CN114537546B - Driving gear-shifting mechanism for all-terrain mobile robot - Google Patents
Driving gear-shifting mechanism for all-terrain mobile robot Download PDFInfo
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- CN114537546B CN114537546B CN202210108331.1A CN202210108331A CN114537546B CN 114537546 B CN114537546 B CN 114537546B CN 202210108331 A CN202210108331 A CN 202210108331A CN 114537546 B CN114537546 B CN 114537546B
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- mobile robot
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- rotating shaft
- driving
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- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 239000011159 matrix material Substances 0.000 claims abstract description 29
- 230000007935 neutral effect Effects 0.000 claims abstract description 10
- 239000000725 suspension Substances 0.000 claims abstract description 10
- 230000009467 reduction Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 31
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 238000002955 isolation Methods 0.000 claims description 2
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 230000008878 coupling Effects 0.000 description 10
- 238000010168 coupling process Methods 0.000 description 10
- 238000005859 coupling reaction Methods 0.000 description 10
- 230000006872 improvement Effects 0.000 description 7
- 238000013016 damping Methods 0.000 description 5
- 230000001360 synchronised effect Effects 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/04—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially transverse to the longitudinal axis of the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT 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
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT 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
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/02—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of clutch
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to the technical field of mobile robots, in particular to a driving and gear-shifting mechanism for an all-terrain mobile robot, which comprises the following components: truss car matrix components; the gear-stepping driving unit is arranged on the truss vehicle base body assembly and comprises four groups of power modules which are arranged in a staggered parallel suspension mode and output power, and the switching of the running state and the neutral sliding state of the mobile robot is completed according to actual requirements; the double-cross arm vibration reduction unit is connected between each group of power modules and the truss vehicle base body assembly to enhance the vehicle body strength and the vehicle body stability of the mobile robot. According to the invention, the mobile robot can slide in a neutral position through the electromagnetic clutch, when the mobile robot fails or the battery power is insufficient, the mobile robot is convenient to drag, meanwhile, the start-stop function of the driving motor can be realized, the driving control of the mobile robot is completed, and the battery energy consumption is reduced; the control of the track of the mobile robot is realized through the power modules which are arranged in a staggered parallel suspension mode, and the utilization rate of the space in the vehicle body is improved.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a driving stepping mechanism for an all-terrain mobile robot.
Background
The mobile robots are widely applied, but most of the transmission modes of the mobile robots in the market cannot simultaneously consider the power output efficiency and the power working environment, so that on one hand, the power module cannot be separated from the wheel module, and on the other hand, the power output interruption cannot be controlled. The shaft is directly connected with the power module in a common mode, the transmission efficiency is high, but the impact force of the ground on the wheels is directly transmitted to the motor, so that the output characteristic is unstable, the working environment is poor, the power output cannot be interrupted, and the neutral sliding is realized; the part of mobile robots adopt a transmission mode of a transmission belt and a universal coupling transmission mode to separate the power module from the wheel module, but the space occupation rate of the power module is large, a transmission belt tensioning mechanism is not provided, and meanwhile, the power output is not controlled to be interrupted, so that the variable-drive driving is realized, and the effect of reducing the energy consumption is achieved.
For example, the chinese patent application No. 201711258906.3 proposes a dual-triangle suspension wheel leg type all-terrain mobile robot, which uses a hub motor as a driving motor, and the impact force of the ground on the wheels is directly transferred to the motor, so that a stable output environment is not provided for the motor, resulting in low output efficiency of the motor and shortened service life of the motor.
For example, the chinese patent application No. 201811301142.6 proposes an all-terrain mobile robot with an active independent suspension system, where the driving of the all-terrain mobile robot is rigidly and directly connected with the wheels, and the power output cannot be interrupted, so that neutral sliding cannot be realized, and the all-terrain mobile robot is difficult to drag during outdoor fault maintenance.
In addition, as the chinese patent application No. 201911096192.X, the proposed all-terrain mobile robot adopts a worm and gear motor, which has low output efficiency, and the worm and gear motor is directly connected with the wheel rigidity, so that the wheel set module has large inertia, is difficult to brake, cannot break power under the condition that the terrain is better and strong power is not needed, causes power waste, and cannot play a role in saving energy consumption.
Disclosure of Invention
In order to solve the problems, the invention provides a driving gear shifting mechanism for an all-terrain mobile robot.
