CN114802497A - Portable wheel-track double-swing-arm mobile robot - Google Patents
Portable wheel-track double-swing-arm mobile robot Download PDFInfo
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- CN114802497A CN114802497A CN202210227100.2A CN202210227100A CN114802497A CN 114802497 A CN114802497 A CN 114802497A CN 202210227100 A CN202210227100 A CN 202210227100A CN 114802497 A CN114802497 A CN 114802497A
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- 238000001514 detection method Methods 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 230000009194 climbing Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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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
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
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Abstract
The invention discloses a portable wheel-track double-swing-arm mobile robot, which comprises a chassis, wherein one end of the chassis is provided with a driving wheel, the other end of the chassis is provided with a driven wheel, and a swing arm motor and a driving motor are arranged in the chassis; the first crawler wheels are arranged on two sides of the chassis and connected with the driving motor, and the second crawler wheels are arranged on two sides of the chassis and connected with the first crawler wheels through the chassis crawler belts; the swing arm assembly comprises a swing arm driving crawler wheel, a swing arm support and a third transmission rotating shaft. Compared with the prior art, the invention has the following advantages: the portable wheel-track double-swing-arm mobile robot can be freely switched between a wheel-type mobile mode and a track-type mobile mode. The reasonable structural design of holistic high compatibility has satisfied the demand of fast switch over when making this robot compatible wheeled and two kinds of walking modes of crawler-type, makes the product have higher suitability, does not increase the product volume simultaneously when improving this robot and hinders the ability simultaneously, can be competent in the detection task of multiple complex environment.
Description
Technical Field
The invention relates to the field of robots, in particular to a portable wheel-track double-swing-arm mobile robot.
Background
The mobile robot is generally divided into a wheel type and a crawler type as a mobile platform. The wheel-type mobile robot is generally driven by two wheels, four wheels or multiple wheels, and has the characteristics of simple structure, high moving speed, low motion noise and suitability for long-distance movement, but the wheel-type mobile robot has poor adaptability to terrain and insufficient obstacle-crossing capability, cannot work in a complex road section, and has limited application occasions. Compared with a wheel type mobile robot, the crawler type mobile robot has good obstacle crossing capability and strong terrain adaptability, can turn on the spot, but has relatively low moving speed, low efficiency and large motion noise ratio, and is not suitable for long-distance movement.
Chinese patent publication No. CN208760749U discloses a wheel-track combined type walking robot, which comprises a chassis, a first walking mechanism arranged at the bottom of the chassis, a second walking mechanism arranged at the rear of the chassis, and a climbing mechanism arranged at the front of the chassis; the first travel mechanism includes: the first crawler belt is connected with the front crawler wheel and the rear crawler wheel in a transmission way, and the first driving mechanism drives the front crawler wheel or the rear crawler wheel to rotate; the second travelling mechanism comprises a driving wheel arranged at the rear part of the chassis and a second driving mechanism driving the driving wheel to rotate; climbing mechanism includes rotatable coupling in the third actuating mechanism of the swing arm of chassis and drive swing arm at vertical plane internal rotation, is equipped with third running gear on the swing arm, and third running gear includes: the upper crawler wheel and the lower crawler wheel are respectively arranged at the upper end and the lower end of the swing arm, the second crawler belt is in transmission connection with the upper crawler wheel and the lower crawler wheel, and the fourth driving mechanism drives the upper crawler wheel or the lower crawler wheel to rotate. By combining the crawler-type first traveling mechanism and the wheel-type second driving mechanism, the traveling speed can be ensured, and the traveling is stable; in addition, the wheel-track combined type walking robot is further provided with a climbing mechanism at the front part, the robot can climb the ground or steps of different terrain structures by swinging the swing arm around the chassis, and the terrain adaptability is stronger.
However, the wheel-track combined type walking robot in the above technical solution still has the following disadvantages: on one hand, the chassis has a single moving mode, can not be freely switched between a wheel type and a crawler type, and has poor product adaptability; on the other hand, the robot is not compact in structure, large in overall size and not suitable for detecting complex environments due to the fact that environment detection cannot be carried out on narrow pipelines. Therefore, there is a need for a portable wheel-track double-swing arm mobile robot capable of providing dual-mode movement to solve the above problems.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a portable wheel-track double-swing-arm mobile robot which can be freely switched between a wheel-track mobile mode and a track-track mobile mode.
