CN112744305B - Overturning arm of crawler robot - Google Patents
Overturning arm of crawler robot Download PDFInfo
- Publication number
- CN112744305B CN112744305B CN202110147470.0A CN202110147470A CN112744305B CN 112744305 B CN112744305 B CN 112744305B CN 202110147470 A CN202110147470 A CN 202110147470A CN 112744305 B CN112744305 B CN 112744305B
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- swing arm
- driven
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- arm
- seat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- 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
- B62D55/088—Endless track units; Parts thereof with means to exclude or remove foreign matter, e.g. sealing means, self-cleaning track links or sprockets, deflector plates or scrapers
- B62D55/0887—Track-articulation sealings against dust, water, mud or the like
Abstract
The invention discloses a crawler robot overturning arm, which comprises: the front end of the swing arm is driven to rotate by a turnover driving motor, and a driving wheel and a driven wheel are respectively and rotatably mounted at the two ends of the swing arm; the driving wheel is driven to rotate by the driving motor, and the driven wheel is connected with the driving wheel through a crawler. The invention has compact and small structure, reasonable structural layout, stable transmission and strong torque, provides a novel effective design thought and scheme for the obstacle crossing of the ground tracked robot, and improves the obstacle crossing performance of the tracked robot to the maximum extent; the device has the advantages of maximum output torque, impact resistance, vibration resistance and the like due to the design of the same volume ratio; the crawler robot body has the advantages of accurate positioning and real-time reading of the position and the posture, and can be suitable for the crawler robot body without the type.
Description
Technical Field
The invention relates to the field of mechanical mechanisms, in particular to a crawler robot overturning arm.
Background
The types of the crawler robots are more, most of the current medium-sized crawler robots are free of swing arm structures, the obstacle crossing capability is general, and a swing arm driving mechanism needs to be added for further improving the obstacle crossing capability of the crawler robots. For the double-swing-arm tracked robot, four sets of driving transmission devices for walking and swing arms occupy the valuable space of a chassis, the weight and the volume of the robot system are increased, the transmission devices for walking and swing arms are designed comprehensively, the large-load driving is realized, the structure is simplified, the weight is reduced, and the robot system is difficult in the field of robot design.
At present, a swing arm type tracked robot is composed of a single swing arm or a double swing arm, has good mobility and terrain adaptability, and is more and more widely applied to important occasions such as emergency rescue, disaster relief, safety inspection, military reconnaissance and emergency discharge in severe environments. When the crawler robot works, the swing arm joint can rotate around the robot positively and negatively, and when the crawler robot encounters rough terrain, the robot moving platform can be effectively supported, so that the functions of obstacle crossing, climbing and the like are realized. When passing through the environment that the space is narrow and small, ground is soft, the rocking arm is and transfers the recovery state, has effectively increased the area of earthing of track, alleviates ground pressure, guarantees that the robot steadily passes through. The swing arm type robot adopts an integrated design idea, the left and right overturning arms are designed into a binding form, and swing is stopped at the same time.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects, the invention provides the overturning arm of the crawler-type robot, which can solve the problem that the crawler-type robot can stably pass through gravels, muddy roads, potholes, weeds and other complex roads at high speed.
The technical scheme is as follows:
a track robot flipper arm comprising:
the front end of the swing arm is driven to rotate by a turnover driving motor, and a driving wheel and a driven wheel are respectively and rotatably mounted at the two ends of the swing arm;
the driving wheel is driven to rotate by the driving motor, and the driven wheel is connected with the driving wheel through a crawler.
The overturning driving motor is a frameless motor, and a motor shaft of the overturning driving motor is fixedly connected with the front end of the swing arm.
The overturning driving motor comprises a motor stator and a motor rotor; the motor stator is fixed in the fixed seat, the motor shaft is installed in the fixed seat through a bearing, and a motor rotor is installed on the motor shaft at a position corresponding to the motor stator.
An encoder magnetic ring is fixedly installed on the motor shaft, and an encoder reading head used for acquiring the information of the encoder magnetic ring to obtain the rotation angle of the motor shaft is arranged at a corresponding position in the fixed seat.
