CN114506397A - Eight-wheel planet swing arm carrying crawler type composite moving chassis structure - Google Patents
Eight-wheel planet swing arm carrying crawler type composite moving chassis structure Download PDFInfo
- Publication number
- CN114506397A CN114506397A CN202210105680.8A CN202210105680A CN114506397A CN 114506397 A CN114506397 A CN 114506397A CN 202210105680 A CN202210105680 A CN 202210105680A CN 114506397 A CN114506397 A CN 114506397A
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- Prior art keywords
- wheel
- swing arm
- assembly
- shaft
- planetary
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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
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
-
- 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
- B62D55/116—Attitude or position control of chassis by action on suspension, e.g. to compensate for a slope
Abstract
The utility model provides an eight rounds of planet swing arms carry on compound removal chassis structure of crawler-type which characterized in that: comprises a platform frame and a planet swing arm carrying crawler-type structure; the planetary swing arm carrying crawler type structures are four groups, and are connected to the bottom of the platform frame in a pairwise symmetry manner, and each planetary swing arm carrying crawler type structure comprises a main driving assembly, a main output shaft assembly, a planetary swing arm gear box, a crawler assembly and a wheel assembly; the main drive assembly output is connected with the main output shaft assembly key, the main output shaft assembly is connected with the planet swing arm gear box shaft, the planet swing arm gear box is connected with the wheel assembly key, the track assembly is connected with the planet swing arm gear box key, and the track assembly covers the planet swing arm gear box. The wheel type mobile platform has the characteristic of high mobility of the wheel type mobile platform, can form a multi-point contact terrain, and has better motion stability.
Description
Technical Field
The invention belongs to the technical field of mobile robot mechanisms, and particularly relates to a combined type mobile chassis structure with eight-wheel planet swing arm carrying tracks.
Background
The traditional applications for outdoor mobile robotic platforms are typically wheel, crawler, or foot configurations. The wheel type structure is usually a two-wheel differential structure or a four-wheel differential structure, has high movement efficiency, can have certain complex terrain adaptability through suspension, but has limited adaptability. The crawler-type structure can realize the passing capacity of better complicated topography, but the track easily appears droing, and the maintenance of track system is comparatively complicated. The foot type structure can adapt to quite complicated terrains theoretically, but has great instability, is easy to turn over, fall down and the like, and the moving efficiency of the complicated terrains is low. Therefore, to further improve the adaptability of the outdoor mobile robot platform to complex terrains, a motion structure with high efficiency, high stability and easy maintenance is needed.
Disclosure of Invention
An eight-wheel planet swing arm carrying crawler type composite moving chassis structure comprises a platform frame and a planet swing arm carrying crawler type structure; the planetary swing arm carrying crawler type structures are four groups, and are connected to the bottom of the platform frame in a pairwise symmetry manner, and each planetary swing arm carrying crawler type structure comprises a main driving assembly, a main output shaft assembly, a planetary swing arm gear box, a crawler assembly and a wheel assembly; the output end of the main driving assembly is in key connection with the main output shaft assembly, the main output shaft assembly is connected with the shaft of the planetary swing arm gear box, the planetary swing arm gear box is in key connection with the wheel assembly through the wheel shaft, and the track assembly is in key connection with the planetary swing arm gear box through the wheel shaft and covers the planetary swing arm gear box.
Preferably, the planetary swing arm gearbox comprises a gearbox housing, a sun gear, a transition gear, a planet gear and a wheel shaft, wherein the gearbox housing comprises a gearbox inner housing and a gearbox outer housing; the sun gear, the transition gear and the planet gear are all arranged on a gearbox shell through bearings; the sun gear, the transition gear and the planet gear are all externally meshed and form a planet gear mechanism together, and the planet gear is in key connection with the wheel shaft.
Preferably, the crawler assembly comprises a driving toothed wheel, a driven toothed wheel, a pre-tightening driven toothed wheel, a toothed belt and a driven toothed wheel pre-tightening mechanism, the driving toothed wheel is connected with a wheel shaft key, the driven toothed wheel and the pre-tightening driven toothed wheel penetrate through the through hole and are fixed on the gearbox shell, and the driven toothed wheel pre-tightening mechanism is of a nut pre-tightening structure.