In order to achieve the purpose, the invention adopts the following scheme:
a portable wheel-track double-swing-arm mobile robot comprises a chassis, wherein one end of the chassis is provided with a driving wheel, the other end of the chassis is provided with a driven wheel, a swing arm motor and a driving motor are arranged in the chassis, and the driving motor provides power for a chassis track and a swing arm track. The swing arm motor provides power for the rotation of the swing arm assembly.
The first crawler wheels are arranged on two sides of the chassis and connected with the driving motor, and detachable driving wheels are arranged on the first crawler wheels; the first crawler wheels are arranged at the rear end of the chassis and are respectively connected with two driving motors in the rear end of the chassis.
The second crawler wheels are arranged on two sides of the chassis and connected with the first crawler wheels through a chassis crawler belt, detachable driven wheels are arranged on the second crawler wheels, and the chassis can move through the chassis crawler belt after the driving wheels and the driven wheels are detached;
the swing arm assembly comprises a swing arm driving crawler wheel, a swing arm support and a third transmission rotating shaft, the swing arm driving crawler wheel is detachably connected with the second crawler wheel or the driven wheel, and the swing arm driving crawler wheel rotates on the chassis through the second crawler wheel or the driven wheel;
a first bearing used for installing a first transmission rotating shaft is arranged in the chassis, one end of the first transmission rotating shaft is connected with a rotating shaft of the swing arm motor, the other end of the first transmission rotating shaft is arranged in a second bearing in a second crawler wheel, a second transmission rotating shaft is arranged in the driven wheel, a third bearing is arranged in the swing arm driving crawler wheel, one end of the second transmission rotating shaft is connected with the first transmission rotating shaft, the other end of the second transmission rotating shaft is arranged in the third bearing, and one end of the third transmission rotating shaft is connected with the first transmission rotating shaft or the second transmission rotating shaft, and the other end of the third transmission rotating shaft is connected with the swing arm support;
when the chassis is provided with driven wheels, the robot enters a wheel-type walking mode. The swing arm assembly is connected with the driven wheel through a swing arm driving crawler wheel, the third transmission rotating shaft is connected with the second transmission rotating shaft, and the swing arm motor drives the swing arm assembly to rotate through the first transmission rotating shaft, the second transmission rotating shaft and the third transmission rotating shaft. In other words, in the wheel-type walking mode, the second track wheel is sequentially connected with the driven wheel and the swing arm driving track wheel, and at the moment, the size of the portable wheel-track double-swing-arm mobile robot in the swing arm storage state is 360mm × 468mm × 160mm, and the portable wheel-track double-swing-arm mobile robot is unfolded to be 360mm × 750mm × 160 mm.
When the chassis is not provided with driven wheels, the robot enters a crawler type walking mode. The swing arm assembly is connected with the second crawler wheel through a swing arm driving crawler wheel, the third transmission rotating shaft is connected with the first transmission rotating shaft, and the swing arm motor drives the swing arm assembly to rotate through the first transmission rotating shaft and the third transmission rotating shaft. In other words, in the wheel type walking mode, the outer side of the second crawler wheel is only connected with the swing arm driving crawler wheel, and at the moment, the size of the portable wheel-track double-swing-arm mobile robot in the swing arm accommodating state is 280mm x 468mm x 160mm, and the size of the portable wheel-track double-swing-arm mobile robot in the swing arm accommodating state is 280mm x 750mm x 160mm, so that the size of the portable wheel-track double-swing-arm mobile robot is obviously reduced compared with that of the wheel type walking mode, and the portable wheel-track double-swing-arm mobile robot is beneficial to detection of a narrow space.
