CN201148179Y - Mobile robot for ice and snow surface - Google Patents

Mobile robot for ice and snow surface Download PDF

Info

Publication number
CN201148179Y
CN201148179Y CNU200720015708XU CN200720015708U CN201148179Y CN 201148179 Y CN201148179 Y CN 201148179Y CN U200720015708X U CNU200720015708X U CN U200720015708XU CN 200720015708 U CN200720015708 U CN 200720015708U CN 201148179 Y CN201148179 Y CN 201148179Y
Authority
CN
China
Prior art keywords
swing arm
box
sprocket
output shaft
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNU200720015708XU
Other languages
Chinese (zh)
Inventor
韩建达
吴镇炜
赵忆文
卜春光
高英丽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
Original Assignee
Shenyang Institute of Automation of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Priority to CNU200720015708XU priority Critical patent/CN201148179Y/en
Application granted granted Critical
Publication of CN201148179Y publication Critical patent/CN201148179Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Abstract

The utility model relates to the advanced manufacturing and automation technology field, concretely relates to a mobile robot which can be used on ice and snow surface, comprising a carriage body, two travel mechanisms and four swing arm mechanisms. The travel mechanisms are installed at both sides of the carriage body and are symmetric left to right. The four swing arm mechanisms are arranged at the front and back of the carriage body and are symmetric left to right. The driving chain wheel of the travel mechanism is connected with the driving axle in front of the carriage body. The output shaft installed behind the carriage body is connected with a driven chain wheel by a bearing. The swing arm of the swing arm mechanism is connected with the output shaft of the carriage body. The swing arm chain wheel in front of the swing arm mechanism is bolt-connected the driving chain wheel of the travel mechanism by a shaft sleeve. And the swing arm chain wheel at the back of the swing arm mechanism is bolt-connected with the driven chain wheel of the travel mechanism by a shaft sleeve. The mobile robot can work in low temperature environment, has autonomous slope climbing and obstacle negotiation abilities such as crossing over ice crack, surmounting snow slop and snow dune and so on.

