CN201317416Y - Moving robot - Google Patents
Moving robot Download PDFInfo
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- CN201317416Y CN201317416Y CNU2008202318837U CN200820231883U CN201317416Y CN 201317416 Y CN201317416 Y CN 201317416Y CN U2008202318837 U CNU2008202318837 U CN U2008202318837U CN 200820231883 U CN200820231883 U CN 200820231883U CN 201317416 Y CN201317416 Y CN 201317416Y
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Abstract
The utility model relates to a moving robot, which belongs to the technical field of advanced manufacture and automatization. The moving robot comprises moving mechanisms, obstacle-crossing mechanisms and obstacle-crossing input devices which are arranged on two sides of a box body with one set respectively, wherein internal edge wheel hubs of the obstacle-crossing mechanisms are bolted with action wheel hubs of the moving mechanisms, rotation shafts of the obstacle-crossing input devices are threaded through the moving mechanisms, and are connected with swing-arm shafts of the obstacle-crossing mechanisms, and the end portions of the rotation shafts are connected with shaft end baffle plates of the obstacle-crossing mechanisms. The obstacle-crossing mechanisms and the moving mechanisms of the moving robot are comparatively independent, and are connected through bolts, when the running ground is flat comparatively, the obstacle-crossing mechanisms can be easily unloaded, the moving mechanisms can finish tasks independently, and the structure is flexible and reliable. Guiding strips and supporting frames are installed on an apron wheel to prevent the apron wheel from deviating, and can play a role of supporting simultaneously. The moving robot has the characteristics of small volume and light weight, and convenient transportation. The slope climbing and obstacle-crossing functions are better.
Description
Technical field
The invention belongs to advanced manufacturing and technical field of automation, specifically a kind of mobile robot who is applicable to the surface, ruins.
Technical background
Along with the development of manufacture and automatic technology and towards the research of rescue field robot, the mobile robot who develops at present is a lot.Because be subjected to the restriction of material and technological level, in order to realize the set goal, the mobile robot is non-dismountable, volume is big, weight is also heavy, carries and transport all very inconvenient, and application is restricted.Though some mobile robot's volume is little, in light weight, Applicable scope is little, and it is just powerless to have arrived complicated surface, ruins.
Summary of the invention
The object of the present invention is to provide a kind of be applicable to surface, ruins and the mobile robot with modular construction, it has in the climbing of surface, ruins, obstacle climbing ability, and volume is little, in light weight, is easy to carry.
To achieve these goals, technical scheme of the present invention:
The present invention includes travel mechanism, barrier getting over mechanism and obstacle detouring input media, about each cover place the casing both sides respectively, the interior cincture wheel hub of described barrier getting over mechanism and the driving wheel wheel hub bolt of travel mechanism, the S. A. of obstacle detouring input media passes travel mechanism and is connected with the arm shaft of barrier getting over mechanism, and the end of S. A. is connected with the axle head baffle plate of barrier getting over mechanism.
Described travel mechanism comprises casing, driver train and traveling gear, and driver train places in the casing, and traveling gear places the casing outside, and the mobile driven pulley of traveling gear links to each other with the mobile driving pulley of driver train by being with synchronously.Described driver train comprises drive motor, drive motor mounting bracket and mobile driving pulley, and drive motor is fixed in the casing on the two side by the drive motor mounting bracket, and mobile driving pulley is installed on the output shaft of drive motor.Described traveling gear comprises driving mechanism, follower and mobile crawler belt, and the driving wheel of driving mechanism links to each other by mobile crawler belt with the flower wheel of follower.Described driving mechanism comprises mobile driven pulley, mobile harmonic wave speed reducing machine, driving wheel and driving wheel wheel hub, driving wheel is connected with the driving wheel wheel hub, mobile harmonic wave speed reducing machine is installed in the casing outside, and its input end is equipped with mobile driven pulley, and mouth is equipped with the driving wheel wheel hub.Described follower comprises flower wheel, flower wheel wheel hub and anchor shaft, and anchor shaft is installed in the rear end in the casing outside, and flower wheel is connected with the flower wheel wheel hub, and the flower wheel wheel hub is installed on the anchor shaft.Described mobile crawler belt comprises first tooth, first block, first sliver and mobile track support frame, mobile crawler belt inboard is provided with first tooth that is meshed with driving wheel and flower wheel, the outside is provided with first block, the mobile crawler belt left and right sides of first sliver of mobile crawler belt both sides between driving wheel and flower wheel, the first sliver edge has a plurality of V-slots, mobile track support frame is fixed on outside, casing both sides, is positioned at mobile crawler belt and lands in the middle of first sliver of side, above first tooth.Described tank material is a superduralumin.