Furthermore, the swing arm assembly also comprises a swing arm support, one end of the swing arm support is fixedly connected with the third transmission rotating shaft, and the other end of the swing arm support is provided with a rotatable swing arm driven crawler wheel; the swing arm driving crawler wheel and the swing arm driven crawler wheel are connected through a swing arm crawler belt, and both the swing arm driving crawler wheel and the swing arm driven crawler wheel rotate through a driving motor. This portable wheel-track double swing arm mobile robot can cross the obstacle through swing arm subassembly, can be quick through barriers such as ladder, has widened the use scene of robot from this to can adjust the obstacle crossing speed that the direction improves the product when the swing arm subassembly walks.
Furthermore, the two ends of the swing arm support are provided with first fixing holes, the swing arm support is fixedly connected with the third transmission rotating shaft and the fixing seat through the first fixing holes respectively, and the driven crawler wheel of the swing arm is installed on the fixing seat through a bearing. The swing arm driving crawler wheel is connected with the swing arm driven crawler wheel through a swing arm crawler belt, the driving motor drives the first crawler wheel to rotate, the first crawler wheel drives the second crawler wheel to rotate through the chassis crawler belt, the second crawler wheel drives the swing arm driving crawler wheel to rotate, and the swing arm driving crawler wheel drives the swing arm driven crawler wheel to rotate through the swing arm crawler belt.
Furthermore, a fixed blind hole used for being connected with a second crawler wheel and a plurality of thread fixing holes used for fixing the swing arm driving crawler wheel are formed in one side of the driven wheel, and the number of the fixed blind holes and the number of the thread fixing holes are 4. Simple structure, easy dismounting, the quick switch of this robot between wheeled walking and crawler-type walking of being convenient for.
Furthermore, the swing arm motor comprises a first swing arm motor and a second swing arm motor which are respectively arranged on two sides of the chassis, and the chassis can independently control the swing arm assemblies on the two sides through the first swing arm motor and the second swing arm motor. The swing arms which can be independently controlled on the two sides of the base enable the portable wheel-track double-swing-arm mobile robot to face the challenge of more complex terrains and have more superior obstacle crossing capability.
Furthermore, driving motor is including locating the first driving motor and the second driving motor of chassis both sides respectively, and the chassis accessible first driving motor and second driving motor carry out the differential and turn to.
Furthermore, first transmission pivot afterbody is equipped with and supplies second transmission pivot or third transmission pivot male first connecting hole, is equipped with first keyway in the first connecting hole, and second transmission pivot and third transmission pivot front end are equipped with the second keyway that corresponds first keyway, and second transmission pivot afterbody is equipped with and supplies third transmission pivot male second connecting hole, is equipped with the third keyway in the first connecting hole.
Furthermore, a second fixing hole used for connecting a driven wheel or a swing arm driving crawler wheel is formed in one side of the first crawler wheel. The driven wheel and the swing arm driving crawler wheel can be fixed through the second fixing hole and the screw, and the robot can be conveniently and rapidly switched between wheel type walking and crawler type walking.
Further, the diameter ratio of the driving wheel to the first crawler wheel is not less than 1.25, and the diameter ratio of the driven wheel to the second crawler wheel is not less than 1.25. When the robot walks, the driving wheel is rigidly connected with the first crawler wheel, and the angular speeds of the driving wheel and the first crawler wheel are the same, so that the larger the diameter ratio of the driving wheel to the first crawler wheel is, the faster the moving speed of the robot in the wheel-type walking mode is.
Compared with the prior art, the invention has the following advantages: the portable wheel-track double-swing-arm mobile robot can be freely switched between a wheel-type mobile mode and a track-type mobile mode. The swing arm driving crawler wheel can be mounted on the driven wheel or directly mounted on the second crawler wheel, the driving wheel and the driven wheel are dismounted, the swing arm driving crawler wheel is fixed on the second crawler wheel, the robot can be switched from a wheel type walking mode to a crawler type walking mode, and meanwhile, the function of the swing arm is not affected. The reasonable structural design of holistic high compatibility lets this robot satisfy the demand of fast switch over when can compatible wheeled and two kinds of walking modes of crawler-type, makes the product have higher suitability. Swing arm track and chassis track on the swing arm are jointly through the driving motor drive of chassis rear end, and the swing arm motor free angle of adjustment of swing arm accessible chassis front end does not increase the product volume when improving this robot and hinders the ability, can be competent in the detection task of multiple complex environment.