Description

A kind of mobile robot used on ice and snow surface
Technical field
The utility model belongs to advanced and makes and technical field of automation specifically a kind of mobile robot who is applicable to the ice and snow face.
Technical background
Along with the continuous development of automatic technology, the mobile robot who is used for environment such as subdued topography, stair, pipeline has got tremendous development, and structures such as wheeled, crawler type, wheel-leg-crawler be compound are arranged.But the mobile robot who is applicable to the ice and snow face does not appear in the newspapers.Along with the polar region scientific investigation progressively deeply, develop and a kind ofly be applicable to that the mobile robot of ice and snow face has very big essentiality.But this robot independent technological leapfrogging crevasse is crossed snowbank and snowbank, and works under atrocious weather.
The utility model content
The purpose of this utility model is to provide a kind of mobile robot who is applicable to the ice and snow face, and it can worked under low temperature environment, but has the independent technological leapfrogging crevasse, crosses the climbing and the obstacle climbing ability of snowbank and snowbank.
To achieve these goals, the technical solution of the utility model is as follows: comprise box body, traveling gear and oscillating arm mechanisms, described traveling gear is installed in box body both sides, left-right symmetric; Totally four front and back at box body of oscillating arm mechanisms is provided with, and in box body both sides left-right symmetric; The drive sprocket of described traveling gear is connected with box body fwd transmission shaft, and the output shaft that is installed in the box body back links to each other with driven sprocket by bearing; The swing arm of oscillating arm mechanisms is connected with the output shaft of box body, be positioned at fwd swing arm sprocket wheel by the axle sleeve bolt on the drive sprocket of traveling gear, the swing arm sprocket wheel that is positioned at the back is installed together by the driven sprocket of axle sleeve and traveling gear;
Box body comprises casing, running part, control part and box body supporting part, and described running part and control part are installed in the casing, and two sides of casing respectively are equipped with the box body supporting part, are positioned in the middle of the traveling gear; Described running part is made up of swing arm motor, movable motor, worm-gear speed reducer, output shaft, planetary reducer, bevel gear, transmission shaft, the input shaft of worm-gear speed reducer links to each other with the swing arm motor, and the output shaft of worm-gear speed reducer connects with the output axle key; The input shaft of planetary reducer links to each other with movable motor, and the output shaft of planetary reducer and bevel gear key connect, and the output shaft of bevel gear and transmission axle key connect; Transmission shaft links to each other with casing by the bearing that is installed on the box body, and output shaft is connected in the transmission shaft by bearing carrier ring; Described box body supporting part is made up of fixed support, travel(l)ing rest, vertical pivot, transverse axis, BOGEY WHEEL bearing seat, BOGEY WHEEL and spring, fixed support is installed in the side of box body, spring is installed in respectively in the hole at fixed support two ends, and the axle of travel(l)ing rest passes spring and is installed on the fixed support; Vertical pivot is fixed on travel(l)ing rest middle part, transverse axis pass the vertical pivot center and with vertical pivot at the vertical direction bolt, free end is equipped with BOGEY WHEEL; BOGEY WHEEL is installed on the transverse axis by the BOGEY WHEEL bearing seat;
Described traveling gear is made up of drive sprocket, driven sprocket and traveling crawler three parts, and drive sprocket and driven sprocket are installed together by traveling crawler; Drive sprocket is connected with transmission shaft; Driven sprocket links to each other with output shaft by bearing;
The swing arm flower wheel that described oscillating arm mechanisms is installed together by swing arm sprocket wheel, swing arm, by swing arm crawler belt and swing arm sprocket wheel is formed swing arm and box body output shaft bolt; The drive sprocket bolt of fwd swing arm sprocket wheel and traveling gear, the swing arm sprocket wheel of back and the driven sprocket bolt of traveling gear; The swing arm flower wheel by bearing installation in swing arm.
The present invention has following advantage:
1, the crawler belt comformability is strong, and the robot motion is steadily reliable.The traveling crawler of mobile robot used on ice and snow surface of the present invention and swing arm crawler belt are chain-plate type, can adapt to multiple landform; The outside of sprocket is a nylon, and remainder is a duralumin, has both guaranteed intensity, has alleviated weight again, has also saved lubricated.On the crawler belt joint plate anti-skid screw is installed, can skids by actv. minimizing crawler belt.The supporting part of box body can move up and down with respect to box body under the effect of spring, has played good cushioning effect, so the robot motion is steadily reliable.
2, climbing and obstacle detouring function are better.Oscillating arm mechanisms is all arranged before and after the mobile robot used on ice and snow surface of the present invention, and the angle of oscillating arm mechanisms and box body determines that by function unit, motor, worm-gear speed reducer, output shaft etc. such structure more helps climbing snowbank and snowbank, obstacle detouring and crosses the ice crack crack.The worm-gear speed reducer that is adopted has auto-lock function, can alleviate motor load.
3, simple in structure, flexible.Mobile robot used on ice and snow surface of the present invention can be finished complicated work in rugged environment, but self is simple in structure.Two traveling geaies about two motors drive respectively, identical speed are realized moving forward and backward, and differential is realized turning.
Description of drawings
Fig. 1-1 is a mobile robot used on ice and snow surface mounting structure scheme drawing.
Fig. 1-2 is the birds-eye view of Fig. 1-1.
Fig. 2 is Fig. 1 running part structural representation.
Fig. 3-1 is a box body supporting part structural representation.
Fig. 3-2 is the left view of Fig. 3-1
Fig. 3-3 is the birds-eye view of Fig. 3-1.