A drive stepper mechanism for an all-terrain mobile robot, comprising:
truss car matrix components;
the gear-stepping driving unit is arranged on the truss vehicle base body assembly and comprises four groups of power modules which are arranged in a staggered parallel suspension mode and output power, and the switching of the running state and the neutral sliding state of the mobile robot is completed according to actual requirements;
and the double-cross arm vibration reduction unit is connected between each group of power modules and the truss vehicle base body assembly so as to enhance the vehicle body strength and the vehicle body stability of the mobile robot.
As a further improvement of the invention, the truss car matrix assembly comprises a truss car matrix, lifting lug seats arranged on the top of the truss car matrix and side vertical plates positioned on the left side and the right side of the truss car matrix.
As a further development of the invention, a transmission module is connected to each group of power modules, which transmission module is connected to a wheel module for executing the driving force brought by the transmission module, for isolating the drive from the transmission.
As a further improvement of the invention, the power module comprises a hole output speed reducer, servo motors and special-shaped fixing plates, wherein the servo motors and the special-shaped fixing plates are respectively arranged at two ends of the hole output speed reducer.
As a further improvement of the invention, the transmission module comprises an upper rotating shaft, a transmission belt mechanism, a lower rotating shaft, a universal coupler and an outer hub coupler, wherein the upper rotating shaft is arranged on the special-shaped fixed plate, one end of the upper rotating shaft is matched with the hole output speed reducer, the transmission belt mechanism is matched with the upper rotating shaft and used for transmitting power, the lower rotating shaft is matched with the transmission belt mechanism, the universal coupler is matched with the lower rotating shaft, and the outer hub coupler is connected with the universal coupler.
As a further improvement of the invention, the driving belt mechanism comprises two groups of driving wheels correspondingly matched with the upper rotating shaft and the lower rotating shaft, a driving belt matched with the two groups of driving wheels and a tensioning mechanism arranged on the driving belt.
As a further improvement of the invention, one end of the upper rotating shaft far away from the hole output speed reducer is connected with a belt pulley electromagnetic clutch, and the belt pulley electromagnetic clutch is matched with a driving wheel on the upper rotating shaft.
As a further improvement of the invention, the tensioning mechanism adopts a swing frame type tensioning mechanism, the tensioning mechanism comprises a tensioning adjusting stud, and the tensioning adjusting stud is provided with a double nut.
As a further improvement of the invention, the double-cross arm vibration reduction unit comprises a first U-shaped linkage frame and a second U-shaped linkage frame, wherein one ends of the first U-shaped linkage frame and the second U-shaped linkage frame are hinged with a bearing disc, one ends of the first U-shaped linkage frame and the second U-shaped linkage frame, which are far away from the bearing disc, are hinged with a truss car matrix component, a lower cantilever lifting lug is slidably arranged on the first U-shaped linkage frame, a vibration absorber is matched on the lower cantilever lifting lug, and one ends of the vibration absorber, which are far away from the lower cantilever lifting lug, are matched with the truss car matrix component.
The beneficial effects of the invention are as follows: according to the invention, the separation of the wheel module and the power module is realized by driving the gear-step mechanism, so that the impact of vibration on the power module is reduced, the working environment of the power module is improved, the service life of the power module is prolonged, the working condition coefficient of a motor is reduced, and the installation precision requirement and the processing and manufacturing cost of the power module are reduced; according to the invention, the mobile robot can slide in a neutral position through the electromagnetic clutch, when the mobile robot fails or the battery power is insufficient, the mobile robot is convenient to drag, meanwhile, the start-stop function of the driving motor can be realized, the driving control of the mobile robot is completed, and the battery energy consumption is reduced; the control of the track of the mobile robot is realized through the power modules which are arranged in a staggered parallel suspension mode, and the utilization rate of the space in the vehicle body is improved.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic overall perspective view of the present invention;
FIG. 2 is an exploded view of a portion of the structure of the present invention;
FIG. 3 is a top view of a spatial layout of a power module according to the present invention;
FIG. 4 is a side view of a spatial layout of a power module according to the present invention;
FIG. 5 is a schematic view of the tensioning mechanism of the drive belt of the present invention;
FIG. 6 is a schematic view of a partial structure of a double wishbone damping unit according to the present invention;
description of the drawings: 1. truss car matrix components; 101. a battery storage protective frame; 102. a truss car matrix; 103. a power source base; 104. a side vertical plate; 105. a lifting lug seat; 2. a double-cross arm vibration reduction unit; 201. an upper cantilever lifting lug; 202. a damper; 203. a lower hinge table; 204. a second type U-shaped linkage frame; 205. an upper hinge table; 206. a first type U-shaped linkage frame; 207. a lower cantilever lifting lug; 208. locking the electric slide rail; 3. a step-by-step driving unit; 301. an electromagnetic clutch; 302. a transmission belt; 303. a universal coupling; 304. a carrying disc; 305. a special-shaped fixing plate; 306. a hole output decelerator; 307. a servo motor; 308. tensioning an adjusting stud; 309. a tire; 310. a hub; 311. an upper rotating shaft; 312. a first bearing seat; 313. an outer hub coupling; 314. a second bearing seat; 315. a lower rotating shaft; 316. and a driving wheel.