Drawings
The present application will be described in further detail with reference to the following drawings and detailed description.
Fig. 1 is a schematic overall structure diagram of a portable wheel-track double-swing-arm mobile robot according to the invention.
Fig. 2 is a schematic diagram of a partial internal structure of the portable wheel-track double-swing-arm mobile robot.
Fig. 3 is a schematic partial sectional structure view of a portable wheel-track double-swing-arm mobile robot according to the invention.
Fig. 4 is a partially enlarged schematic view of fig. 3.
Fig. 5 is a schematic diagram of a power transmission structure of a swing arm motor of the portable wheel-track double-swing-arm mobile robot.
Fig. 6 is a schematic structural diagram of a driven wheel of the portable wheel-track double-swing-arm mobile robot.
Fig. 7 is a schematic view of a crawler type walking mode of the portable wheel-track double-swing-arm mobile robot.
Fig. 8 is a wheel type walking mode obstacle crossing schematic diagram of the portable wheel-track double-swing-arm mobile robot.
Fig. 9 is a crawler-type walking mode obstacle crossing schematic diagram of the portable wheel-track double-swing-arm mobile robot.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
As shown in fig. 1-9, a portable wheel-track double-swing-arm mobile robot comprises a chassis 1, as shown in fig. 2, one end of the chassis 1 is provided with a driving wheel 2, the other end of the chassis 1 is provided with a driven wheel 3, a swing-arm motor 4 and a driving motor 5 are arranged in the chassis 1, and the driving motor 5 provides power for a chassis track 7 and a swing-arm track 6. The swing arm motor 4 powers the rotation of the swing arm assembly.
As shown in fig. 1 and 2, the first crawler wheels 8 are arranged on two sides of the chassis 1 and connected with the driving motor 5, and the first crawler wheels 8 are provided with detachable driving wheels 2; the first crawler wheels 8 are arranged at the rear end of the chassis 1 and are respectively connected with the two driving motors 5 in the rear end of the chassis 1.
as shown in fig. 1 and 2, the swing arm assembly comprises a swing arm driving crawler wheel 10, a swing arm support 12 and a third transmission rotating shaft 15, the swing arm driving crawler wheel 10 is detachably connected with a second crawler wheel 9 or a driven wheel 3, and the swing arm driving crawler wheel 10 rotates on the chassis 1 through the second crawler wheel 9 or the driven wheel 3;
as shown in fig. 3-5, a first bearing 16 for mounting a first transmission rotating shaft 13 is arranged in the chassis 1, one end of the first transmission rotating shaft 13 is connected with the rotating shaft of the swing arm motor 4, and the other end is arranged in a second bearing 17 in the second crawler wheel 9, a second transmission rotating shaft 14 is arranged in the driven wheel 3, a third bearing 18 is arranged in the swing arm driving crawler wheel 10, one end of the second transmission rotating shaft 14 is connected with the first transmission rotating shaft 13, and the other end is arranged in the third bearing 18, one end of the third transmission rotating shaft 15 is connected with the first transmission rotating shaft 13 or the second transmission rotating shaft 14, and the other end is connected with the swing arm bracket 12;
as shown in fig. 8, when the chassis 1 is fitted with the driven wheels 3, the robot enters a wheel-walking mode. As shown in fig. 3 and 4, the swing arm assembly is connected to the driven wheel 3 through the swing arm driving crawler wheel 10, the third transmission rotating shaft 15 is connected to the second transmission rotating shaft 14, and the swing arm motor 4 drives the swing arm assembly to rotate through the first transmission rotating shaft 13, the second transmission rotating shaft 14 and the third transmission rotating shaft 15. That is, in the wheel-type traveling mode, the second track wheel 9 is connected to the driven wheel 3 and the swing arm driving track wheel 10 in sequence, and at this time, the size of the portable wheel-track double-swing arm mobile robot in the swing arm storage state is 360mm × 468mm × 160mm, and the portable wheel-track double-swing arm mobile robot is unfolded 360mm × 750mm × 160 mm.