Fig. 4-1 is the caterpillar belt structure scheme drawing.
Fig. 4-2 is the left view of Fig. 4-1
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
Shown in Fig. 1-1,1-2,2, mobile robot used on ice and snow surface is made up of box body 1, traveling gear 2 and oscillating arm mechanisms 3 three parts, and totally two of described traveling geaies 2 are installed in box body 1 both sides, left-right symmetric.Totally four of oscillating arm mechanisms 3 are provided with in the front and back of box body 1, and in box body 1 both sides left-right symmetric.The drive sprocket 11 of described traveling gear 2 and transmission shaft 10 bolts of box body 1, the output shaft that is installed in box body 1 back links to each other with driven sprocket 12 by bearing, and bearing is used for the location; The swing arm 15 of oscillating arm mechanisms 3 and output shaft 6 bolts of box body 1 are positioned at fwd swing arm sprocket wheel 14 and pass through the axle sleeve bolt on the drive sprocket 11 of traveling gear 2, and the swing arm sprocket wheel 14 that is positioned at the back passes through the axle sleeve bolt on the driven sprocket 12 of traveling gear 2.
Shown in Fig. 1-1,1-2,2, the box body 1 of mobile robot used on ice and snow surface comprises casing, running part, control part and box body supporting part 18, running part and control part (for prior art) are installed in the casing, three box body supporting parts 18 are respectively installed in two sides of casing, are positioned in the middle of the traveling gear 2.Running part is made up of swing arm motor 4, movable motor 7, worm-gear speed reducer 5, output shaft 6, planetary reducer 8, bevel gear 9, transmission shaft 10, the input shaft of worm-gear speed reducer 5 links to each other with swing arm motor 4, and the output shaft of worm-gear speed reducer 5 and output shaft 6 keys connect; The input shaft of planetary reducer 8 links to each other with movable motor 7, and the output shaft of planetary reducer 8 and bevel gear 9 keys connect, and the output shaft of bevel gear 9 and transmission shaft 10 keys connect.Transmission shaft 10 links to each other with casing by the bearing that is installed on the box body 1, and bearing is used for supporting.The bearing that output shaft 6 usefulness are installed in the transmission shaft 10 supports, and is socketed in the transmission shaft 10.
As shown in Figure 3, box body supporting part 18 is made up of fixed support 19, travel(l)ing rest 20, vertical pivot 21, transverse axis 22, BOGEY WHEEL bearing seat 23, BOGEY WHEEL 24 and spring 25.Fixed support 19 is installed in the side of box body 1, and two springs 25 are installed in respectively in the hole at fixed support 19 two ends, and two axles of travel(l)ing rest 20 pass spring 25 and are installed on the fixed support 19.Spring 25 is flexible, and travel(l)ing rest 20 can move with respect to box body 1.Vertical pivot 21 is fixed on travel(l)ing rest 20 middle parts, transverse axis 22 pass vertical pivot 21 centers and with vertical pivot 21 at the vertical direction bolt, free end is equipped with BOGEY WHEEL 24.BOGEY WHEEL 24 is installed on the transverse axis 22 by BOGEY WHEEL bearing seat 23, and two deep groove ball bearings are positioned BOGEY WHEEL bearing seat 23 on the transverse axis 22.Therefore, spring 25 is flexible, and BOGEY WHEEL 24 will move with respect to box body 1.
Shown in Fig. 1-1,1-2,2, the traveling gear 2 of mobile robot used on ice and snow surface is totally two left-right symmetric, is arranged in box body 1 both sides.Traveling gear 2 is made up of drive sprocket 11, driven sprocket 12 and traveling crawler 13 3 parts, and drive sprocket 11 is installed together by traveling crawler 13 with driven sprocket 12.Box body transmission shaft 10 drives drive sprocket 11 rotations, and drive sprocket 11 rotations drive traveling crawler 13 motions and driven sprocket 12 rotations.When traveling crawler 13 kinematic velocitys in the left and right sides were identical, mobile robot used on ice and snow surface moved forward or backward, left and right sides traveling crawler 13 kinematic velocitys not simultaneously, mobile robot used on ice and snow surface is turned.The gear teeth of drive sprocket 11, driven sprocket 12 adopt the duralumin material, and external packets is wrapped with nylon.
As shown in Figure 2, the swing arm flower wheel 16 that is installed together by swing arm sprocket wheel 14, swing arm 15, by swing arm crawler belt 17 and swing arm sprocket wheel 14 of the oscillating arm mechanisms 3 of mobile robot used on ice and snow surface is formed.Swing arm 15 and box body output shaft 6 bolts; Drive sprocket 11 bolts of fwd swing arm sprocket wheel 14 and traveling gear 2, the swing arm sprocket wheel 14 of back and driven sprocket 12 bolts of traveling gear 2; Swing arm flower wheel 16 is by the bearing location that is installed in the swing arm 15.14 rotating band movable pendulum arm crawler belts, 17 motions of swing arm sprocket wheel and swing arm flower wheel 16 rotate; Swing arm 15 is rotated, and changes the angle of oscillating arm mechanisms 3 and box body 1, and swing arm crawler belt 17 and swing arm flower wheel 16 rotate around swing arm sprocket wheel 14 simultaneously.The gear teeth of swing arm sprocket wheel 14 adopt the duralumin material, and external packets is wrapped with nylon.
Shown in Fig. 4-1,4-2, crawler belt (comprising traveling crawler 13 and swing arm crawler belt 17) was formed under the connection of bar shaped adhesive tape 29, according to the crawler width difference, and the increase and decrease of adhesive tape quantity.Crawler belt is the chain-plate type structure, specifically is made up of rib 26, chain link 27, pressing plate 28, adhesive tape 29, carrier bar 30 and anti-skid screw 31, and between 27 of chain links of sprocket engagement and the rib 26, is installed in carrier bar 30 upper surfaces, and integral body is concave unit; By pressing plate 28 described unit bolt is formed the chain-plate type crawler belt on adhesive tape 29; Anti-skid screw 31 is installed carrier bar 30 belows, and is protruding in carrier bar 30 lower surfaces, and the alternate lower surface both sides that are arranged on carrier bar 30.Rib 26 is used for keeping off the both sides at drive sprocket 11, driven sprocket 12, swing arm sprocket wheel 14, swing arm flower wheel 16 or BOGEY WHEEL 24, prevents the crawler belt sideslip; Carrier bar 30 ground connection; Anti-skid screw 31 can enter into ice and snow, prevents that carrier bar 30 from skidding.