The motor shaft is of a hollow structure, a driving shaft driven to rotate by the driving motor penetrates through the motor shaft, and the driving shaft is fixedly connected with the driving wheel.
A harmonic speed reducer is connected with the motor shaft in the fixed seat, and the output end of the harmonic speed reducer is fixedly connected with the front end of the swing arm; the harmonic speed reducer is of a hollow structure, and the driving shaft penetrates through the harmonic speed reducer and is fixedly connected with the driving wheel.
The swing arm is characterized in that a through hole is formed in the front end of the swing arm, the driving shaft penetrates through the through hole and is fixedly connected with a driving wheel adapter plate, and the driving wheel adapter plate is fixedly connected with the driving wheel.
The swing arm comprises a swing arm seat, a swing arm adjusting rod and a driven rod;
the swing arm seat is of a hollow structure and is fixedly connected with the output end of the harmonic speed reducer; the driving shaft penetrates through the swing arm seat and is fixedly connected with the driving wheel;
the swing arm adjusting rod is arranged on the outer side wall of the swing arm seat in a direction perpendicular to the motor shaft, and a plurality of waist-shaped holes are symmetrically formed in the swing arm adjusting rod in a direction perpendicular to the transmission shaft;
the driven rod is provided with a screw hole corresponding to the waist-shaped hole, the driven rod is fixedly connected with the swing arm adjusting rod through a bolt, and the distance between the swing arm adjusting rod and the driven rod is adjusted by adjusting the position of the bolt in the waist-shaped hole; the driven wheel is rotatably arranged at the tail end of the driven rod.
The swing arm seat lateral wall is the step type structure, and it evenly is provided with a plurality of bosss along circumference in its step department, swing arm adjust the pole front end seted up with the mounting groove that the boss is corresponding, swing arm adjust the pole pass through the mounting groove with the cooperation fixed mounting of boss is in on the swing arm seat.
And a framework oil seal is arranged outside the matching bearing, the outer ring of the framework oil seal is matched with the fixed seat, and the inner ring of the framework oil seal is matched with the swing arm seat.
And a general plug seal is also arranged between the swing arm seat and the fixed seat, the outer ring of the general plug seal is matched with the swing arm seat, and the inner ring of the general plug seal is matched with the fixed seat.
The swing arm is adjusted and is gone up along the perpendicular the transmission shaft direction still is provided with a plurality of bar grooves correspond on the driven lever be provided with the corresponding sand grip in bar groove, the swing arm adjust the pole with pass through between the driven lever the bar groove with the location connection is realized in the cooperation of sand grip.
The driving wheel is a chain wheel, and tooth grooves corresponding to the teeth on the driving wheel are formed in the middle of the crawler belt along the circumferential direction.
The driven wheels are two and are respectively rotatably installed on two sides of the swing arm, and a plurality of barrier strips are uniformly arranged at positions, located in the two driven wheels, of the inner side face of the crawler along the circumferential direction.
And the upper side and the lower side of the middle part of the swing arm are respectively fixed with a roller carrier, and a plurality of rollers matched with the crawler belt are axially and rotatably arranged on the end surface of the roller carrier facing the crawler belt.
The rollers are arranged in two rows and symmetrically arranged on the end surface of the roller frame facing the crawler belt
Has the advantages that:
1. the robot adopts a modular design idea, and the overturning arm is connected with the robot body through the flange, so that the robot can be quickly disassembled and replaced; the turnover arm adopts an IP67 protection design;
2. the invention has compact and small structure, reasonable structural layout, stable transmission and strong torque, provides a novel effective design thought and scheme for the obstacle crossing of the ground tracked robot, and improves the obstacle crossing performance of the tracked robot to the maximum extent; the device has the advantages of maximum output torque, impact resistance, vibration resistance and the like due to the design of the same volume ratio;
3. the crawler robot body positioning system can realize accurate positioning and real-time reading of position and posture, and can be suitable for crawler robot bodies of different types.