As shown in fig. 7 and 9, when the chassis 1 is not equipped with the driven wheels 3, the robot enters crawler-type traveling mode. The swing arm assembly is connected with the second crawler wheel 9 through a swing arm driving crawler wheel 10, the third transmission rotating shaft 15 is connected with the first transmission rotating shaft 13, and the swing arm motor 4 drives the swing arm assembly to rotate through the first transmission rotating shaft 13 and the third transmission rotating shaft 15. That is to say, in the wheel-type walking mode, the outer side of the second track wheel 9 is only connected with the swing arm driving track wheel 10, and at this time, the size of the portable wheel-track double-swing-arm mobile robot in the swing arm accommodating state is 280mm x 468mm x 160mm, and the size of the portable wheel-track double-swing-arm mobile robot is 280mm x 750mm x 160mm, so that the portable wheel-track double-swing-arm mobile robot is obviously reduced compared with the wheel-type mode, and the portable wheel-track double-swing-arm mobile robot is beneficial to detecting a narrow space.
Preferably, as shown in fig. 1 and 2, the swing arm assembly further includes a swing arm support 12, one end of the swing arm support 12 is fixedly connected to a third transmission rotating shaft 15, and the other end is provided with a rotatable swing arm driven crawler wheel 11, and the swing arm motor 4 can rotate the swing arm support 12 through the third transmission rotating shaft 15; the swing arm driving crawler wheel 10 and the swing arm driven crawler wheel 11 are connected through a swing arm crawler belt 6, and the swing arm driving crawler wheel 10 and the swing arm driven crawler wheel 11 both rotate through a driving motor 5. This portable wheel-track double swing arm mobile robot can cross the obstacle through swing arm subassembly, can be quick through barriers such as ladder, has widened the use scene of robot from this to can adjust the obstacle crossing speed that the direction improves the product when the swing arm subassembly walks.
Preferably, as shown in fig. 1, first fixing holes 19 are formed at two ends of the swing arm support 12, the swing arm support 12 is fixedly connected to the third transmission rotating shaft 15 and the fixing base 20 through the first fixing holes 19, and the swing arm driven crawler wheel 11 is mounted on the fixing base 20 through a bearing. The swing arm driven crawler wheel 11 is connected with a swing arm driving crawler wheel 10 through a swing arm crawler 6, the driving motor 5 drives the first crawler wheel 8 to rotate, the first crawler wheel 8 drives the second crawler wheel 9 to rotate through the chassis crawler 7, the second crawler wheel 9 drives the swing arm driving crawler wheel 10 to rotate, and the swing arm driving crawler wheel 10 drives the swing arm driven crawler wheel 11 to rotate through the swing arm crawler 6.
Preferably, as shown in fig. 6, a fixing blind hole 21 for connecting the second track wheel 9 and a plurality of threaded fixing holes 22 for fixing the swing arm driving track wheel 10 are formed in one side of the driven wheel 3, and the number of the fixing blind hole 21 and the number of the threaded fixing holes 22 are 4. Simple structure, easy dismounting, the quick switch of this robot between wheeled walking and crawler-type walking of being convenient for.
Preferably, as shown in fig. 2, the swing arm motor 4 includes a first swing arm motor 4 and a second swing arm motor 4 respectively disposed on two sides of the chassis 1, and the chassis 1 can independently control the swing arm assemblies on two sides through the first swing arm motor 4 and the second swing arm motor 4. The swing arms which can be independently controlled on the two sides of the base enable the portable wheel-track double-swing-arm mobile robot to face the challenge of more complex terrains and have more superior obstacle crossing capability.
Preferably, as shown in fig. 2, the driving motor 5 includes a first driving motor 5 and a second driving motor 5 respectively disposed at two sides of the chassis 1, and the chassis 1 can perform differential steering through the first driving motor 5 and the second driving motor 5.
Preferably, as shown in fig. 5, a first connection hole 23 is formed in the tail of the first transmission rotating shaft 13 and is used for inserting the second transmission rotating shaft 14 or the third transmission rotating shaft 15, a first key slot is formed in the first connection hole 23, second key slots corresponding to the first key slots are formed in the front ends of the second transmission rotating shaft 14 and the third transmission rotating shaft 15, a second connection hole 24 is formed in the tail of the second transmission rotating shaft 14 and is used for inserting the third transmission rotating shaft 15, and a third key slot is formed in the first connection hole 23.