Claims (6)

1. a mobile robot used on ice and snow surface comprises box body (1), traveling gear (2) and oscillating arm mechanisms (3); It is characterized in that: described traveling gear (2) is installed in box body (1) both sides, left-right symmetric; Totally four front and back at box body (1) of oscillating arm mechanisms (3) is provided with, and in box body (1) both sides left-right symmetric; The drive sprocket (11) of described traveling gear (2) is connected with box body (1) fwd transmission shaft (10), and the output shaft (6) that is installed in box body (1) back links to each other with driven sprocket (12) by bearing; The swing arm (15) of oscillating arm mechanisms (3) is connected with the output shaft (6) of box body (1), be positioned at fwd swing arm sprocket wheel (14) by the axle sleeve bolt on the drive sprocket (11) of traveling gear (2), the swing arm sprocket wheel (14) that is positioned at the back is installed together by the driven sprocket (12) of axle sleeve and traveling gear (2).
2. according to the described mobile robot used on ice and snow surface of claim 1, it is characterized in that: box body (1) comprises casing, running part, control part and box body supporting part (18), described running part and control part are installed in the casing, two sides of casing respectively are equipped with box body supporting part (18), are positioned in the middle of the traveling gear (2); Described running part is made up of swing arm motor (4), movable motor (7), worm-gear speed reducer (5), output shaft (6), planetary reducer (8), bevel gear (9), transmission shaft (10), the input shaft of worm-gear speed reducer (5) links to each other with swing arm motor (4), and the output shaft of worm-gear speed reducer (5) and output shaft (6) key connect; The input shaft of planetary reducer (8) links to each other with movable motor (7), and the output shaft of planetary reducer (8) and bevel gear (9) key connect, and the output shaft of bevel gear (9) and transmission shaft (10) key connect; Transmission shaft (10) links to each other with casing by the bearing that is installed on the box body (1), and output shaft (6) is connected in the transmission shaft (10) by bearing carrier ring; Described box body supporting part (18) is made up of fixed support (19), travel(l)ing rest (20), vertical pivot (21), transverse axis (22), BOGEY WHEEL bearing seat (23), BOGEY WHEEL (24) and spring (25), fixed support (19) is installed in the side of box body (1), spring (25) is installed in respectively in the hole at fixed support (19) two ends, and the axle of travel(l)ing rest (20) passes spring (25) and is installed on the fixed support (19); Vertical pivot (21) is fixed on travel(l)ing rest (20) middle part, transverse axis (22) pass vertical pivot (21) center and with vertical pivot (21) at the vertical direction bolt, free end is equipped with BOGEY WHEEL (24); BOGEY WHEEL (24) is installed on the transverse axis (22) by BOGEY WHEEL bearing seat (23).
3. according to the described mobile robot used on ice and snow surface of claim 1, it is characterized in that: described traveling gear (2) is made up of drive sprocket (11), driven sprocket (12) and traveling crawler (13) three parts, and drive sprocket (11) is installed together by traveling crawler (13) with driven sprocket (12); Drive sprocket (11) is connected with transmission shaft (10), and driven sprocket (12) links to each other with output shaft (6) by bearing.
4. according to the described mobile robot used on ice and snow surface of claim 1, it is characterized in that: the swing arm flower wheel (16) that described oscillating arm mechanisms (3) is installed together by swing arm sprocket wheel (14), swing arm (15), by swing arm crawler belt (17) and swing arm sprocket wheel (14) is formed swing arm (15) and box body output shaft (6) bolt; Drive sprocket (11) bolt of fwd swing arm sprocket wheel (14) and traveling gear (2), driven sprocket (12) bolt of the swing arm sprocket wheel (14) of back and traveling gear (2); Swing arm flower wheel (16) by bearing installation in swing arm (15).
5. according to claim 3 or 4 described mobile robot used on ice and snow surface, it is characterized in that: the gear teeth of described drive sprocket (11), driven sprocket (12), swing arm sprocket wheel (14) adopt the duralumin material, and external packets is wrapped with nylon.
6. according to claim 3 or 4 described mobile robot used on ice and snow surface, it is characterized in that: the crawler belt of traveling crawler (13) and swing arm crawler belt (17) is the chain-plate type structure, specifically form by rib (26), chain link (27), pressing plate (28), adhesive tape (29), carrier bar (30) and anti-skid screw (31), and between the chain link of sprocket engagement (27) position and the rib (26), be installed in carrier bar (30) upper surface, integral body is concave unit; By pressing plate (28) described unit is combined under the connection of adhesive tape (29), formed the chain-plate type crawler belt; Anti-skid screw (31) is installed carrier bar (30) below, and is protruding in carrier bar (30) lower surface, and the alternate lower surface both sides that are arranged on carrier bar (30).
CNU200720015708XU 2007-11-07 2007-11-07 Mobile robot for ice and snow surface Expired - Fee Related CN201148179Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU200720015708XU CN201148179Y (en) 2007-11-07 2007-11-07 Mobile robot for ice and snow surface