Drawings
Fig. 1 is an isometric schematic view of an independent swing arm of a tracked robot of the present invention.
Fig. 2 is a cross-sectional view of the tumble drive assembly of the present invention.
Fig. 3 is a sectional view of the fixing base of the present invention.
Fig. 4 is a schematic structural view of a propeller shaft according to the present invention.
Fig. 5 is a schematic diagram of the tumble drive assembly of the present invention.
Fig. 6 is an isometric view of the swing arm mount of the present invention.
Fig. 7 is a side view of a track robot flipper arm of the present invention.
Figure 8 is a schematic view of the track of the present invention.
Wherein, 10 is a driving component, 20 is a driving wheel component, 30 is a turning driving component, 40 is a crawler belt, 50 is a driven wheel component, and 60 is a crawler belt supporting component;
31. a fixed seat, 32, a harmonic reducer, 33, a transmission shaft, 34, a first bearing, 35, a motor stator, 36, a motor rotor, 37, a locking ring, 38, a nut, 39, a sleeve, 310, a second bearing, 311, a bearing seat, 312, an encoder reading head, 313, an encoder magnetic ring, 314, a third bearing, 315, a first framework oil seal, 316, a swing arm seat, 317, a fourth bearing, 318, a second framework oil seal, 319, a swing arm adjusting rod, 320, a universal plug seal, 321 and an elastic retainer ring for holes;
31-1, a speed reducer mounting groove, 31-2 and a frameless motor groove; 33-1 parts of threaded holes, 33-2 parts of bearing matching surfaces, 33-3 parts of elastic retaining ring grooves for shafts, 33-4 parts of external threads; 316-1, a boss, 316-2, a rotary sealing surface, 316-3, a speed reducer mounting surface, 316-4 and a bearing mounting groove; 319-1, waist-shaped holes, 319-2 and strip-shaped grooves;
51. driven wheel, 52, driven lever; 61. and a roller frame 62 and rollers.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
Fig. 1 is an isometric schematic view of an independent swing arm of an articulated tracked robot of the present invention. As shown in fig. 1, the track robot flipper arm of the present invention includes a drive assembly 10, a drive wheel assembly 20, a flipper drive assembly 30, a track 40, a driven wheel assembly 50, and a track support assembly 60.
Fig. 2 is a cross-sectional view of a track robot flipper arm of the present invention. As shown in fig. 2, the tumble drive assembly 30 of the present invention includes a fixed seat 31, a harmonic reducer 32, a transmission shaft 33, a motor stator 35, a motor rotor 36, a swing arm seat 316, and a swing arm adjusting rod 319.
As shown in fig. 3, the fixing seat 31 is a hollow structure, one end of the hollow structure is provided with a speed reducer mounting groove 31-1, a harmonic speed reducer 32 is fixedly mounted in the speed reducer mounting groove through a bolt, the other end of the hollow structure is provided with a frameless motor groove 31-2, and a motor stator 35 is fixedly mounted in the hollow structure through a pin hole; a locking ring 37 is further fixed on the inner wall of the hollow structure of the fixed seat 31 at the end surface of the motor stator 35 through bolts, and is used for pressing the motor stator 35 in the reducer mounting groove 31-1 of the fixed seat 31.
