CN114537545A - Mobile robot swing arm track driving device - Google Patents
Mobile robot swing arm track driving device Download PDFInfo
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- CN114537545A CN114537545A CN202011329846.1A CN202011329846A CN114537545A CN 114537545 A CN114537545 A CN 114537545A CN 202011329846 A CN202011329846 A CN 202011329846A CN 114537545 A CN114537545 A CN 114537545A
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- swing arm
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 49
- 230000000694 effects Effects 0.000 claims abstract description 10
- 230000009471 action Effects 0.000 claims description 15
- 239000004606 Fillers/Extenders Substances 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 11
- 230000009467 reduction Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
A mobile robot swing arm track drive comprising: the driving shaft of the track driving structure is arranged in the hollow shaft harmonic reducer, the swing arm driving structure is arranged outside the hollow shaft harmonic reducer, and the swing arm driving structure and the track driving structure are coaxially driven to respectively output rotating effects; the hollow shaft harmonic reducer includes: the harmonic reducer comprises a hollow input shaft, a harmonic reducer fixing end and a harmonic reducer output end, wherein the hollow input shaft is meshed with the harmonic reducer output end, and the harmonic reducer fixing end is in contact with the harmonic reducer output end. The invention has simple transmission structure and compact overall dimension; the swing arm structure is driven by the harmonic speed reducer with a large speed reduction ratio, so that the load capacity of the swing arm is greatly improved; the swing arm and the crawler are coaxially driven, and the characteristics of large driving force of the crawler structure and strong adaptability of the swing arm structure are integrated.
Description
Technical Field
The invention relates to the technology in the field of robots, in particular to a track driving device for a swing arm of a mobile robot.
Background
With the continuous development of robotics, many applications requiring mobile robots have emerged, particularly mobile robot platforms with excellent obstacle-surmounting capabilities, such as dense urban building areas or areas with complex terrain conditions in the field. The swing arm tracked robot is a mobile robot platform with a deformable chassis structure, and can actively adapt to terrain features by adjusting the swing arm structure according to different terrain conditions so as to provide a better driving effect. Traditional swing arm track structure mobile robot divides the overall arrangement with swing arm drive structure and track drive structure in order to realize its drive function, often leads to the volume and the weight of transmission structure too big for mobile robot swing arm track drive structure's advantage is difficult to exert completely.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the swing arm track driving device of the mobile robot, which has a simple and compact transmission structure, can be applied to mobile robots in various forms, and improves the obstacle crossing capability of the mobile robot in a complex environment.
The invention is realized by the following technical scheme:
the invention relates to a mobile robot swing arm track driving device, comprising: quill shaft harmonic speed reducer machine, track drive structure and swing arm drive structure, wherein: the driving shaft of the track driving structure is arranged in the hollow shaft harmonic reducer, the swing arm driving structure is arranged outside the hollow shaft harmonic reducer, and the swing arm driving structure and the track driving structure are driven coaxially to output rotating effects respectively.
The hollow shaft harmonic reducer comprises: cavity input shaft, harmonic speed reducer machine stiff end and harmonic speed reducer machine output, wherein: the hollow input shaft is meshed with the output end of the harmonic speed reducer, and the fixed end of the harmonic speed reducer is contacted with the output end of the harmonic speed reducer.
The track drive structure includes: the crawler belt driving unit, the crawler belt driving wheel shaft, the crawler belt driving wheel, the crawler belt tensioning wheel and the crawler belt; the swing arm driving structure includes: swing arm drive unit, swing arm drive master gear, swing arm drive follow gear, action arm and extension arm, wherein: the track driving wheel is coaxially and directly driven by the track driving unit, and the action arm is driven by the swing arm driving unit through a pair of parallel shaft transmission structures, namely, the swing arm driving main gear and the swing arm driving driven slave gear drive the hollow shaft harmonic reducer to drive. The track driving unit directly drives the track driving wheel through a track driving wheel shaft penetrating through the hollow input shaft, and further generates the rotation of the track as the driving effect of the swing arm track driving device; the swing arm driving unit is driven by a hollow shaft harmonic reducer through a transition gear set consisting of a swing arm driving main gear and a swing arm driving slave gear, and further drives the action arm to swing so as to generate a swinging action of a swing arm structure serving as a crawler belt mounting base, so that the shape of the crawler belt is adjusted, the contact state between the whole mobile robot and the ground is changed, and the driving effect of the swing arm crawler belt driving device is better exerted.
Technical effects
The invention integrally solves the technical problems that the existing upper crawler belt and swing arm transmission need to be respectively provided with transmission, the size is large, and the light weight is difficult to realize. The track is driven by the hollow input shaft of the harmonic reducer, the output end of the harmonic reducer is used for driving the swing arm driving unit, and the swing arm driving structure is coaxial with the track driving structure.