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU200720015708XU CN201148179Y (en) 2007-11-07 2007-11-07 Mobile robot for ice and snow surface

Publications (1)

Publication Number Publication Date
CN201148179Y true CN201148179Y (en) 2008-11-12

Family

ID=40115946

Family Applications (1)

Application Number Title Priority Date Filing Date
CNU200720015708XU Expired - Fee Related CN201148179Y (en) 2007-11-07 2007-11-07 Mobile robot for ice and snow surface

Country Status (1)

Country Link
CN (1) CN201148179Y (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101428652B (en) * 2007-11-07 2010-06-02 中国科学院沈阳自动化研究所 Movable robot for ice and snow surface
CN101746427B (en) * 2008-12-19 2011-06-29 中国科学院沈阳自动化研究所 Mobile robot on ruin surface
CN105059413A (en) * 2015-08-18 2015-11-18 公安部上海消防研究所 Fire-fighting robot moving carrier having waterproof characteristic

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101428652B (en) * 2007-11-07 2010-06-02 中国科学院沈阳自动化研究所 Movable robot for ice and snow surface
CN101746427B (en) * 2008-12-19 2011-06-29 中国科学院沈阳自动化研究所 Mobile robot on ruin surface
CN105059413A (en) * 2015-08-18 2015-11-18 公安部上海消防研究所 Fire-fighting robot moving carrier having waterproof characteristic

Similar Documents

Publication Publication Date Title
CN101890986B (en) Deformable all-terrain adaptable robot walking mechanism
CN201760877U (en) Deformable robot travelling mechanism suitable for all landforms
CN101428652B (en) Movable robot for ice and snow surface
CN101439736B (en) All-terrain moving robot
CN102582706A (en) Coal mine underground search-and-rescue detection robot moving device
CN101380978A (en) Shrimp-shaped six-wheel mobile robot
CN201231791Y (en) Multi-joint type crawler mobile robot
CN102303655B (en) Wheel-legged combined-type robot platform
CN201148179Y (en) Mobile robot for ice and snow surface
CN103029539A (en) Novel driven self-adaptive six-wheeled all-terrain mobile robot
CN107521573A (en) A kind of damping crawler-type unmanned mobile platform
KR101272197B1 (en) Travelling device of rover
CN102114876A (en) Wheel-tracked obstacle crossing mechanism
CN2186639Y (en) Robot motion carrier suitable for complicated topography
CN101823484B (en) Concealed air cushion vehicle
CN201566714U (en) Caterpillar obstacle-surmounting mechanism
CN107336574A (en) A kind of liftable robot of changeable wheelbase
CN201136558Y (en) Robot for moving on all-landforms
CN101654124B (en) Curved surface all-position creeping-type mobile robot mechanism
CN204150107U (en) A kind of improved type individual soldier tank
CN103010325A (en) Convertible walking mechanism of robot
CN209126845U (en) A kind of wheel shoe alternative expression all-terrain vehicle
CN101181911A (en) Combined type obstacle crossing walking system
CN2841272Y (en) Composite moving mechanism of autonomous obstacle-surmounting robot
CN205044414U (en) Qxcomm technology's shovel crawler

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20081112

Termination date: 20121107

C17 Cessation of patent right