Through the fixing seat 31 designed above, the invention can reduce the transmission of shearing force to the harmonic deceleration and 32 fixing bolts when external force impacts the fixing seat 31, thereby enhancing the reliability of the overturning arm;
a transmission shaft 33 penetrates through the hollow structure of the fixed seat 31, and as shown in fig. 4, the transmission shaft 33 comprises a bearing matching surface 33-2 at the front end thereof and a plurality of threaded holes 33-1 uniformly arranged on the outer side wall thereof along the axial direction; the input end of the harmonic speed reducer 32 is fixedly connected with the tail end of the transmission shaft 33 through a bolt, and the kinetic energy of the motor is transmitted to the interior of the harmonic speed reducer 32; one end (namely the tail end) of the rotating shaft 33 close to the harmonic reducer 32 is assembled in the fixed seat 31 through a first bearing 34, so that the concentricity of the transmission shaft 33 and the fixed seat 31 is guaranteed; the transmission shaft 33 penetrates through the motor stator 35, and a motor rotor 36 is fixedly mounted on the outer side wall of the transmission shaft at a position corresponding to the motor stator 35 through the matching of bolts and threaded holes 33-2 and is used for preventing the motor rotor 36 from moving in the circumferential direction and enhancing the kinetic energy transmission efficiency; the sleeve 39 is sleeved outside the front end of the transmission shaft 33, the second bearing 310 is installed on the end face of the sleeve 39 through an elastic retainer ring 33-4 for the shaft, the outer ring of the second bearing 310 is matched with the bearing seat 311, the bearing seat 311 is fixedly installed in the fixed seat 31 through bolts, the bearing seat 311 is matched with the fixed seat 31 in a designed concentricity mode, the concentricity of the motor rotor 36 and the motor stator 35 is guaranteed, and the stability of motor output is guaranteed.
In the invention, the motor rotor 36 and the motor stator 35 form a frameless motor, and the frameless motor is connected with a control module in the crawler robot and controls starting and stopping through the control module.
In the invention, an encoder reading head 312 is further fixed on the bearing seat 311 through bolts, the encoder reading head 312 is connected with a control module in the tracked robot, correspondingly, an encoder magnetic ring 313 is fixedly installed at a corresponding position on the outer side wall of the sleeve 310 through bolts, the encoder reading head 312 collects information of the encoder magnetic ring 313 to obtain the rotation angle of the transmission shaft 33, the overturning angle of the overturning arm of the tracked robot is further obtained, and the control module records the angle of the encoder through feedback to read the position posture of the overturning arm of the tracked robot in real time.
In the present invention, the encoder reading head 312 and the encoder magnetic ring 313 adopt an absolute value encoder reading head and an absolute value encoder magnetic ring.
In the present invention, the outer side wall of the transmission shaft 33 at both ends of the motor rotor 36 is provided with a threaded section, and a nut 38 is installed on the threaded section in a threaded fit manner to prevent the motor rotor 36 from moving axially.
The output end of the harmonic reducer 32 is provided with a swing arm seat 316, as shown in fig. 5, the swing arm seat 316 is sleeved outside the fixed seat 31, and the inner side wall of the swing arm seat 316 is matched with the fixed seat 31 to form a rotary sealing surface 316-2; the swing arm seat 316 is also of a hollow structure, wherein the hollow structure comprises a speed reducer mounting surface 316-3 in the middle and a bearing mounting groove 316-4 arranged outside the speed reducer mounting surface 316-3; the reducer mounting surface 316-3 is fixedly connected with an output flange of the harmonic reducer 32 through bolts, and a third bearing 314 is arranged in the bearing mounting groove 316-4; the outer ring of the third bearing 314 is matched and connected with the fixed seat 31, the lower part of the inner ring is matched and connected with the output flange of the harmonic speed reducer 32, and the upper part of the inner ring is matched and connected with the bearing mounting groove 316-4 of the swing arm seat 316. In the invention, a first framework oil seal 315 is arranged outside the third bearing 314, the outer ring of the first framework oil seal 315 is matched with the fixed seat 31, and the inner ring of the first framework oil seal is matched with the swing arm seat 316; a general plug seal 320 is further arranged between the swing arm seat 316 and the fixed seat 31, the outer ring of the general plug seal 320 is matched with the swing arm seat 316, and the inner ring of the general plug seal is matched with the fixed seat 31.
Through the swing arm seat 316 with the design, when the robot overturning arm is impacted by external radial load, the third bearing 314 is assembled through the bearing installation groove 316-4 with the design, so that the impact force can be firstly borne by the fixed seat 31, the internal harmonic speed reducer 32 is protected from being damaged by the impact load and vibration, the defects that the harmonic speed reducer 32 is not impact-resistant and vibration-resistant are avoided right at the impact force, and then the protection performance of the overturning arm is improved to IP67 through the assembled first framework oil seal 315, the universal plug seal 320 and other rotary sealing devices.