Preferably, a second fixing hole for connecting the driven wheel 3 or the swing arm driving crawler wheel 10 is formed at one side of the first crawler wheel 8. The driven wheel 3 and the swing arm driving crawler wheel 10 can be fixed through a second fixing hole and a screw, and the robot can be conveniently and rapidly switched between wheel type walking and crawler type walking.
Preferably, the diameter ratio of the driving wheel 2 to the first track wheel 8 is not less than 1.25, and the diameter ratio of the driven wheel 3 to the second track wheel 9 is not less than 1.25. Since the driving wheel 2 is rigidly connected to the first track wheel 8 and the angular velocities of the driving wheel 2 and the first track wheel 8 are the same when the robot travels, the larger the diameter ratio between the driving wheel 2 and the first track wheel 8 is, the faster the robot moves in the wheel-type travel mode.
The portable wheel-track double-swing-arm mobile robot can be freely switched between a wheel-type mobile mode and a track-type mobile mode. The swing arm driving crawler wheel 10 can be mounted on the driven wheel 3 or directly mounted on the second crawler wheel 9, and the robot can be switched from the wheel-type walking mode to the crawler-type walking mode without any influence on the functions of the swing arm by detaching the driving wheel 2 and the driven wheel 3 and fixing the swing arm driving crawler wheel 10 on the second crawler wheel 9. The reasonable structural design of holistic high compatibility lets this robot satisfy the demand of fast switch over when can compatible wheeled and two kinds of walking modes of crawler-type, makes the product have higher suitability. The swing arm crawler belt 6 and the chassis crawler belt 7 on the swing arm are driven by the driving motor 5 at the rear end of the chassis 1 together, the swing arm can freely adjust the angle through the swing arm motor 4 at the front end of the chassis 1, the obstacle crossing capability of the robot is improved, the product size is not increased, and the robot can be used for detecting various complex environments.
The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present application, and these modifications and substitutions should also be regarded as the protection scope of the present application.
Claims (9)
1. A portable wheel-track double-swing-arm mobile robot is characterized by comprising a chassis, wherein one end of the chassis is provided with a driving wheel, the other end of the chassis is provided with a driven wheel, and a swing arm motor and a driving motor are arranged in the chassis;
the first crawler wheels are arranged on two sides of the chassis and connected with the driving motor, and detachable driving wheels are arranged on the first crawler wheels;
the second crawler wheels are arranged on two sides of the chassis and connected with the first crawler wheels through a chassis crawler belt, detachable driven wheels are arranged on the second crawler wheels, and the chassis can move through the chassis crawler belt after the driving wheels and the driven wheels are detached;
the swing arm assembly comprises a swing arm driving crawler wheel, a swing arm support and a third transmission rotating shaft, the swing arm driving crawler wheel is detachably connected with the second crawler wheel or the driven wheel, and the swing arm driving crawler wheel rotates on the chassis through the second crawler wheel or the driven wheel;
a first bearing used for installing a first transmission rotating shaft is arranged in the chassis, one end of the first transmission rotating shaft is connected with a rotating shaft of the swing arm motor, the other end of the first transmission rotating shaft is arranged in a second bearing in the second crawler wheel, a second transmission rotating shaft is arranged in the driven wheel, a third bearing is arranged in the swing arm driving crawler wheel, one end of the second transmission rotating shaft is connected with the first transmission rotating shaft, the other end of the second transmission rotating shaft is arranged in the third bearing, and one end of the third transmission rotating shaft is connected with the first transmission rotating shaft or the second transmission rotating shaft, and the other end of the third transmission rotating shaft is connected with the swing arm support;
when a driven wheel is installed on the chassis, the swing arm assembly is connected with the driven wheel through the swing arm driving crawler wheel, the third transmission rotating shaft is connected with the second transmission rotating shaft, and the swing arm motor drives the swing arm assembly to rotate through the first transmission rotating shaft, the second transmission rotating shaft and the third transmission rotating shaft;
when the chassis is not provided with the driven wheel, the swing arm assembly is connected with the second crawler wheel through the swing arm driving crawler wheel, the third transmission rotating shaft is connected with the first transmission rotating shaft, and the swing arm motor drives the swing arm assembly to rotate through the first transmission rotating shaft and the third transmission rotating shaft.