Compared with the prior art, the invention has simple transmission structure and compact appearance size, and realizes the composite transmission in a small space; the swing arm structure is driven by the harmonic speed reducer with a large speed reduction ratio, so that the load capacity of the swing arm is greatly improved; the swing arm and the crawler are coaxially driven, and the characteristics of large driving force of the crawler structure and strong adaptability of the swing arm structure are integrated.
Drawings
FIG. 1 is a sectional view of the present embodiment;
FIG. 2 is a schematic view of the present embodiment;
FIG. 3 is an exploded view of the present embodiment;
in the figure: the device comprises a base 1, a swing arm driving unit 2, a swing arm driving main gear 3, a track driving unit 4, a swing arm driving driven gear 5, a hollow input shaft 6, a harmonic reducer fixing end 7, a harmonic reducer output end 8, a track driving wheel shaft 9, a track driving wheel 10, an action arm 11, an extension arm 12, a track tensioning wheel 13 and a track 14.
Detailed Description
As shown in fig. 1 to 3, the present embodiment includes: quill shaft harmonic speed reducer machine, track drive structure and swing arm drive structure, wherein: the track driving wheel shaft 9 of the track driving structure is arranged in the hollow input shaft 6 of the hollow shaft harmonic speed reducer, the swing arm driving structure is arranged outside the hollow shaft harmonic speed reducer, the power structures of the track driving wheel shaft 9 and the swing arm driving structure are all arranged on the base 1, and the swing arm driving structure and the track driving structure are driven coaxially to output rotating effects respectively.
The hollow shaft harmonic reducer comprises: cavity input shaft 6, harmonic speed reducer ware stiff end 7 and harmonic speed reducer ware output 8, wherein: the hollow input shaft 6 is meshed with the output end 8 of the harmonic speed reducer, and the fixed end 7 of the harmonic speed reducer is in contact with the output end 8 of the harmonic speed reducer and is arranged outside the base 1.
The track drive structure includes: track drive unit 4, track drive wheel axle 9, track drive wheel 10, track tensioning wheel 13 and track 14, wherein: a track drive wheel shaft 9 is disposed within the hollow input shaft 6 and has one end connected to the track drive unit 4 and the other end connected to a track drive wheel 10, and a track 14 is disposed outside the track drive wheel 10 and the track tensioner 13.
The swing arm driving structure comprises: swing arm drive unit 2, swing arm drive master gear 3, swing arm drive slave gear 5, action arm 11 and extension arm 12, wherein: the swing arm driving unit 2 is connected with a swing arm driving main gear 3, a swing arm driving driven gear 5 is sleeved outside the hollow input shaft 6 and meshed with the swing arm driving main gear 3, one end of an action arm 11 is sleeved on an output end 8 of the harmonic speed reducer, one end of an extension arm 12 is sleeved on a track tensioning wheel 13, and the other end of the extension arm is movably arranged in a sliding groove of the action arm 11.
The distance between the action arm 11 and the extension arm 12 is adjustable so as to tension the crawler 14.
The crawler driving wheel 10 is directly and coaxially driven by the crawler driving unit 4, and the action arm 11 is driven by the swing arm driving unit 2 through a pair of parallel shaft transmission structures, namely, the swing arm driving main gear 3 and the swing arm driving driven slave gear 5 drive the hollow shaft harmonic reducer to drive. The track driving unit 4 directly drives the track driving wheel 10 through a track driving wheel shaft 9 penetrating through the hollow input shaft 6, and then the rotation of the track 14 is generated to be used as the driving effect of the swing arm track driving device; the swing arm driving unit 2 is driven by a hollow shaft harmonic reducer through a transition gear set consisting of a swing arm driving main gear 3 and a swing arm driving slave gear 5, further drives the action arm 11 to swing to generate a swinging action of a swing arm structure serving as a mounting base of the crawler 14, adjusts the shape of the crawler 14, further changes the contact state between the whole mobile robot and the ground, and enables the swing arm crawler driving device to better exert the driving effect.
In conclusion, the input shaft and the output shaft of the harmonic reducer drive the track and the swing arm simultaneously, and the transmission mechanisms of the track and the swing arm are coaxial, so that the transmission mechanism is optimized remarkably, the overall dimension is reduced greatly, and the application field of the device is wider.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (4)
1. A mobile robot swing arm track drive device, comprising: quill shaft harmonic speed reducer machine, track drive structure and swing arm drive structure, wherein: the driving shaft of the track driving structure is arranged in the hollow shaft harmonic reducer, the swing arm driving structure is arranged outside the hollow shaft harmonic reducer, and the swing arm driving structure and the track driving structure are driven coaxially to respectively output rotating effects;
the hollow shaft harmonic reducer comprises: cavity input shaft, harmonic speed reducer machine stiff end and harmonic speed reducer machine output, wherein: the hollow input shaft is meshed with the output end of the harmonic speed reducer, and the fixed end of the harmonic speed reducer is contacted with the output end of the harmonic speed reducer.