Detailed Description
The present invention will be further described in the following to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the present invention easy to understand.
As shown in fig. 1 to 6, a driving gear shift mechanism for an all-terrain mobile robot includes:
truss car matrix assembly 1;
the gear-shifting driving unit 3 is arranged on the truss car matrix assembly 1 and comprises four groups of power modules which are arranged in a staggered parallel suspension mode and output power, and the driving state and the neutral sliding state of the mobile robot are switched according to actual requirements;
the double-cross arm vibration reduction unit 2 is connected between each group of power modules and the truss vehicle base body assembly 1 so as to enhance the vehicle body strength and the vehicle body stability of the mobile robot.
Specifically, the invention realizes the separation of the wheel module and the power module by driving the gear-step mechanism, reduces the impact of vibration on the power module, improves the working environment of the power module, prolongs the service life of the power module, reduces the working condition coefficient of the motor, and simultaneously reduces the installation precision requirement and the processing manufacturing cost of the power module.
According to the invention, the electromagnetic clutch module enables the mobile robot to slide in a neutral position, so that the mobile robot is convenient to drag when the mobile robot fails or the battery power is insufficient, and meanwhile, the start-stop function of the driving motor can be realized, the driving control of the mobile robot is realized, and the battery energy consumption is reduced; the invention also realizes the control of the track of the mobile robot by the power modules arranged in a staggered parallel suspension mode, and improves the utilization rate of the space in the vehicle body.
As shown in fig. 1 to 4, the truss car matrix assembly 1 includes a truss car matrix 102, a lifting lug base 105 mounted on the top of the truss car matrix 102, side risers 104 located on the front and rear sides of the truss car matrix 102, battery storage and protection frames 101 located on the middle two sides of the truss car matrix 102, and a power source base 103 located on the lower end of the truss car matrix 102.
Each group of power modules is connected with a transmission module for realizing drive and transmission isolation, and the transmission module is connected with a wheel module for executing driving force brought by the transmission module.
As shown in fig. 1, 2, 3 and 5, the power module comprises a hole output reducer 306, a servo motor 307 and a special-shaped fixing plate 305 respectively arranged at two ends of the hole output reducer 306, and is hinged on a shaft at one end of the power source base 103 in parallel and staggered, and is suspended and distributed in the front and rear of the truss car matrix 102 in parallel and staggered mode.
The power modules are hinged on the shaft at one end of the power source base 103 in a parallel and staggered mode, are suspended in the front and rear of the automobile body in a parallel and staggered mode, so that the track of the mobile robot and the occupancy rate of the power modules to the internal space of the automobile body are reduced, and the power modules can rotate around the shaft at one end of the power source base 103, so that the power modules can be conveniently disassembled and assembled, and the belt is conveniently tensioned.
The transmission module comprises an upper rotating shaft 311 which is arranged on the special-shaped fixing plate 305 and one end of which is matched with the hole output speed reducer 306, a transmission belt mechanism which is matched with the upper rotating shaft 311 and is used for transmitting power, a lower rotating shaft 315 which is matched with the transmission belt mechanism, a universal coupling 303 which is matched with the lower rotating shaft 315, and an outer hub coupling 313 which is connected with the universal coupling 303.
As shown in fig. 5, the belt mechanism includes two sets of driving wheels 316 corresponding to the upper rotating shaft 311 and the lower rotating shaft 315, a belt 302 matching with the two sets of driving wheels 316, and a tensioning mechanism arranged on the belt 302.
In specific application, the driving wheel can be a synchronous pulley, and the driving belt can be a synchronous belt matched with the synchronous pulley.
One end of the upper rotating shaft 311 far away from the hole output speed reducer 306 is connected with a belt pulley electromagnetic clutch 301, and the belt pulley electromagnetic clutch 301 is matched with a driving wheel 316 on the upper rotating shaft 311.
The tensioning mechanism adopts a swing frame type tensioning mechanism, the tensioning mechanism comprises a tensioning adjusting stud 308, the tensioning adjusting stud 308 is provided with a double nut, one end of the tensioning adjusting stud is in clamping connection with the special-shaped fixing plate 305 through the double nut, the other end of the tensioning adjusting stud is hinged with the other rotating shaft of the power source base 103, and the special-shaped fixing plate 305 is rotated through screwing the double nut.