Described obstacle detouring input media comprises obstacle detouring driver train, obstacle detouring transmission device and obstacle detouring deceleration output mechanism, obstacle detouring driver train and obstacle detouring deceleration output mechanism are installed on the interior two side of casing, the obstacle detouring transmission device is installed on the fixed support of obstacle detouring deceleration output mechanism, and the obstacle detouring driver train is connected with obstacle detouring deceleration output mechanism by the obstacle detouring transmission device.
Described obstacle detouring driver train comprises obstacle detouring motor, obstacle detouring motor mounting rack, obstacle detouring driving pulley and obstacle detouring driver train fixed support, obstacle detouring is connected with motor mounting rack with obstacle detouring with the fixed end of motor, the support bracket fastened end of obstacle detouring driver train is connected with motor mounting rack with obstacle detouring, the other end is connected with casing, the obstacle detouring driving pulley by bearing installation in obstacle detouring driver train fixed support, obstacle detouring driver train fixed support is passed in its end, links to each other with the output shaft of obstacle detouring with motor by elastic coupling.Described obstacle detouring transmission device comprises obstacle detouring drive pulley, obstacle detouring transmission shaft and obstacle detouring transmission bracket, the obstacle detouring transmission bracket is installed on the fixed support of obstacle detouring deceleration output mechanism, the obstacle detouring transmission shaft by bearing installation in the obstacle detouring transmission bracket, two obstacle detouring drive pulleys are installed in the two ends of obstacle detouring transmission shaft respectively, one of them obstacle detouring drive pulley links to each other with the obstacle detouring driving pulley of obstacle detouring driver train by being with synchronously, and another obstacle detouring drive pulley links to each other with the obstacle detouring driven pulley of obstacle detouring deceleration output mechanism by synchronous band.Described obstacle detouring deceleration output mechanism comprises obstacle detouring driven pulley, obstacle detouring harmonic wave speed reducing machine, fixed support and S. A., a support bracket fastened end and casing bolt, the other end is connected with the obstacle detouring harmonic wave speed reducing machine, the obstacle detouring driven pulley is connected with the input end of obstacle detouring harmonic wave speed reducing machine, S. A. is connected with the mouth of obstacle detouring harmonic wave speed reducing machine, S. A. stretches out outside the casing, is connected with barrier getting over mechanism.
Described barrier getting over mechanism comprises the inner edge wheel assembly, the outside wheel assembly, swing arm, arm shaft, the obstacle detouring crawler belt, little wheel shaft, the axle head baffle plate, inboard little wheel assembly and the little wheel assembly in the outside, arm shaft and little wheel shaft are connected to the two ends of swing arm, inner edge wheel assembly and outside wheel assembly are installed in the both sides of arm shaft respectively, inboard little wheel assembly and outside steamboat assembly are installed in the both sides of little wheel shaft respectively, inner edge wheel assembly and inboard little wheel assembly place a side of swing arm, outside wheel assembly and the little wheel assembly in the outside place the opposite side of swing arm, the obstacle detouring crawler belt is positioned at the inner edge wheel assembly, the outside wheel assembly, inboard little wheel assembly, the outside of the little wheel assembly in the outside, axle head baffle plate place the S. A. axle head in the wheel assembly arm shaft outer end cap of outside.Described inside and outside cincture assembly and inside and outside steamboat unit construction are identical, include wheel, wheel hub, wheel end cap and hubcap, wheel and wheel hub bolt, hubcap places wheel end cap inboard, the wheel end cap is connected with wheel hub, inside and outside cincture assembly is connected with arm shaft, and inside and outside little wheel assembly is connected with the steamboat axle.Described obstacle detouring crawler belt comprises second tooth, second block, second sliver and obstacle detouring track support frame, obstacle detouring crawler belt inboard is provided with second tooth that is meshed with interior cincture outside wheel, inboard steamboat and outside steamboat, the outside is provided with second block, second sliver in the middle of the obstacle detouring crawler belt interior cincture and inboard steamboat and outside both sides up and down between cincture and the outside steamboat, the second sliver edge has a plurality of V-slots, obstacle detouring track support frame bolt is positioned at the right and left of second sliver in the both sides up and down of swing arm midway location.