The outer side wall of the swing arm base 316 is fixedly connected with a swing arm adjusting rod 319 perpendicular to the direction of the transmission shaft 33 through bolts, and a plurality of waist-shaped holes 319-1 are symmetrically arranged on the swing arm adjusting rod 319 along the direction perpendicular to the transmission shaft 33.
In the invention, the outer side wall of the swing arm seat 316 is of a stepped structure, a plurality of bosses are uniformly arranged at the step position of the swing arm seat along the circumferential direction, the front end of the swing arm adjusting rod 319 is provided with a mounting groove corresponding to the bosses, the mounting groove of the swing arm adjusting rod 319 is matched with the bosses, and then the swing arm adjusting rod 319 is fixedly mounted at the bosses of the swing arm seat 316 through bolts.
The harmonic reducer 32 of the present invention is also hollow, the transmission shaft 33 is also hollow, a fourth bearing 317 is installed at the center of the swing arm base 316, the fourth bearing 317 is fixedly connected through a hole by an elastic retainer ring 321, and a second skeleton oil seal 318 is installed outside the fourth bearing 317.
According to the invention, the frameless motor is controlled by the control module in the tracked robot, so that the motor rotor 36 rotates to drive the transmission shaft 33 to rotate, the torque can be transmitted to the harmonic speed reducer 32, the harmonic speed reducer 32 drives the swing arm seat 316 to rotate, the swing arm adjusting rod 319 and the driven rod 52 are driven to rotate, and finally the turnover of the whole swing arm is realized.
As shown in fig. 1 and 7, the driving assembly 10 includes a driving motor and a speed reducer, a motor shaft of the driving motor is fixedly connected to an input end of the speed reducer, the speed reducer is fixedly connected to the fixing base 31 through a bolt, and an output end of the speed reducer is connected to an input end of the driving shaft through a flat key.
In the invention, the driving motor is connected with a control module in the crawler robot, and the start and stop of the crawler robot are controlled by the control module.
As shown in fig. 1 and 7, the driving wheel assembly 20 includes a driving shaft, a driving wheel adapter plate and a track driving wheel, the driving shaft passes through the transmission shaft 33, the harmonic reducer 32 and the swing arm seat 316, the input end of the driving shaft is assembled on the harmonic reducer through a bearing, and the output end of the driving shaft is matched with the fourth bearing 317. The output end of the driving shaft is connected with a driving wheel adapter plate through a spline, the driving wheel adapter plate is fixedly connected with a crawler driving wheel through a bolt, and the crawler driving wheel adopts a chain wheel.
As shown in fig. 7, the driven wheel assembly 50 comprises a driven rod 52 and a driven wheel 51, corresponding screw holes are formed in the driven rod 52, the driven rod 52 is fixedly connected with the swing arm adjusting rod 319 through bolts, and the distance between the swing arm adjusting rod 319 and the driven rod 52 is adjusted by adjusting the position of the bolts in the kidney-shaped holes 319-1 in the swing arm adjusting rod 319; a driven bearing is arranged at the other end of the driven rod 52, and two sides of the driven bearing are respectively fixed by elastic retainer rings through holes; the driven shaft is rotatably mounted in the driven bearing, the driven wheels 51 are fixedly mounted at two ends of the driven shaft respectively, and the end parts of the two ends of the driven shaft are respectively fixed with a fleeing prevention pad through bolts so as to prevent the driven wheels 51 from axially fleeing.
In the invention, a plurality of strip-shaped grooves 319-2 are also arranged on the swing arm adjusting rod 319 along the direction vertical to the transmission shaft 33, raised lines corresponding to the strip-shaped grooves 319-2 are correspondingly arranged on the driven rod 52, and the swing arm adjusting rod 319 and the driven rod 52 are in positioning connection through the matching of the strip-shaped grooves 319-2 and the raised lines to prevent the deviation between the two.