The outer side of the special-shaped fixing plate 305 is provided with a plurality of groups of first bearing seats 312, one group of first bearing seats 312 is used for installing the upper rotating shaft 311, and the other group of first bearing seats 312 is installed at the lower part of the side vertical plate 104. In the invention, the first bearing seat can be a deep groove ball bearing seat.
The outer hub coupler 313 is provided with a second bearing seat 314 through bearing fit. The second bearing seat in the invention can be an angular contact ball bearing seat.
As shown in fig. 2 and 4, a first bearing seat 312 is mounted on the outer side of the special-shaped fixing plate 305, an upper rotating shaft 311 is mounted in cooperation with a bearing in the first bearing seat 312, two ends of the upper rotating shaft 311 are respectively connected with a hole output speed reducer 306 and a belt pulley electromagnetic clutch 301, the other first bearing seat 312 is mounted on the lower portion of the side riser 104, a lower rotating shaft 315 is matched with the first bearing seat 312, one end of the lower rotating shaft 315 is connected with a driving wheel 316, the other end of the lower rotating shaft is connected with one end of a universal coupling 303, the other end of the universal coupling 303 is connected with an outer hub coupling 313, and the outer hub coupling 313 is mounted in cooperation with an inner bearing of a second bearing seat 314.
The wheel module includes a tire 309, a hub 310 disposed on the tire 309.
In the invention, the double-cross arm vibration damping unit 2 comprises a first U-shaped linkage frame 206 and a second U-shaped linkage frame 204, wherein one ends of the first U-shaped linkage frame 206 and the second U-shaped linkage frame 204 are hinged with a bearing disc 304, one ends of the first U-shaped linkage frame 206 and the second U-shaped linkage frame 204, which are far away from the bearing disc 304, are hinged with the truss car matrix assembly 1, a lower cantilever lifting lug 207 is slidably arranged on the first U-shaped linkage frame 206, a vibration damper 202 is matched on the lower cantilever lifting lug 207, and one ends of the vibration damper 202, which are far away from the lower cantilever lifting lug 207, are matched with the truss car matrix assembly 1.
Specifically, the double-wishbone vibration damping unit 2 further includes an upper hinge table 205 connected to the open ends of the first type U-shaped linkage frame 206 and the second type U-shaped linkage frame 204, a lower hinge table 203 connected to the closed ends of the first type U-shaped linkage frame 206 and the second type U-shaped linkage frame 204, and a locking electric sliding rail 208 mounted on the inner side of the first type U-shaped linkage frame 206, wherein two ends of the lower cantilever lifting lug 207 are respectively connected with a sliding block on the locking electric sliding rail 208, and the upper cantilever lifting lug 201 is mounted on the lifting lug seat 105.
The second bearing block 314 is mounted on the outer side of the carrier disc 304.
The special-shaped fixing plate 305 is rotated by screwing the double nuts, the center distance of the driving wheels is adjusted to achieve the tensioning purpose, and the driving belt 302 is convenient to install.
In practical application: when the mobile robot runs on a complex road surface, because the wheel module is separated from the power module, the impact force of the ground on the wheels is transmitted to the damping part along the wheels and then to the vehicle body, and the power module is in the vehicle body and is subjected to vibration after being damped by the damping part, so that the working environment of the mobile robot is improved; because the electromagnetic clutch 301 is arranged in the transmission module, when the mobile robot fails outdoors, the clutch of the electromagnetic clutch 301 can be controlled to enable the mobile robot to slide in a neutral position, so that the mobile robot is convenient to drag and maintain;
when the mobile robot runs on a complex road surface and is loaded, the clutch of the electromagnetic clutch 301 can be controlled to perform four-wheel drive; when the mobile robot is on a flat road without load, the clutch of the electromagnetic clutch 301 can be controlled to perform two-drive driving so as to reduce energy consumption.
