable a crawler to move forwards; the motor on the worm and gear reduction box 11 is used for controlling the swing arm long shaft 13 in the hollow main shaft 12 to rotate, the worm and gear mechanism 16 is used for enabling the swing arm long shaft 13 to rotate, the swing arm long shaft 13 is connected with the swing plate 2, and the swing arm long shaft 13 rotates to drive the swing arm plate 2 to rotate accordingly, so that the crawler can achieve the function of a swing arm.
This novel tracked robot, the swing arm board, the climbing of tracked vehicle can be realized with the cooperation of worm gear reducing gear box to the swing arm wheel, climb stair, cross functions such as sunken, various devices of mountable on the multi-functional cloud platform 6 of tracked vehicle, for example mechanical tong, supervisory equipment, can realize more dangerous military operation, reconnaissance action, and obtain real-time information and other task, can go on rugged road section, can climb stair, can pass the sunken of one section distance, be a multitask, modular tracked robot, can carry out the removal of load and drag the heavy object.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (2)

1. The utility model provides a novel track robot, includes transmission case (4), installs battery box (7) on transmission case (4), its characterized in that: a worm and gear reduction box (11) and two arc bevel gear reduction boxes (10) are mounted at one end of the transmission box (4), a hollow main shaft (12) is mounted on the outer sides of the two arc bevel gear reduction boxes (10) through arc bevel gears (14), a driving wheel (17) is mounted at the other end of the hollow main shaft (12), a swing arm wheel (18) is mounted on the outer side of the driving wheel (17) through a long screw, a driven shaft is mounted at the other end of the transmission box (4), and first driven wheels are mounted at two ends of the driven shaft;
the worm and gear reduction box (11) is positioned between the two arc bevel gear reduction boxes (10), the worm and gear reduction box (11) is connected with a swing arm long shaft (13) through a worm and gear mechanism (16), two ends of the swing arm long shaft (13) respectively penetrate through the arc bevel gear reduction boxes (10), the hollow main shaft (12) and the driving wheel (17) in sequence and then are connected with a swing arm wheel (18), gaskets (15) are further sleeved at two ends of the swing arm long shaft (13), a swing arm plate (2) is installed between the gaskets (15) and the driving wheel (17) through bolts, and a second driven wheel is installed at one end, far away from the driving wheel (17), of the swing arm plate (2) through a front wheel shaft;
all the crawler belts (1) are sleeved between the first driven wheel and the driving wheel (17) and between the second driven wheel and the swing arm wheel (18), and anti-skidding teeth (3) used for limiting are arranged on two sides of each crawler belt (1).
2. The novel track robot of claim 1, wherein: the top of transmission case (4) is equipped with gear box (8), goes up in gear box (8) and installs cloud platform swinging boom (5) through one-level gear (9), and the other end fixed mounting of this cloud platform swinging boom (5) has multi-functional cloud platform (6).
CN201911394973.7A 2019-12-30 2019-12-30 Novel crawler robot Pending CN111055937A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911394973.7A CN111055937A (en) 2019-12-30 2019-12-30 Novel crawler robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911394973.7A CN111055937A (en) 2019-12-30 2019-12-30 Novel crawler robot

Publications (1)

Publication Number Publication Date
CN111055937A true CN111055937A (en) 2020-04-24

Family

ID=70304687

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911394973.7A Pending CN111055937A (en) 2019-12-30 2019-12-30 Novel crawler robot

Country Status (1)

Country Link
CN (1) CN111055937A (en)

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6263989B1 (en) * 1998-03-27 2001-07-24 Irobot Corporation Robotic platform
CN201516604U (en) * 2009-10-12 2010-06-30 唐山开诚机器人制造有限公司 Modular track rocker-arm type colliery underground robotic explorer
US20110180334A1 (en) * 2008-12-09 2011-07-28 Rudakevych Pavlo E Mobile robotic vehicle
US20120261200A1 (en) * 2006-10-06 2012-10-18 Ohm Timothy R Maneuvering robotic vehicles having a positionable sensor head
JP5121594B2 (en) * 2008-06-20 2013-01-16 三菱電機特機システム株式会社 Crawler travel device
CN102887181A (en) * 2012-06-21 2013-01-23 西安交通大学 Swinging arm drive device for tracked robot
CN203567836U (en) * 2013-11-28 2014-04-30 上海合时智能科技有限公司 Amphibious wheel-track robot moving platform
CN104875802A (en) * 2015-05-13 2015-09-02 西北工业大学 Lightweight foldable tracked robot chassis
CN105128956A (en) * 2015-09-08 2015-12-09 广州番禺职业技术学院 Hybrid type tracked robot
CN206552138U (en) * 2016-12-28 2017-10-13 武汉理工大学 Based on wheel-track combined robot ambulation chassis
CN108145689A (en) * 2018-02-08 2018-06-12 盐城工业职业技术学院 A kind of robot walking device and multi-function robot
CN209351486U (en) * 2019-01-07 2019-09-06 中科开创(广州)智能科技发展有限公司 A kind of chassis structure of cable tunnel inspection robot

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6263989B1 (en) * 1998-03-27 2001-07-24 Irobot Corporation Robotic platform
US20120261200A1 (en) * 2006-10-06 2012-10-18 Ohm Timothy R Maneuvering robotic vehicles having a positionable sensor head
JP5121594B2 (en) * 2008-06-20 2013-01-16 三菱電機特機システム株式会社 Crawler travel device
US20110180334A1 (en) * 2008-12-09 2011-07-28 Rudakevych Pavlo E Mobile robotic vehicle
CN201516604U (en) * 2009-10-12 2010-06-30 唐山开诚机器人制造有限公司 Modular track rocker-arm type colliery underground robotic explorer
CN102887181A (en) * 2012-06-21 2013-01-23 西安交通大学 Swinging arm drive device for tracked robot
CN203567836U (en) * 2013-11-28 2014-04-30 上海合时智能科技有限公司 Amphibious wheel-track robot moving platform
CN104875802A (en) * 2015-05-13 2015-09-02 西北工业大学 Lightweight foldable tracked robot chassis
CN105128956A (en) * 2015-09-08 2015-12-09 广州番禺职业技术学院 Hybrid type tracked robot
CN206552138U (en) * 2016-12-28 2017-10-13 武汉理工大学 Based on wheel-track combined robot ambulation chassis
CN108145689A (en) * 2018-02-08 2018-06-12 盐城工业职业技术学院 A kind of robot walking device and multi-function robot
CN209351486U (en) * 2019-01-07 2019-09-06 中科开创(广州)智能科技发展有限公司 A kind of chassis structure of cable tunnel inspection robot

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Application publication date: 20200424