As shown in fig. 1, 7 and 8, the middle of the crawler 40 is circumferentially provided with tooth spaces corresponding to the teeth on the crawler driving wheel, the crawler 40 is sleeved outside the crawler driving wheel and the driven wheel 51, the tooth spaces circumferentially provided in the middle of the outer side of the crawler 40 are matched with the teeth on the crawler driving wheel, the crawler 40 is driven to move by the rotation of the crawler driving wheel, and the driven wheel 51 is driven to rotate. The inner side surface of the crawler 40 is uniformly provided with a plurality of barrier strips along the circumferential direction at positions in the two driven wheels 51, the barrier strips are used for blocking stones, weeds and the like from entering the crawler 40, and the two driven wheels 51 respectively block the barrier strips of the crawler 40, so that the crawler 40 is effectively prevented from being taken off.
In the present invention, the distance between the swing arm adjustment lever 319 and the driven rod 52 is adjusted by adjusting the position of the bolt in the kidney-shaped hole 319-1 of the swing arm adjustment lever 319, thereby adjusting the tension of the caterpillar 40.
As shown in fig. 7, the track support assembly 60 includes two roller frames 61 and two rollers 62, the two roller frames 61 are respectively fixedly mounted on the upper and lower sides of the driven rod 52 by bolts, a plurality of rotating shafts are axially fixed on the end surface of the roller frame 61 facing the track 40, the rollers 62 are rotatably mounted on the rotating shafts, and the rollers 62 contact with the track 40 and rotate along with the movement of the track 40. In the present invention, the two rows of the rotating shafts are symmetrically arranged on the end surface of the roller frame 61 facing the crawler 40.
According to the invention, the appearance of the transmission structure of the crawler 40 is solidified by the roller frame 61, so that the phenomenon that the crawler 40 is elongated to cause belt stripping due to excessive impact on the crawler 40 in the driving process of a gravel, muddy or hollow road surface of the crawler 40 is avoided, and meanwhile, the roller frame 61 can effectively prevent stones, weeds and the like from entering the inside of the crawler 40.
According to the crawler robot, the control module in the crawler robot controls the driving motor to rotate, the motor shaft of the driving motor transmits torque to the speed reducer, so that the driving shaft penetrating through the transmission shaft 33 is driven to rotate, the driving shaft drives the driving wheel to rotate through the driving wheel adapter plate, the crawler is driven to move, the driven wheel 51 rotates, and accordingly crawler walking can be achieved.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protection scope of the present invention.
Claims (13)
1. The utility model provides a track robot upset arm which characterized in that: the method comprises the following steps:
the front end of the swing arm is driven to rotate by a turnover driving motor, and a driving wheel and a driven wheel are respectively and rotatably mounted at the two ends of the swing arm; the driving wheel is driven to rotate by the driving motor, and the driven wheel is connected with the driving wheel through a crawler;
the fixed seat is of a hollow structure, a harmonic speed reducer connected with a motor shaft of the driving motor is installed at one end in the hollow structure, and the output end of the harmonic speed reducer is fixedly connected with the front end of the swing arm;
the swing arm comprises a swing arm seat, a swing arm adjusting rod and a driven rod;
the swing arm seat is of a hollow structure and is fixedly connected with the output end of the harmonic speed reducer; a motor shaft of the driving motor is of a hollow structure, the harmonic speed reducer is of a hollow structure, and a driving shaft sequentially penetrates through the motor shaft, the harmonic speed reducer and the swing arm seat to be fixedly connected with the driving wheel;
the swing arm adjusting rod is arranged on the outer side wall of the swing arm seat in a direction perpendicular to the motor shaft, and a plurality of waist-shaped holes are symmetrically formed in the swing arm adjusting rod in a direction perpendicular to the motor shaft;
the driven rod is provided with a screw hole corresponding to the waist-shaped hole, the driven rod is fixedly connected with the swing arm adjusting rod through a bolt, and the distance between the swing arm adjusting rod and the driven rod is adjusted by adjusting the position of the bolt in the waist-shaped hole; the driven wheel is rotatably arranged at the tail end of the driven rod.