The casing top of described travel mechanism is the payload platform of many interfaces.
The present invention has following advantage:
1. have little, the lightweight characteristics of volume.Mobile robot on ruin surface of the present invention is long to be 710mm, and wide is 500mm, and height is 230mm, and weight is 40Kg, and cross-country car and car just can carry transportation.
2. climbing and obstacle detouring function are better.The barrier getting over mechanism of mobile robot on ruin surface of the present invention is installed in the front portion of travel mechanism both sides, and mobile robot's center of gravity is positioned near the driving wheel centre of gration.When the mobile robot front had slope or obstacle to cross, barrier getting over mechanism rotated to the driving wheel front of travel mechanism, rides on slope or the obstacle, was used for mobile apparatus human obstacle detouring; When the mobile robot back had slope or obstacle to cross, barrier getting over mechanism rotated to the driving wheel back of travel mechanism, and travel mechanism lifts, and rides on slope or the obstacle, was used for mobile apparatus human obstacle detouring,
3. simple in structure, flexibility and reliability.Mobile robot on ruin surface of the present invention only is equipped with barrier getting over mechanism in mobile robot's front just can realize the front and back obstacle detouring, and the mobile robot that barrier getting over mechanism is housed with front and back compares, and function is identical, simple in structure.Barrier getting over mechanism and travel mechanism are relatively independent, by bolted connection, during the relatively flat of operation ground, can at an easy rate barrier getting over mechanism be unloaded, and travel mechanism independently finishes the work, the structure flexibility and reliability.
4. sliver and bracing frame are installed on the crawler belt, play the effect of support when preventing the crawler belt sideslip.
Description of drawings
Fig. 1 is the mobile robot on ruin surface structural representation.
Fig. 2 is the left view of figure.
Fig. 3 is the driving mechanism structure scheme drawing of mobile robot on ruin surface travel mechanism.
Fig. 4 is the driving mechanism structural representation of mobile robot on ruin surface.
Fig. 5 is the follower structural representation of mobile robot on ruin surface.
Fig. 6 is the mobile crawler belt and the mobile track support frame structural representation of mobile robot on ruin surface.
Fig. 7 is the left view of Fig. 6.
Fig. 8 is the obstacle detouring input media floor plan scheme drawing of mobile robot on ruin surface.
Fig. 9 is the obstacle detouring driving mechanism structure scheme drawing of mobile robot on ruin surface.
Figure 10 is the obstacle detouring transmission device structural representation of mobile robot on ruin surface.
Figure 11 is the obstacle detouring deceleration output mechanism structural representation of mobile robot on ruin surface.
Figure 12 is the obstacle detouring crawler belt and the obstacle detouring track support frame structural representation of mobile robot on ruin surface.
Figure 13 is the left view of Figure 12.
Figure 14 is the barrier getting over mechanism structural representation of mobile robot on ruin surface.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
As Fig. 1, Fig. 2, shown in, the present invention includes travel mechanism 1, barrier getting over mechanism 2 and obstacle detouring input media 6, about each cover casing 4 both sides that are placed in, the interior cincture wheel hub 38 of described barrier getting over mechanism 2 and driving wheel wheel hub 13 bolts of travel mechanism 1, obstacle detouring input media 6 places casing 4 interior driver train 3 tops of travel mechanism 1, the S. A. 35 of obstacle detouring input media 6 passes arm shaft 58 bondings of travel mechanism 1 and barrier getting over mechanism 2, and axle head baffle plate 62 bolts of the end of S. A. 35 and barrier getting over mechanism 2.Be the plane of load of many interfaces above the casing 4 of travel mechanism 1, multiple wrecking equipment and goods and materials can be carried in the front portion, the rear portion can carry be used to drive, the equipment of control, sensing.Casing 4 materials adopt superduralumin.
Described travel mechanism 1 comprises driver train 3, casing 4 and traveling gear 5, driver train 3 places in the casing 4, traveling gear 5 places casing 4 outsides, and the mobile driven pulley 10 of described traveling gear 5 links to each other with the mobile driving pulley 9 of driver train 3 by being with synchronously, realizes motion.
