CN201186680Y - Swinging rod type wheel track combined robot - Google Patents
Swinging rod type wheel track combined robot Download PDFInfo
- Publication number
- CN201186680Y CN201186680Y CNU2008200347248U CN200820034724U CN201186680Y CN 201186680 Y CN201186680 Y CN 201186680Y CN U2008200347248 U CNU2008200347248 U CN U2008200347248U CN 200820034724 U CN200820034724 U CN 200820034724U CN 201186680 Y CN201186680 Y CN 201186680Y
- Authority
- CN
- China
- Prior art keywords
- wheel
- type
- robot
- crawler belt
- balance device
- 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
Links
Images
Abstract
A rocking lever type wheel-caterpillar combined robot comprises a main case body, a differential balancer, two connecting cylinders, and two W-shaped travelling unit assemblies which are symmetrically arranged on the left side and the right side. The casing of the differential balancer is fixed in the middle position of the main case body, one end of each of the two connecting cylinders are connected with the two projecting shafts of the differential balancer, and the other ends of the two connecting cylinders are supported inside a bearing seat which is fixedly connected with the main case body and are connected with the travelling unit assemblies. A driving belt wheel is arranged at the corner in the middle of a W-shaped bracket, a driving slowdown motor is fixed on the bracket and connected with the driving belt wheel, a W-shaped caterpillar which is lifted at a certain angle is arranged on both the front side and the rear side, and wheels are arranged on the outer side of a driven wheel which is positioned at the corner of the bottom of the bracket and are coaxially connected with the driven wheel. The robot provided in the utility model has both the performance of a rocking lever type robot which can adapt to rough road, and the performance of a swinging arm caterpillar robot which can climb over steps and barriers.
Description
Affiliated technical field
The utility model relates to a kind of rocker-type wheel and track combining robot, belongs to the mobile robot mechanism design field.
Background technology
At present, mobile robot with rocker structure mostly is wheeled robot, the principle prototype of planetary detecting robots and the Marsokhod such as " Suo Jiena ", " courage number " of successfully landing Mars all are that 6 of rocker-type is taken turns the individual drive robot in a large number as the Rock series of U.S. development and FIDO etc., at home, China Mining University has developed a kind of rocker type four-wheel robot, this robot architecture is simple, has the performance of stronger obstacle performance and adaptation unfairness landform.Also there is shortcoming in this robot, when crossing perpendicular to the ground and highly bigger step when robot, and when especially shoulder height surpasses wheel diameter, difficulty relatively.At present, some caterpillar robots are crossed the ability of step, obstacle in order to improve robot, adopted the form of triangle crawler belt or auxiliary swing arm crawler belt, all adopted caterpillar band type with auxiliary swing arm crawler belt as the packbot series robot of U.S. irobot company development and the CUMT-II moulded coal ore deposit search and rescue robot of China Mining University's development.But main crawler belt and robot body's platform are fixed about small-sized caterpillar robot, and on unfairness ground when mobile, the big rise and fall of robot body's platform, vibration are big.
The utility model content
The purpose of this utility model is in order to solve the above problems, a kind of rocker-type wheel and track combining robot is provided, this robot had both had the performance of the higher adaptation unfairness landform of rocker-type robot, had the higher performance of crossing step, obstacle of swing arm caterpillar type robot again.
The technical scheme that its technical matters that solves the utility model adopts is:
The utility model by main box, be connected in differential balance device on the main box and connecting cylinder and with differential balance device bonded assembly about the running part assembly of two symmetric arrangement constitute, the housing of differential balance device is fixed on the midway location of main box, one end of the connecting cylinder of two symmetric arrangement is connected with two projecting shafts of differential balance device respectively, its other end is supported in the bearing seat that connects firmly with main box, and is connected with the support of the running part assembly that is located at main box the right and left.Described running part assembly is the W type, by driving pulley, driven pulley, bend wheel, support wheel, wheel, crawler belt, support and driving reducing motor constitute, its support is the W type, driving pulley is located at the corner of the centre of W type structure, driving reducing motor is fixed on the support, and driving the reducing motor axle is connected with driving pulley, driven pulley is installed in other corner and the end of W type structure, bend wheel also is installed on the W type support, crawler belt is engaged in driving pulley, on the driven pulley, bend wheel is pressed in the outside of crawler belt, crawler belt is supported like this, alter course into the W type, all there is one section crawler belt that lifts certain angle front and back, and the crawler belt that lifts is located at its in-to-in support wheel and is supported, and wheel is located at the driven pulley outside of W type frame bottom corner, and connects with this driven pulley is coaxial, the diameter of this wheel is greater than the diameter of this driven pulley, and less than the height of the crawler belt that lifts certain angle.When connecting cylinder connected with the support of running part assembly, the driving reducing motor of running part assembly placed connecting cylinder, and the power supply and the control cable of driving reducing motor pass from the hole that connecting cylinder is provided with.