2. The track robot flipper arm of claim 1, wherein: the overturning driving motor is a frameless motor, and a motor shaft of the overturning driving motor is fixedly connected with the front end of the swing arm.
3. The track robot flipper arm of claim 2, wherein: the overturning driving motor comprises a motor stator and a motor rotor; the motor stator is fixed in the fixed seat, the motor shaft is installed in the fixed seat through a bearing, and a motor rotor is installed on the motor shaft at a position corresponding to the motor stator.
4. The track robot flipper arm of claim 3, wherein: an encoder magnetic ring is fixedly installed on the motor shaft, and an encoder reading head used for acquiring the information of the encoder magnetic ring to obtain the rotation angle of the motor shaft is arranged at a corresponding position in the fixed seat.
5. The track robot flipper arm of claim 1, wherein: the swing arm is characterized in that a through hole is formed in the front end of the swing arm, the driving shaft penetrates through the through hole and is fixedly connected with a driving wheel adapter plate, and the driving wheel adapter plate is fixedly connected with the driving wheel.
6. The track robot flipper arm of claim 1, wherein: the swing arm seat lateral wall is the step type structure, and it evenly is provided with a plurality of bosss along circumference in its step department, swing arm adjust the pole front end seted up with the mounting groove that the boss is corresponding, swing arm adjust the pole pass through the mounting groove with the cooperation fixed mounting of boss is in on the swing arm seat.
7. The track robot flipper arm of claim 3, wherein: and a framework oil seal is arranged outside the bearing, the outer ring of the framework oil seal is matched with the fixed seat, and the inner ring of the framework oil seal is matched with the swing arm seat.
8. The track robot flipper arm of claim 1, wherein: and a general plug seal is also arranged between the swing arm seat and the fixed seat, the outer ring of the general plug seal is matched with the swing arm seat, and the inner ring of the general plug seal is matched with the fixed seat.
9. The track robot flipper arm of claim 1, wherein: the swing arm is adjusted the pole and is gone up along perpendicular the motor shaft direction still is provided with a plurality of bar grooves correspond on the driven lever be provided with the corresponding sand grip in bar groove, the swing arm adjust the pole with pass through between the driven lever the bar groove with the location connection is realized in the cooperation of sand grip.
10. The track robot flipper arm of claim 1, wherein: the driving wheel is a chain wheel, and tooth grooves corresponding to the teeth on the driving wheel are formed in the middle of the crawler belt along the circumferential direction.
11. The track robot flipper arm of claim 1, wherein: the driven wheels are two and are respectively rotatably installed on two sides of the swing arm, and a plurality of barrier strips are uniformly arranged at positions, located in the two driven wheels, of the inner side face of the crawler along the circumferential direction.
12. The track robot flipper arm of claim 1, wherein: and the upper side and the lower side of the middle part of the swing arm are respectively fixed with a roller carrier, and a plurality of rollers matched with the crawler belt are axially and rotatably arranged on the end surface of the roller carrier facing the crawler belt.
13. The track robot flipper arm of claim 12, wherein: the rollers are arranged in two rows and symmetrically arranged on the end face, facing the crawler belt, of the roller frame.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110147470.0A CN112744305B (en) | 2021-02-03 | 2021-02-03 | Overturning arm of crawler robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110147470.0A CN112744305B (en) | 2021-02-03 | 2021-02-03 | Overturning arm of crawler robot |
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| CN112744305A CN112744305A (en) | 2021-05-04 |
| CN112744305B true CN112744305B (en) | 2021-08-17 |
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| CN114954712B (en) * | 2022-06-02 | 2023-04-11 | 江苏迈吉易威电动科技有限公司 | Wheel hub motor crawler wheel with gait control function |
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| CN108202775A (en) * | 2018-03-12 | 2018-06-26 | 湖南中矿金禾机器人研究院有限公司 | A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis |
| CN111300476A (en) * | 2018-12-11 | 2020-06-19 | 中国科学院沈阳自动化研究所 | Underwater joint driving module |
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