The invention uses the swing frame type tensioning mechanism and the power modules which are arranged in a staggered parallel suspension mode to enable the swing frame type tensioning mechanism and the power modules to be mutually fused, improves the utilization rate of the internal space of the vehicle body, and simultaneously enables the special-shaped fixing plate 305 to be rotatable on the premise of reducing the track of the mobile robot, so that the disassembly and assembly of the power modules and the tensioning of the transmission belt 302 are facilitated.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A drive stepping mechanism for all terrain mobile robot, its characterized in that: comprising the following steps:
a truss car matrix assembly (1);
the gear-shifting driving unit (3) is arranged on the truss car matrix assembly (1) and comprises four groups of power modules which are arranged in a staggered parallel suspension mode and output power, and the switching of the running state and the neutral sliding state of the mobile robot is completed according to actual requirements;
the double-cross arm vibration reduction unit (2) is connected between each group of power modules and the truss vehicle base body assembly (1) so as to enhance the vehicle body strength and the vehicle body stability of the mobile robot;
the double-cross arm vibration reduction unit (2) comprises a first U-shaped linkage frame (206) and a second U-shaped linkage frame (204), wherein one end of the first U-shaped linkage frame (206) and one end of the second U-shaped linkage frame (204) are hinged with a bearing disc (304), one end, far away from the bearing disc (304), of the first U-shaped linkage frame (206) and one end, far away from the bearing disc (304), of the second U-shaped linkage frame (204) are hinged with a truss car matrix assembly (1), a lower cantilever lifting lug (207) is slidably arranged on the first U-shaped linkage frame (206), a vibration damper (202) is matched on the lower cantilever lifting lug (207), and one end, far away from the lower cantilever lifting lug (207), of the vibration damper (202) is matched with the truss car matrix assembly (1); the double-cross arm vibration reduction unit (2) further comprises an upper hinging table (205) connected with the opening ends of the first U-shaped linkage frame (206) and the second U-shaped linkage frame (204), a lower hinging table (203) connected with the closed ends of the first U-shaped linkage frame (206) and the second U-shaped linkage frame (204), and locking electric sliding rails (208) arranged on the inner sides of the first U-shaped linkage frame (206), wherein two ends of each lower cantilever lifting lug (207) are respectively connected with sliding blocks on the locking electric sliding rails (208); the truss car matrix assembly (1) comprises a truss car matrix (102), a lifting lug seat (105) arranged at the top of the truss car matrix (102) and side vertical plates (104) arranged on the left side and the right side of the truss car matrix (102), and the lower cantilever lifting lug (207) is arranged in the middle of the U-shaped opening of the first U-shaped linkage frame (206) and the second U-shaped linkage frame (204).
2. A drive stepper mechanism for an all-terrain mobile robot as defined in claim 1, wherein: each group of power modules is connected with a transmission module for realizing drive and transmission isolation, and the transmission module is connected with a wheel module for executing driving force brought by the transmission module.
3. A drive stepper mechanism for an all-terrain mobile robot as defined in claim 2, wherein: the power module comprises a hole output speed reducer (306), servo motors (307) respectively arranged at two ends of the hole output speed reducer (306), and a special-shaped fixing plate (305).
4. A drive stepper mechanism for an all-terrain mobile robot as defined in claim 3, wherein: the transmission module comprises an upper rotating shaft (311) which is arranged on the special-shaped fixing plate (305) and one end of which is matched with the hole output speed reducer (306), a transmission belt mechanism which is matched with the upper rotating shaft (311) and used for transmitting power, a lower rotating shaft (315) which is matched with the transmission belt mechanism, a universal coupler (303) which is matched with the lower rotating shaft (315), and an outer hub coupler (313) which is connected with the universal coupler (303).
5. A drive stepper mechanism for an all-terrain mobile robot as defined in claim 4, wherein: the driving belt mechanism comprises two groups of driving wheels (316) correspondingly matched with the upper rotating shaft (311) and the lower rotating shaft (315), a driving belt (302) matched with the two groups of driving wheels (316), and a tensioning mechanism arranged on the driving belt (302).
6. A drive stepper mechanism for an all-terrain mobile robot as defined in claim 5, wherein: one end of the upper rotating shaft (311) far away from the hole output speed reducer (306) is connected with a belt pulley electromagnetic clutch (301), and the belt pulley electromagnetic clutch (301) is matched with a driving wheel (316) on the upper rotating shaft (311).
7. A drive stepper mechanism for an all-terrain mobile robot as defined in claim 5, wherein: the tensioning mechanism adopts a swing frame type tensioning mechanism, the tensioning mechanism comprises a tensioning adjusting stud (308), and the tensioning adjusting stud (308) is provided with a double nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210108331.1A CN114537546B (en) | 2022-01-28 | 2022-01-28 | Driving gear-shifting mechanism for all-terrain mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210108331.1A CN114537546B (en) | 2022-01-28 | 2022-01-28 | Driving gear-shifting mechanism for all-terrain mobile robot |
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| CN114537546A CN114537546A (en) | 2022-05-27 |
| CN114537546B true CN114537546B (en) | 2024-03-12 |
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