Described driver train 3 comprises drive motor 7, drive motor mounting bracket 8 and mobile driving pulley 9, drive motor 7 is fixed on the casing 4 interior two sides by drive motor mounting bracket 8, drive motor mounting bracket 8 and casing 4 bolts, the output shaft of drive motor 7 and mobile driving pulley 9 keys connect.
Described traveling gear 5 comprises driving mechanism 18, follower 19 and mobile crawler belt 20, driving mechanism 18 is positioned at the front of casing 4 both sides, follower 19 is positioned at the back of casing 4 both sides, and the driving wheel 12 of driving mechanism 18 links to each other by mobile crawler belt 20 with the flower wheel 14 of follower 19.Follower 19 is realized motion by the mobile crawler belt 20 that links to each other with driving mechanism 18.Driving mechanism 18 comprises mobile driven pulley 10, mobile harmonic wave speed reducing machine 11 (model is SHG25), driving wheel 12 and driving wheel wheel hub 13, driving wheel 12 is in the same place with driving wheel wheel hub 13 usefulness screw bolts, mobile harmonic wave speed reducing machine 11 usefulness screws are installed in casing 4 outsides, its input end is equipped with mobile driven pulley 10, mouth is equipped with driving wheel wheel hub 13, mobile driven pulley 10 slows down by mobile harmonic wave speed reducing machine 11, output movement is to driving wheel 12, and driving wheel 12 drives mobile crawler belt 20 motions.Follower 19 comprises flower wheel 14, flower wheel wheel hub 15, anchor shaft 16 and clutch shaft bearing 17, anchor shaft 16 usefulness screws are installed in the back in casing 4 outsides, flower wheel 14 and flower wheel wheel hub 15 bolts, flower wheel wheel hub 15 is installed on the anchor shaft 16 by clutch shaft bearing 17, make flower wheel wheel hub 15 location by clutch shaft bearing 17, flower wheel 14 rotates under the drive of mobile crawler belt 20.
Described mobile crawler belt 20 comprises first tooth 65, first block, 64 first slivers 63 and mobile track support frame 21, mobile crawler belt 20 inboards are provided with first tooth 65 that is meshed with driving wheel 12 and flower wheel 14, the outside is provided with first block 64, can be fit to multiple ground, mobile crawler belt 20 left and right sides of first sliver 63 of mobile crawler belt 20 both sides between driving wheel 12 and flower wheel 14, prevent mobile crawler belt 20 sideslips, first sliver, 63 edges have a plurality of V-slots, to adapt to the distortion of crawler belt in motion process, mobile track support frame 21 by screw retention in outside, casing 4 both sides, being positioned at mobile crawler belt 20 lands in the middle of first sliver 63 of side, above first tooth 65, when moving, mobile crawler belt 20 plays a supportive role.
Described obstacle detouring input media 6 comprises obstacle detouring driver train 22, obstacle detouring transmission device 23 and obstacle detouring deceleration output mechanism 24, obstacle detouring driver train 22 and obstacle detouring deceleration output mechanism 24 are installed on the wall of both sides in the casing 4, obstacle detouring transmission device 23 is installed on the fixed support 34 of obstacle detouring deceleration output mechanism 24, and obstacle detouring driver train 22 is connected with obstacle detouring deceleration output mechanism 24 by obstacle detouring follower 23.Obstacle detouring driver train 22 comprises obstacle detouring motor 25, obstacle detouring motor mounting rack 26, obstacle detouring driving pulley 27 and obstacle detouring driver train fixed support 28, the obstacle detouring fixed end and obstacle detouring motor mounting rack 26 bolts of motor 25, one end of obstacle detouring driver train fixed support 28 and obstacle detouring motor mounting rack 26 bolts, the other end and casing 4 bolts, obstacle detouring driving pulley 27 by bearing installation in obstacle detouring driver train fixed support 28, its end is passed obstacle detouring driver train fixed support 28 and is linked to each other transmitting movement by elastic coupling with the output shaft of obstacle detouring with motor 25.Obstacle detouring transmission device 23 comprises obstacle detouring drive pulley 29, obstacle detouring transmission shaft 30 and obstacle detouring transmission bracket 31, obstacle detouring transmission bracket 31 usefulness screws are installed on the fixed support 34 of obstacle detouring deceleration output mechanism 24, obstacle detouring transmission shaft 30 by bearing installation in obstacle detouring transmission bracket 31, two obstacle detouring drive pulleys 29 are installed in the two ends of obstacle detouring transmission shaft 30 respectively with screw, one of them obstacle detouring drive pulley 29 links to each other with the obstacle detouring driving pulley 27 of obstacle detouring driver train 22 by being with synchronously, and another obstacle detouring drive pulley 29 links to each other with the obstacle detouring driven pulley 32 of obstacle detouring deceleration output mechanism 24 by synchronous band.Obstacle detouring deceleration output mechanism 24 comprises obstacle detouring driven pulley 32, obstacle detouring harmonic wave speed reducing machine 33 (model is SHG20), fixed support 34 and S. A. 35, one end of fixed support 34 and casing 4 bolts, the fixed end bolt of the other end and obstacle detouring harmonic wave speed reducing machine 33, the input end bolt of obstacle detouring driven pulley 32 and obstacle detouring harmonic wave speed reducing machine 33, the output bolt of S. A. 35 and obstacle detouring harmonic wave speed reducing machine 33, S. A. 35 reaches outside the casing 4, the end of S. A. 35 is provided with keyway and tapped bore, is connected with barrier getting over mechanism 2.Obstacle detouring driven pulley 32 slows down by obstacle detouring harmonic wave speed reducing machine 33,35 motions of driven rotary axle, thus drive barrier getting over mechanism 2 motions.