Described differential balance device with about the pivot angle of two running part assemblies carry out linear averaging, act on then on the main box that connects firmly with differential balance device housing, when guaranteeing that robot is advanced on the unfairness landform, the relative equilibrium of robot main box.This differential balance device can adopt the less planetary gear type differential balance device of axial dimension.
Adopt such scheme and structure, connect by the differential balance device between two running part assemblies, realized the function of rocker-type robot, shake when two running parts are walked on overbalance ground about can realizing, to adapt to ground-surface unfairness.Each running part assembly all has one to drive the reducing motor driving, and entire machine people is by two motor-driven.Belt wheel and crawler belt are given wheel with the power transmission of reducing motor, and a crawler belt of having put certain angle is all arranged before and after wheel, and the diameter of the aspect ratio wheel that this crawler belt lifts is big, thus robot cross the performance of step will be greater than the robot that has only wheel.
Adopt above-mentioned scheme, can reach following some beneficial effect: (1) has adopted rocker structure, has the ability of the stronger adaptation unfairness landform of rocker-type robot; (2) respectively lift certain angle in the outside of wheel, and highly be higher than the crawler belt of wheel diameter, increased the ability that robot is crossed step, obstacle; (3) the utility model has only used two to drive reducing motor, and the running gear of robot is simple in structure.
Description of drawings
Fig. 1 is the three-dimensional structure diagram of the utility model one embodiment;
Fig. 2 is the three-dimensional structure diagram of running part assembly embodiment illustrated in fig. 1;
Fig. 3 is that main box, differential balance device and left and right sides running part assembly embodiment illustrated in fig. 1 connects scheme drawing;
Fig. 4 is the block diagram of the robot behind the dismounting wheel embodiment illustrated in fig. 1;
Among the figure: 1, main box 2, differential balance device 2-1, sun gear 2-2, planetary wheel 2-3, planetary wheel 2-4, inner gear 2-5, tie-rod 3, connecting cylinder 4, running part assembly 5, bearing seat 6, driving pulley 7, driven pulley 8, driven pulley 9, bend wheel 10, bend wheel 11, support wheel 12, wheel 13, crawler belt 14, support 15, driving reducing motor 16, permanent seat 17, cable
The specific embodiment
The utility model is described in further detail below in conjunction with drawings and Examples.
Fig. 1 is the three-dimensional structure diagram of the utility model one embodiment, in order clearly to show its structure, is made as the robot main box transparent.Among Fig. 1, the utility model by main box 1, be connected on the main box 1 differential balance device 2 and connecting cylinder 3 and with differential balance device 2 bonded assemblys about the running part assembly 4 of two symmetric arrangement constitute, the housing of differential balance device 2 is fixed on the midway location of main box 1, one end of the connecting cylinder 3 of two symmetric arrangement is connected with two projecting shafts of differential balance device 2 respectively, its other end is supported on the bearing seat 5 that connects firmly with main box 1, and is connected with the support 14 of the running part assembly 4 that is located at main box 1 the right and left.
Fig. 2 is the three-dimensional structure diagram of running part assembly, described running part assembly 4 is the W type, by driving pulley 6, driven pulley 7,8, bend wheel 9,10, support wheel 11, wheel 12, crawler belt 13, support 14 and driving reducing motor 15 constitute, support 14 is the W type, and this support 14 is divided into two-layer, interlayer connects by coupling block, driving pulley 6 is located at the corner of the centre of W type structure, driving reducing motor 15 is fixed on the support 14 by permanent seat 16, and driving the reducing motor axle is connected with driving pulley 6, driven pulley 7,8 are installed in other corner and the end of W type structure, bend wheel 9,10 also are installed on the W type support, and crawler belt 13 is engaged in driving pulley 6, driven pulley 7, on 8, changed course wheel load 9,10 the outsides at crawler belt, crawler belt 13 is supported like this, alter course into the W type, all there is one section crawler belt that lifts certain angle front and back, and the crawler belt that lifts is located at its in-to-in support wheel 11 supports, wheel 12 is located at driven pulley 8 outsides at W type support 14 bottom corners places, and with these 8 coaxial connections of driven pulley, the diameter of this wheel 12 is greater than the diameter of this driven pulley 8, and less than the height of the crawler belt that lifts certain angle.Described crawler belt 13 can adopt synchronous band, and driving pulley 6, driven pulley 7,8 can adopt and be with the synchronous pulley that matches synchronously.