Preferably, the driven toothed wheel pre-tightening mechanism comprises a toothed wheel mounting seat, a guide rod and a spring, the guide rod is fixed on the gearbox shell through a bolt, the spring is sleeved on the outer side of the guide rod, and the toothed wheel mounting seat is arranged on the upper portion of the spring, is movably connected to the outer side of the guide rod, and can move up and down along the guide rod; the toothed wheel mounting seat is hinged with the pre-tightening driven toothed wheel.
Preferably, the main driving assembly comprises a driving motor, a speed reducer and a supporting frame, the supporting frame is in threaded fastening connection with the platform frame, the speed reducer is in threaded fastening connection with the supporting frame, and the driving motor is in threaded fastening installation on the speed reducer.
Preferably, the main output shaft assembly comprises an output main shaft and a main shaft sealing cover, the output main shaft is connected with the main shaft sealing cover shaft, the output main shaft penetrates through the supporting frame to be connected with the speed reducer shaft, and the output main shaft is connected with the sun gear in a key mode.
Preferably, the wheel assembly comprises two tires and a wheel connecting flange, the tires are fixedly connected with the wheel shaft through the wheel connecting flange in a key mode.
The working principle of the invention is as follows: the output end of the main driving assembly is in key connection with the main output shaft assembly, the main output shaft assembly is in key connection with the planetary swing arm gear box, and the planetary swing arm gear box is connected with the crawler assembly and the wheel assembly shaft. The main driving assembly transmits power to the planetary swing arm gear box through the main output shaft assembly, and the planetary swing arm gear box drives the crawler assembly and the wheel assembly through the wheel shaft, so that synchronous operation of the crawler assembly and the wheel assembly is realized. In detail, the driving motor inputs power through the speed reducer, the sun gear synchronously operates through the output main shaft, the sun gear drives the transition gear and the planetary gear to synchronously operate, and the planetary gear further drives the wheel assembly to synchronously operate through the wheel shaft. Meanwhile, the wheel shaft drives the driving toothed wheel to synchronously run, and further drives the toothed belt to synchronously run. In summary, the toothed belt runs synchronously with the wheel assembly.
The invention has the characteristic of high mobility of a wheel type mobile platform, and the planet swing arm carrying crawler type structure can realize that two tires passively adapt to the terrain under the influence of the self weight of a platform frame and adjust the wheel set posture. Through the arrangement of the multiple groups of double-tire structures, a multipoint contact terrain is formed, the integral posture of the platform frame is adjusted, and the moving chassis has better motion stability. And the tooth-shaped belt in the structure that the planetary swing arm gear box carries the crawler belt assembly can further enhance the obstacle crossing capability of the platform frame under extremely complex terrains, and effectively solves the problem of bottom plate clamping in the obstacle crossing process of the movable chassis. Therefore, the eight-wheel planetary swing arm carrying track combined type mobile chassis structure is adopted, and on the basis of the excellent obstacle crossing performance of the eight-wheel planetary swing arm structure, the obstacle crossing requirements of more extremely complex terrains can be met, for example, the movement can be continuously completed through the track after tires fall into soil or sand in soft terrains such as silt and sand.
Drawings
Fig. 1 is a schematic bottom view of the structure of the present invention.
Fig. 2 is a schematic structural view of the planetary swing arm carrying crawler type structure of the present invention.
FIG. 3 is a schematic view of the main drive assembly of the present invention.
FIG. 4 is a schematic view of the main output shaft assembly of the present invention.
FIG. 5 is a schematic structural view of a planetary swing arm gearbox carrying track assembly of the present invention.
FIG. 6 is a front view of the planetary swing arm gear box carrying track assembly of the present invention.
FIG. 7 is a schematic top view of the planetary swing arm gearbox of the present invention.
FIG. 8 is an exploded schematic view of the planetary swing arm gearbox of the present invention.
Fig. 9 is a schematic view of the construction of the wheel assembly of the present invention.
FIG. 10 is a front view of the gearbox housing of the present invention.
FIG. 11 is a cross-sectional view of a planetary swing arm gear box carrying track assembly configuration of the present invention.