Described barrier getting over mechanism 2 comprises inner edge wheel assembly 36, outside wheel assembly 42, swing arm 57, arm shaft 58, obstacle detouring crawler belt 59, steamboat axle 60, axle head baffle plate 62, inboard steamboat assembly 48 and outside steamboat assembly 53, arm shaft 58 and steamboat axle 60 difference bolts are at the two ends of swing arm 57, inner edge wheel assembly 36 is by second bearing 40, outside wheel assembly 42 holds 45 both sides that are installed in arm shaft 58 respectively by third axle, inboard steamboat assembly 48 is by the 4th bearing 51, outside steamboat assembly 53 is installed in steamboat axle 60 both sides by the 5th bearing 56, inner edge wheel assembly 36 and inboard steamboat assembly 48 place a side of swing arm 57, outside wheel assembly 42 and outside steamboat assembly 53 place the opposite side of swing arm 57, obstacle detouring crawler belt 59 is positioned at inner edge wheel assembly 36, outside wheel assembly 42, inboard steamboat assembly 48, the outside of outside steamboat assembly 53, axle head baffle plate 62 places S. A. 35 axle heads in the outside wheel assembly 42 arm shaft outer end caps 47, makes barrier getting over mechanism 2 axial location.
Described inside and outside cincture assembly and inside and outside steamboat unit construction are identical, include wheel, wheel hub, wheel end cap and hubcap, wheel and wheel hub bolt, hubcap places wheel end cap inboard, the wheel end cap is connected with wheel hub, inside and outside cincture assembly is connected with arm shaft 58, and inside and outside little wheel assembly is connected with steamboat axle 60.Be specially: inner edge wheel assembly 36 comprises interior cincture 37, interior cincture wheel hub 38, interior cincture end cap 39, second bearing 40 and arm shaft inner end cap 41, interior cincture 37 and interior cincture wheel hub 38 bolts, be installed on the arm shaft 58 by second bearing 40, in arm shaft inner end cap 41 places in the cincture end cap 39, interior cincture end cap 39 and arm shaft inner end cap 41 respectively with interior cincture wheel hub 38 and arm shaft 58 bolts.Outside wheel assembly 42 comprises that outer cincture 43, outer cincture wheel hub 44, outer cincture end cap 46, third axle hold 45 and arm shaft outer end cap 47, outer cincture 43 and outer cincture wheel hub 44 bolts, holding 45 by third axle is installed on the arm shaft 58, arm shaft outer end cap 47 places in the outer cincture end cap 46, outer cincture end cap 46 and arm shaft outer end cap 47 respectively with outer cincture wheel hub 44 and arm shaft 58 bolts.Inboard steamboat assembly 48 comprises inboard steamboat 49, the 4th bearing 51, inboard steamboat end cap 50 and inboard steamboat hubcap 52, inboard steamboat 49 is installed on the steamboat axle 60 by the 4th bearing 51, inboard steamboat hubcap 52 places in the inboard steamboat end cap 50, inboard steamboat end cap 50 and inboard steamboat hubcap 52 respectively with inboard steamboat 49 and steamboat axle 60 bolts.Outside steamboat assembly 53 comprises outside steamboat 54, the 5th bearing 56, outside steamboat end cap 55 and outside steamboat hubcap 69, outside steamboat 54 is installed on the steamboat axle 60 by the 5th bearing 56, outside steamboat hubcap 69 places in the outside steamboat end cap 55, outside steamboat end cap 55 and outside steamboat hubcap 69 respectively with outside steamboat 54 and steamboat axle 60 bolts.