Fig. 3 is that robot main box, differential balance device and left and right sides running part assembly connect scheme drawing, the housing of differential balance device 2 is fixed on the midway location of main box 1, one end of the connecting cylinder 3 of two symmetric arrangement is connected with two projecting shafts of differential balance device 2 respectively, its other end is supported in the bearing seat 5 that connects firmly with main box 1, and 5 of connecting cylinder 3 and bearing seats are provided with bearing, when connecting cylinder 3 connected with the support 14 of running part assembly 4, connecting cylinder 3 was connected with the support 14 of the running part assembly 4 that is located at main box 1 the right and left.The driving reducing motor 15 of running part assembly 4 places connecting cylinder 3, and the power supply and the control cable 17 of driving reducing motor 15 pass from the hole that connecting cylinder 3 is provided with.
Described differential balance device 2 is a planetary gear type differential balance device, this planetary gear type differential balance device 2 is by sun gear 2-1, planetary wheel 2-2,2-3, inner gear 2-4 and tie-rod 2-5 constitute, be located in the middle of the inner gear 2-4 sun gear 2-1 coaxial line, two-phase planet gear meshed 2-2,2-3 are located between sun gear 2-1 and the inner gear 2-4, and mesh with sun gear 2-1 and inner gear 2-4 respectively.The axle of sun gear and two projecting shafts that spool are the differential balance device of tie-rod, as shown in Figure 3.Described differential balance device 2 with about the pivot angle of two running part assemblies 4 carry out linear averaging, act on then on the main box 1 that connects firmly with differential balance device 2 housings, when guaranteeing that robot is advanced on the unfairness landform, the relative equilibrium of robot main box 1.
The utility model can be removed wheel, and the independent crawler belt that uses forms the rocker-type caterpillar robot, and Fig. 4 is the block diagram for the robot behind the dismounting wheel embodiment illustrated in fig. 1.
The utility model has adopted the left and right sides running part assembly connection of difference balancing device with robot, left and right sides running part assembly can independently shake, and the corner of main box be about the linear averaging of two running part assembly corners, make the robot main box keep relative equilibrium, so the utility model is the rocker-type robot; Adopted wheel to carry out the traveling gear of combination, it is stronger with the performance of crossing step, obstacle to make that robot adapts to unfairness ground.The utility model is adapted at the complex-terrain environment after field or the disaster, can be used as the mobile robot platform of searching and rescuing after open-air search, environment detection and the disaster.
Claims (5)
1, a kind of rocker-type wheel and track combining robot, comprise main box (1), differential balance device (2), it is characterized in that: the housing of differential balance device (2) is fixed on the midway location of main box (1), one end of the connecting cylinder of two symmetric arrangement (3) is connected with two projecting shafts of differential balance device (2) respectively, and its other end is supported on the bearing seat (5) that connects firmly with main box (1) and upward and with the support (14) of the running part assembly (4) that is located at main box (1) the right and left is connected; Running part assembly (4) is the W type, its medium-height trestle (14) is the W type, driving pulley (6) is located at the corner of the centre of W type structure, driving reducing motor (15) is fixed on the support (14), and the reducing motor axle is connected with driving pulley (6), driven pulley (7), (8) be installed in other corner and the end of W type structure, bend wheel (9), (10) also be installed on the W type support, crawler belt (13) is engaged in driving pulley (6), driven pulley (7), (8) on, changed course wheel load (9), (10) in the outside of crawler belt, crawler belt (13) is supported, alter course into the W type, one section crawler belt that lifts certain angle is all arranged before and after it, wheel (12) is located at driven pulley (8) outside at W type support (14) bottom corners place, and with coaxial connection of this driven pulley (8), the diameter of this wheel (12) is greater than the diameter of this driven pulley (8), and less than the height of the crawler belt that lifts certain angle.
2, rocker-type wheel and track combining robot according to claim 1, it is characterized in that: the support (14) of described connecting cylinder (3) and the running part assembly (4) that is located at main box (1) the right and left is when being connected, the driving reducing motor (15) of running part assembly (4) places connecting cylinder (3), and the power supply and the control cable (17) of driving reducing motor (15) pass from the hole that connecting cylinder (3) is provided with.