2. The mobile robot swing arm track drive of claim 1, wherein the track drive structure comprises: track drive unit, track drive wheel shaft, track drive wheel, track take-up pulley and track, wherein: the track driving wheel shaft is arranged in the hollow input shaft, one end of the track driving wheel shaft is connected with the track driving unit, the other end of the track driving wheel shaft is connected with the track driving wheel, and the track is arranged outside the track driving wheel and the track tensioning wheel.
3. The mobile robot swing arm track drive of claim 1, wherein the swing arm drive structure comprises: swing arm drive unit, swing arm drive master gear, swing arm drive follow gear, action arm and extension arm, wherein: the swing arm driving unit is connected with a swing arm driving main gear, the swing arm driving main gear is meshed with the swing arm driving main gear from the gear sleeve outside the hollow input shaft, one end of the action arm is sleeved on the output end of the harmonic reducer, one end of the extension arm is sleeved on the track tensioning wheel, and the other end of the extension arm is movably arranged in a sliding groove of the action arm.
4. The mobile robot swing arm track drive of claim 3, wherein the distance between the actuator arm and the extender arm is adjustable to tension the track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011329846.1A CN114537545A (en) | 2020-11-24 | 2020-11-24 | Mobile robot swing arm track driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011329846.1A CN114537545A (en) | 2020-11-24 | 2020-11-24 | Mobile robot swing arm track driving device |
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| Publication Number | Publication Date |
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| CN114537545A true CN114537545A (en) | 2022-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011329846.1A Pending CN114537545A (en) | 2020-11-24 | 2020-11-24 | Mobile robot swing arm track driving device |
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| CN (1) | CN114537545A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101417674A (en) * | 2008-11-20 | 2009-04-29 | 太原理工大学 | Coal mine down-hole searching and detecting robot moving apparatus |
| US20100148573A1 (en) * | 2007-01-15 | 2010-06-17 | Kubota Corporation | Crawler Travel Unit |
| CN105035192A (en) * | 2015-07-27 | 2015-11-11 | 山东科技大学 | Traveling mechanism for wheel-track inspection robot and working method thereof |
| CN106182077A (en) * | 2016-08-30 | 2016-12-07 | 上海交通大学 | Multi-functional high pulling torque integrated robot joint |
| CN106275114A (en) * | 2016-09-05 | 2017-01-04 | 张选琪 | The combined type drive system of mobile robot |
| CN207229700U (en) * | 2017-09-21 | 2018-04-13 | 遨博（北京）智能科技有限公司 | A kind of mechanical arm harmonic speed reducer |
| CN207930694U (en) * | 2018-03-13 | 2018-10-02 | 厦门宏发工业机器人有限公司 | A kind of driving mechanism |
| CN109262581A (en) * | 2018-10-24 | 2019-01-25 | 北京精密机电控制设备研究所 | A kind of Portable light unmanned ground vehicle |
| CN110217299A (en) * | 2019-07-03 | 2019-09-10 | 浙江大学 | Multifunctional universal humanoid robot chassis |
| CN110481667A (en) * | 2019-08-29 | 2019-11-22 | 哈尔滨工程大学 | A kind of compound walking polar region robot of crawler belt sled |
| CN111038612A (en) * | 2019-12-31 | 2020-04-21 | 浙江大学 | Multi-motion-mode wheel-track-leg combined robot |
-
2020
- 2020-11-24 CN CN202011329846.1A patent/CN114537545A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100148573A1 (en) * | 2007-01-15 | 2010-06-17 | Kubota Corporation | Crawler Travel Unit |
| CN101417674A (en) * | 2008-11-20 | 2009-04-29 | 太原理工大学 | Coal mine down-hole searching and detecting robot moving apparatus |
| CN105035192A (en) * | 2015-07-27 | 2015-11-11 | 山东科技大学 | Traveling mechanism for wheel-track inspection robot and working method thereof |
| CN106182077A (en) * | 2016-08-30 | 2016-12-07 | 上海交通大学 | Multi-functional high pulling torque integrated robot joint |
| CN106275114A (en) * | 2016-09-05 | 2017-01-04 | 张选琪 | The combined type drive system of mobile robot |
| CN207229700U (en) * | 2017-09-21 | 2018-04-13 | 遨博（北京）智能科技有限公司 | A kind of mechanical arm harmonic speed reducer |
| CN207930694U (en) * | 2018-03-13 | 2018-10-02 | 厦门宏发工业机器人有限公司 | A kind of driving mechanism |
| CN109262581A (en) * | 2018-10-24 | 2019-01-25 | 北京精密机电控制设备研究所 | A kind of Portable light unmanned ground vehicle |
| CN110217299A (en) * | 2019-07-03 | 2019-09-10 | 浙江大学 | Multifunctional universal humanoid robot chassis |
| CN110481667A (en) * | 2019-08-29 | 2019-11-22 | 哈尔滨工程大学 | A kind of compound walking polar region robot of crawler belt sled |
| CN111038612A (en) * | 2019-12-31 | 2020-04-21 | 浙江大学 | Multi-motion-mode wheel-track-leg combined robot |
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Application publication date: 20220527 |