Obstacle detouring crawler belt 59 structures and mobile crawler belt 20 structural similitudies, specifically comprise second tooth 67, second block 66, second sliver 68 and obstacle detouring track support frame 61, obstacle detouring crawler belt 59 inboards are provided with and interior cincture 37 outer cinctures 43, second tooth 67 that inboard steamboat 49 and outside steamboat 54 are meshed, the outside is provided with second block 66, be fit to multiple ground, second sliver 68 in the middle of the obstacle detouring crawler belt 59 interior cincture 37 and inboard steamboat 49 and outside both sides up and down between cincture 43 and the outside steamboat 54, can prevent obstacle detouring crawler belt 59 sideslips by actv., second sliver, 68 edges have a plurality of V-slots, to adapt to the distortion of crawler belt in motion process.Obstacle detouring track support frame 61 bolts are positioned at the right and left of second sliver 68 in the both sides up and down of swing arm 57 midways location, play a supportive role when 59 motions of obstacle detouring crawler belt.
The axle head baffle plate 62 of barrier getting over mechanism 2 of the present invention and S. A. 35 bolts of obstacle detouring input media 6 make barrier getting over mechanism 2 axial location; Driving wheel wheel hub 13 bolts of interior cincture wheel hub 38 and travel mechanism 1.When barrier getting over mechanism 2 is installed to travel mechanism 1 side, the arm shaft 58 of barrier getting over mechanism 2 and S. A. 35 bondings of travel mechanism 1, axle head baffle plate 62 and S. A. 35 bolts link together the interior cincture 37 of barrier getting over mechanism 2 and the driving wheel wheel hub 13 of travel mechanism 1 with screw then; When barrier getting over mechanism 2 was pulled down from travel mechanism 1 side, technology was opposite.
Working process of the present invention is as follows:
The output shaft rotation of the drive motor 7 of travel mechanism 1 drives mobile driving pulley 9 rotations, simultaneously mobile driven pulley 10 rotations by being with the driving mechanism 18 that links to each other with mobile driving pulley 9 synchronously.The rotation of mobile driven pulley 10 is slowed down by mobile harmonic wave speed reducing machine 11, and output movement is to driving wheel 12 and driving wheel wheel hub 13, driving wheel 12 move through flower wheel 14 and the flower wheel wheel hub 15 that mobile crawler belt 20 is delivered to follower 19; 13 rotations of driving wheel wheel hub drive interior cincture 37 rotations of the barrier getting over mechanism 2 that is attached thereto, thereby drive and 59 motions of interior cincture 37 ingear obstacle detouring crawler belts, and are driven with the outer cincture 43 of obstacle detouring crawler belt 59 ingears, inboard steamboat 49 and outside steamboat 54 simultaneously.Be the output shaft rotation of drive motor 7, mobile crawler belt 20 and obstacle detouring crawler belt 59 move simultaneously.When the rotating speed of the drive motor 7 of the left and right sides is identical, mobile robot on ruin surface, straight-line motion forward or backward, when the rotating speed of the drive motor 7 of the left and right sides not simultaneously, mobile robot on ruin surface turns to the left or to the right.
The obstacle detouring of obstacle detouring input media 6 rotates with the output shaft of motor 25, drives 27 rotations of obstacle detouring driving pulley, simultaneously by being with obstacle detouring drive pulley 29 rotations that link to each other with obstacle detouring driving pulley 27 synchronously.The rotation of obstacle detouring drive pulley 29 is passed through synchronous strap drive to obstacle detouring driven pulley 32, the rotation of obstacle detouring driven pulley 32 is slowed down by obstacle detouring harmonic wave speed reducing machine 33, output movement is to the arm shaft 58 and the swing arm 57 of barrier getting over mechanism 2, and barrier getting over mechanism 2 has just changed with respect to the position of travel mechanism 1 like this.When the mobile robot on ruin surface front had obstacle to cross, barrier getting over mechanism 2 rotated to the front of travel mechanism 1 both sides, and formed an angle with ground, and mobile robot on ruin surface is advanced, by obstacle detouring crawler belt 59 supports of barrier getting over mechanism 2, clear an obstacle; When the mobile robot on ruin surface back has obstacle to cross, barrier getting over mechanism 2 rotates to the centre of travel mechanism 1 both sides, and continue earthward the direction rotation, this moment, obstacle detouring crawler belt 59 joined with ground, travel mechanism 1 forms an angle with ground, promptly mobile crawler belt 20 upwards lifts, and mobile robot on ruin surface is advanced, clear an obstacle.As above structure only is equipped with barrier getting over mechanism 2 and just can realizes the front and back obstacle detouring in the front of mobile robot on ruin surface both sides.