Wherein: 1-a platform frame; 2-the planet swing arm carries a crawler structure; 3-a main drive assembly; 31-a drive motor; 32-a speed reducer; 33-a support frame; 4-main output shaft assembly; 41-output spindle; 42-main shaft cover; 5-planetary swing arm gear box; 51-gearbox inner housing; 52-gearbox outer housing; 53-sun gear, 54-transition gear; 55-a planetary gear; 56-wheel axle; 57-through holes; 6-a track assembly; 61-driving toothed wheel; 62-passive toothed wheel; 621-pre-tightening the driven toothed wheel; 63-toothed belts; 64-a passive toothed wheel pre-tightening mechanism; 641-toothed wheel mount; 642-a guide bar; 643-a spring; 7-a wheel assembly; 71-a tire; 72-wheel attachment flange.
Detailed Description
Detailed description of the inventionreference is made to fig. 1-11.
It should be noted that in the description of the present invention, the terms "inside", "outside", "upper", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation and operation, and thus should not be construed as limiting the present invention.
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Shown in fig. 1, an eight-wheel planet swing arm carrying crawler type compound moving chassis structure comprises a platform frame 1 and planet swing arm carrying crawler type structures 2, wherein the planet swing arm carrying crawler type structures 2 are four groups, and the two pairs of planet swing arm carrying crawler type structures are symmetrically arranged at the bottom of the platform frame 1 and are in threaded fastening connection with the platform frame 1.
As shown in fig. 2, the planetary swing arm ride-on crawler structure 2 includes a main drive assembly 3, a main output shaft assembly 4, a planetary swing arm gearbox 5, a track assembly 6, and a wheel assembly 7.
As shown in fig. 3, the main drive assembly 3 includes a drive motor 31, a reducer 32, and a support bracket 33. The supporting frame 33 is in threaded fastening connection with the platform frame 1, the speed reducer 32 is in threaded fastening connection with the supporting frame 33, and the driving motor 31 is in threaded fastening connection with the speed reducer.
As shown in fig. 4, the main output shaft assembly 4 includes an output main shaft 41 and a main shaft cover 42. The output main shaft 41 is connected with the main shaft cover 42 through a bearing, and the output main shaft 41 passes through the support frame 33 and is connected with the speed reducer 32 through a shaft.
As shown in fig. 7-8, the planetary swing arm gear box 5 includes a gear box housing, a sun gear 53, a transition gear 54, a planetary gear 55, and a wheel shaft 56. The gearbox housing comprises a gearbox inner housing 51 and a gearbox outer housing 52; the sun gear 53, the transition gear 54 and the planet gears 55 are all mounted on the gearbox housing by bearings. The sun gear 53, the transition gear 54, and the planetary gear 55 are all externally engaged, and together form a planetary gear mechanism. The sun gear 53 is in key connection with the output main shaft 41 to realize synchronous rotation, and drives the transition gear 54 and the planet gear 55 to synchronously operate, and the planet gear 55 is in key connection with the wheel shaft 56 to realize synchronous rotation. The sun gear 53 is one. The number of the transition gears 54 is two, and the sun gear 53 is arranged to be centrosymmetric. The number of the planetary gears 55 is two, and the sun gear 53 is arranged to be centrosymmetric.
As shown in fig. 5-6 and fig. 10-11, the track assembly 6 includes a driving cog 61, a driven cog 62, a pre-tightening driven cog 621, a cog belt 63, and a driven cog pre-tightening mechanism 64, and the driven cog pre-tightening mechanism 64 includes a cog mounting seat 641, a guide rod 642, and a spring 643. The two driving toothed wheels 61 are arranged corresponding to the wheel shaft 56 and are in parallel key connection with the wheel shaft 56 to run synchronously with the wheel shaft 56, and the four driven toothed wheels 62 penetrate through holes 57 on the gearbox shell and are fixed on the gearbox shell and positioned at the bottom of the gearbox shell; two pre-tightening driven toothed wheels 621 penetrate through a through hole 57 in the gearbox shell and are fixed on the gearbox shell and positioned at the upper part of the gearbox shell; the driving cog 61 drives the cog belt 63 to drive the driven cog 62 and the pre-tightening driven cog 621 to synchronously run. The pre-tightening driven toothed wheel 621 is pre-tightened and fixed through the driven toothed wheel pre-tightening mechanism 64. The passive cog pretightening mechanism 64 is realized by a cog mounting seat 641, a guide rod 642 and a spring 643, the guide rod 642 is fixed on a gearbox shell through bolts, the spring 643 is sleeved outside the guide rod 642, the cog mounting seat 641 is hinged with the pretightening passive cog 621 and is arranged on the upper part of the spring 643 and movably connected outside the guide rod 642, and the cog mounting seat 641 can move up and down along the guide rod 642 under the dual action of the pretightening passive cog 621 and the spring 643. The track assembly 6 is keyed to the wheel shaft 56 for synchronous rotation.