2. The portable wheel-track double-swing-arm mobile robot as claimed in claim 1, wherein the swing arm assembly further comprises a swing arm support, one end of the swing arm support is fixedly connected with the third transmission rotating shaft, and the other end of the swing arm support is provided with a rotatable swing arm driven crawler wheel, and the swing arm motor can rotate the swing arm support through the third transmission rotating shaft; the swing arm driving crawler wheel and the swing arm driven crawler wheel are connected through a swing arm crawler belt, and the swing arm driving crawler wheel and the swing arm driven crawler wheel are both rotated through the driving motor.
3. The portable wheel-track double-swing-arm mobile robot as claimed in claim 2, wherein first fixing holes are formed in two ends of the swing arm support, the swing arm support is fixedly connected with the third transmission rotating shaft and the fixed seat through the first fixing holes, and the swing arm driven crawler wheels are mounted on the fixed seat through bearings.
4. The portable wheel-track double-swing-arm mobile robot as claimed in claim 1, wherein one side of the driven wheel is provided with a fixing blind hole for connecting the second crawler wheel and a plurality of threaded fixing holes for fixing the driving crawler wheel of the swing arm, and the number of the fixing blind hole and the number of the threaded fixing holes are 4.
5. The portable wheel-track double-swing-arm mobile robot as claimed in claim 1, wherein the swing-arm motor comprises a first swing-arm motor and a second swing-arm motor respectively arranged on two sides of the chassis, and the chassis can control the swing-arm assembly independently through the first swing-arm motor and the second swing-arm motor.
6. The portable wheel-track double-swing-arm mobile robot as claimed in claim 1, wherein the driving motors comprise a first driving motor and a second driving motor which are respectively arranged on two sides of the chassis, and the chassis can perform differential steering through the first driving motor and the second driving motor.
7. The portable wheel-track double-swing-arm mobile robot as claimed in claim 1, wherein a first connecting hole into which the second or third transmission shaft can be inserted is formed in the tail of the first transmission shaft, a first key groove is formed in the first connecting hole, a second key groove corresponding to the first key groove is formed in the front ends of the second and third transmission shafts, a second connecting hole into which the third transmission shaft can be inserted is formed in the tail of the second transmission shaft, and a third key groove is formed in the first connecting hole.
8. The portable wheel-track double-swing-arm mobile robot as claimed in claim 1, wherein a second fixing hole for connecting the driven wheel or the swing-arm driving crawler wheel is formed on one side of the first crawler wheel.
9. The portable wheel-track double-swing-arm mobile robot as claimed in claim 1, wherein the diameter ratio of the driving wheel to the first crawler wheel is not less than 1.25, and the diameter ratio of the driven wheel to the second crawler wheel is not less than 1.25.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210227100.2A CN114802497A (en) | 2022-03-08 | 2022-03-08 | Portable wheel-track double-swing-arm mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210227100.2A CN114802497A (en) | 2022-03-08 | 2022-03-08 | Portable wheel-track double-swing-arm mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114802497A true CN114802497A (en) | 2022-07-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210227100.2A Pending CN114802497A (en) | 2022-03-08 | 2022-03-08 | Portable wheel-track double-swing-arm mobile robot |
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| CN (1) | CN114802497A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115464623A (en) * | 2022-10-20 | 2022-12-13 | 安徽理工大学 | Multi-functional robot of patrolling and examining with intelligence hinders more |
| CN116001930A (en) * | 2022-12-13 | 2023-04-25 | 武汉中仪地空科技有限公司 | Track detection robot |
-
2022
- 2022-03-08 CN CN202210227100.2A patent/CN114802497A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115464623A (en) * | 2022-10-20 | 2022-12-13 | 安徽理工大学 | Multi-functional robot of patrolling and examining with intelligence hinders more |
| CN116001930A (en) * | 2022-12-13 | 2023-04-25 | 武汉中仪地空科技有限公司 | Track detection robot |
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