3, rocker-type wheel and track combining robot according to claim 1 is characterized in that: described crawler belt (13) can adopt synchronous band, driving pulley (6), and the synchronous pulley that matches with described synchronous band can be adopted in driven pulley (7), (8).
4, rocker-type wheel and track combining robot according to claim 1, it is characterized in that: described differential balance device (2) can be planetary gear type differential balance device, by sun gear (2-1), planetary wheel (2-2), (2-3), inner gear (2-4) and tie-rod (2-5) constitute, be located at inner gear (2-4) middle part sun gear (2-1) coaxial line, one or more pairs of planetary wheels that are meshed (2-2), (2-3) are located between sun gear (2-1) and the inner gear (2-4), and mesh with sun gear (2-1) and inner gear (2-4) respectively; The axle of sun gear (2-1) and two projecting shafts that spool are the differential balance device of tie-rod (2-5).
5, rocker-type wheel and track combining robot according to claim 1 is characterized in that: described support (14) is divided into two-layer, and interlayer connects by coupling block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200347248U CN201186680Y (en) | 2008-04-18 | 2008-04-18 | Swinging rod type wheel track combined robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200347248U CN201186680Y (en) | 2008-04-18 | 2008-04-18 | Swinging rod type wheel track combined robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201186680Y true CN201186680Y (en) | 2009-01-28 |
Family
ID=40309696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200347248U Expired - Fee Related CN201186680Y (en) | 2008-04-18 | 2008-04-18 | Swinging rod type wheel track combined robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201186680Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275114A (en) * | 2016-09-05 | 2017-01-04 | 张选琪 | The combined type drive system of mobile robot |
| CN107640237A (en) * | 2017-08-12 | 2018-01-30 | 安徽聚合自动化工程有限公司 | A kind of novel crawler-type walking mechanism |
| CN109969276A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of multiduty independent track drive unit |
-
2008
- 2008-04-18 CN CNU2008200347248U patent/CN201186680Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106275114A (en) * | 2016-09-05 | 2017-01-04 | 张选琪 | The combined type drive system of mobile robot |
| CN107640237A (en) * | 2017-08-12 | 2018-01-30 | 安徽聚合自动化工程有限公司 | A kind of novel crawler-type walking mechanism |
| CN109969276A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of multiduty independent track drive unit |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101554890B (en) | Rocker-type wheel and track combining robot | |
| CN101850795B (en) | Wheel-leg combined type mobile robot platform | |
| CN102303655B (en) | Wheel-legged combined-type robot platform | |
| CN101890986B (en) | Deformable all-terrain adaptable robot walking mechanism | |
| CN201760877U (en) | Deformable robot travelling mechanism suitable for all landforms | |
| CN1644328A (en) | Small crawler leg composite movable robot mechanism | |
| CN107985442A (en) | Drive mechanism for wheel, wheel unit and unmanned platform truck | |
| CN104787133B (en) | A kind of upset arm mechanism suitable for wheel-track combined chassis | |
| CN105329335A (en) | Six-wheeled robot chassis and robot | |
| CN109911055A (en) | Unmanned barrier-exceeding vehicle | |
| CN201186680Y (en) | Swinging rod type wheel track combined robot | |
| CN101428652B (en) | Movable robot for ice and snow surface | |
| CN201677944U (en) | Wheel leg composite type mobile robot platform | |
| CN207292192U (en) | Deform the full landform robot running gear of pleiotaxy | |
| CN106347521A (en) | Electric beach cart body | |
| CN207060210U (en) | A kind of automatical pilot transportation vehicle and its driving steering mechanism | |
| CN101318447A (en) | High-clearance door trestle type drive axle and vehicle | |
| CN2186639Y (en) | Robot motion carrier suitable for complicated topography | |
| CN102642572B (en) | Duplex triangle connecting frame variable configuration crawler-type obstacle-crossing mechanism | |
| CN202098476U (en) | Wheel-leg combined mobile robot platform | |
| CN107284552A (en) | A kind of automatical pilot transportation vehicle and its driving steering mechanism | |
| CN201566714U (en) | Caterpillar obstacle-surmounting mechanism | |
| CN201148179Y (en) | Mobile robot for ice and snow surface | |
| CN206124759U (en) | Low gravity center automobile body and aerial working platform | |
| CN207077969U (en) | A kind of liftable robot of changeable wheelbase |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090128 Termination date: 20110418 |