The pre-tightening principle of the passive toothed wheel pre-tightening mechanism 64 is as follows: the toothed belt 63 needs a certain pretightening force during installation of the toothed belt 63 and during running, the pretightening force is provided by a pretightening driven toothed wheel 621, the pretightening driven toothed wheel 621 is hinged on a toothed wheel installation seat 641, the toothed wheel installation seat 641 presses a spring 643 downwards, and the spring 643 gives a counterforce.
As shown in fig. 9, the wheel assembly 7 includes a tire 71 and a wheel attachment flange 72, and the wheel attachment flange 72 is keyed to the wheel shaft 56. The wheel assembly 7 is connected with the wheel shaft 56 through keys to realize synchronous rotation.
Claims (7)
1. The utility model provides an eight rounds of planet swing arms carry on compound removal chassis structure of crawler-type which characterized in that: comprises a platform frame and a planet swing arm carrying crawler-type structure; the planetary swing arm carrying crawler type structures are four groups, and are connected to the bottom of the platform frame in a pairwise symmetry manner, and each planetary swing arm carrying crawler type structure comprises a main driving assembly, a main output shaft assembly, a planetary swing arm gear box, a crawler assembly and a wheel assembly; the output end of the main driving assembly is in key connection with the main output shaft assembly, the main output shaft assembly is connected with the shaft of the planet swing arm gear box, the planet swing arm gear box is in key connection with the wheel assembly through a wheel shaft, and the track assembly is in key connection with the planet swing arm gear box through a wheel shaft and covers the planet swing arm gear box.
2. The eight-wheel planetary swing arm carrying crawler type compound mobile chassis structure according to claim 1, characterized in that: the planetary swing arm gearbox comprises a gearbox shell, a sun gear, a transition gear, a planetary gear and a wheel shaft, wherein the sun gear, the transition gear and the planetary gear are all arranged on the gearbox shell through bearings; the sun gear, the transition gear and the planet gear are all externally meshed and form a planet gear mechanism together, and the planet gear is in key connection with the wheel shaft.
3. The eight-wheel planetary swing arm carrying crawler type compound moving chassis structure according to claim 1 or 2, wherein: the crawler belt assembly comprises a driving toothed wheel, a driven toothed wheel, a pre-tightening driven toothed wheel, a toothed belt and a driven toothed wheel pre-tightening mechanism, the driving toothed wheel is connected with a wheel shaft key, the driven toothed wheel and the pre-tightening driven toothed wheel penetrate through a through hole and are fixed on a gearbox shell, and the driven toothed wheel pre-tightening mechanism is of a nut pre-tightening structure.
4. The eight-wheel planetary swing arm carrying crawler type compound mobile chassis structure according to claim 3, wherein: the driven toothed wheel pre-tightening mechanism comprises a toothed wheel mounting seat, a guide rod and a spring, the guide rod is fixed on a gearbox shell through a bolt, the spring is sleeved on the outer side of the guide rod, and the toothed wheel mounting seat is arranged on the upper portion of the spring, is movably connected to the outer side of the guide rod and can move up and down along the guide rod; the toothed wheel mounting seat is hinged with the pre-tightening driven toothed wheel.
5. The eight-wheel planetary swing arm carrying crawler type compound moving chassis structure according to claim 1 or 2, wherein: the main driving assembly comprises a driving motor, a speed reducer and a supporting frame, the supporting frame is in threaded fastening connection with the platform frame, the speed reducer is in threaded fastening connection with the supporting frame, and the driving motor is in threaded fastening installation on the speed reducer.
6. The eight-wheel planetary swing arm carrying crawler type compound mobile chassis structure according to claim 5, wherein: the main output shaft assembly comprises an output main shaft and a main shaft sealing cover, the output main shaft is connected with the main shaft sealing cover shaft, the output main shaft penetrates through the supporting frame to be connected with the speed reducer shaft, and the output main shaft is connected with the sun gear in a key mode.
7. The eight-wheel planetary swing arm carrying crawler type compound moving chassis structure according to claim 1 or 2, wherein: the wheel assembly comprises two tires and two wheel connecting flanges, wherein the tires are fixedly connected with a wheel shaft key through the wheel connecting flanges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210105680.8A CN114506397A (en) | 2022-01-28 | 2022-01-28 | Eight-wheel planet swing arm carrying crawler type composite moving chassis structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210105680.8A CN114506397A (en) | 2022-01-28 | 2022-01-28 | Eight-wheel planet swing arm carrying crawler type composite moving chassis structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114506397A true CN114506397A (en) | 2022-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210105680.8A Pending CN114506397A (en) | 2022-01-28 | 2022-01-28 | Eight-wheel planet swing arm carrying crawler type composite moving chassis structure |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000142451A (en) * | 1998-11-06 | 2000-05-23 | Ryoichiro Oikawa | Total-wheel steering method and total-wheel steering system for vehicle |
| JP2005081447A (en) * | 2003-09-04 | 2005-03-31 | Tech Res & Dev Inst Of Japan Def Agency | Traveling robot |
| US20110040427A1 (en) * | 2007-10-31 | 2011-02-17 | Pinhas Ben-Tzvi | Hybrid mobile robot |
| CN102267506A (en) * | 2011-07-14 | 2011-12-07 | 上海交通大学 | Double-wheel moving platform |
| US20160325793A1 (en) * | 2015-05-08 | 2016-11-10 | Zuidberg Techniek Holding B.V. | Combination of a drive wheel and a gearbox for a continuous track system |
| CN106965864A (en) * | 2017-04-28 | 2017-07-21 | 河北工业大学 | Wheel based on planetary gear carries out compound adaptive robot mobile platform |
| CN113212058A (en) * | 2021-06-03 | 2021-08-06 | 上海机器人产业技术研究院有限公司 | Gear planet swing arm wheel structure |
| CN214729210U (en) * | 2021-05-31 | 2021-11-16 | 嘉兴高维智控有限公司 | Swing arm wheel set of central engaged shaft |
| CN214729232U (en) * | 2021-05-31 | 2021-11-16 | 嘉兴高维智控有限公司 | Wheeled all-terrain robot moving platform |
-
2022
- 2022-01-28 CN CN202210105680.8A patent/CN114506397A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000142451A (en) * | 1998-11-06 | 2000-05-23 | Ryoichiro Oikawa | Total-wheel steering method and total-wheel steering system for vehicle |
| JP2005081447A (en) * | 2003-09-04 | 2005-03-31 | Tech Res & Dev Inst Of Japan Def Agency | Traveling robot |
| US20110040427A1 (en) * | 2007-10-31 | 2011-02-17 | Pinhas Ben-Tzvi | Hybrid mobile robot |
| CN102267506A (en) * | 2011-07-14 | 2011-12-07 | 上海交通大学 | Double-wheel moving platform |
| US20160325793A1 (en) * | 2015-05-08 | 2016-11-10 | Zuidberg Techniek Holding B.V. | Combination of a drive wheel and a gearbox for a continuous track system |
| CN106965864A (en) * | 2017-04-28 | 2017-07-21 | 河北工业大学 | Wheel based on planetary gear carries out compound adaptive robot mobile platform |
| CN214729210U (en) * | 2021-05-31 | 2021-11-16 | 嘉兴高维智控有限公司 | Swing arm wheel set of central engaged shaft |
| CN214729232U (en) * | 2021-05-31 | 2021-11-16 | 嘉兴高维智控有限公司 | Wheeled all-terrain robot moving platform |
| CN113212058A (en) * | 2021-06-03 | 2021-08-06 | 上海机器人产业技术研究院有限公司 | Gear planet swing arm wheel structure |
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