Claims (11)
1. mobile robot, comprise travel mechanism (1), barrier getting over mechanism (2) and obstacle detouring input media (6), about each cover place casing (4) both sides respectively, it is characterized in that: driving wheel wheel hub (13) bolt of the interior cincture wheel hub (38) of described barrier getting over mechanism (2) and travel mechanism (1), the S. A. (35) of obstacle detouring input media (6) passes travel mechanism (1) and is connected with the arm shaft (58) of barrier getting over mechanism (2), and the end of S. A. (35) is connected with the axle head baffle plate (62) of barrier getting over mechanism (2).
2. according to the described mobile robot of claim 1, travel mechanism (1) comprises casing (4), driver train (3) and traveling gear (5), driver train (3) places in the casing (4), traveling gear (5) places casing (4) outside, it is characterized in that: the mobile driven pulley (10) of described traveling gear (5) links to each other with the mobile driving pulley (9) of driver train (3) by being with synchronously, described driver train (3) comprises drive motor (7), drive motor mounting bracket (8) and mobile driving pulley (9), drive motor (7) is fixed on the interior two side of casing (4) by drive motor mounting bracket (8), and mobile driving pulley (9) is installed on the output shaft of drive motor (7).
3. according to the described mobile robot of claim 2, it is characterized in that: described traveling gear (5) comprises driving mechanism (18), follower (19) and mobile crawler belt (20), the driving wheel (12) of driving mechanism (18) links to each other by mobile crawler belt (20) with the flower wheel (14) of follower (19), described driving mechanism (18) comprises mobile driven pulley (10), mobile harmonic wave speed reducing machine (11), driving wheel (12) and driving wheel wheel hub (13), driving wheel (12) is connected with driving wheel wheel hub (13), mobile harmonic wave speed reducing machine (11) is installed in casing (4) outside, its input end is equipped with mobile driven pulley (10), and mouth is equipped with driving wheel wheel hub (13).
4. according to the described mobile robot of claim 3, it is characterized in that: described follower (19) comprises flower wheel (14), flower wheel wheel hub (15) and anchor shaft (16), anchor shaft (16) is installed in the rear end in casing (4) outside, flower wheel (14) is connected with flower wheel wheel hub (15), and flower wheel wheel hub (15) is installed on the anchor shaft (16).
4. according to the described mobile robot of claim 3, it is characterized in that: described mobile crawler belt (20) comprises first tooth (65), first block (64), first sliver (63) and mobile track support frame (21), mobile crawler belt (20) inboard is provided with first tooth (65) that is meshed with driving wheel (12) and flower wheel (14), the outside is provided with first block (64), first sliver (63) of mobile crawler belt (20) both sides is positioned at mobile crawler belt (20) left and right sides between driving wheel (12) and the flower wheel (14), first sliver (63) edge has a plurality of V-slots, mobile track support frame (21) is fixed on casing (4) outside, both sides, be positioned at mobile crawler belt (20) and land in the middle of first sliver (63) of side, above first tooth (65).
5. according to the described mobile robot of claim 1, it is characterized in that: described obstacle detouring input media (6) comprises obstacle detouring driver train (22), obstacle detouring transmission device (23) and obstacle detouring deceleration output mechanism (24), obstacle detouring driver train (22) and obstacle detouring deceleration output mechanism (24) are installed on the interior two side of casing (4), obstacle detouring transmission device (23) is installed on the fixed support (34) of obstacle detouring deceleration output mechanism (24), obstacle detouring driver train (22) is connected with obstacle detouring deceleration output mechanism (24) by obstacle detouring transmission device (23), described obstacle detouring driver train (22) comprises obstacle detouring motor (25), obstacle detouring motor mounting rack (26), obstacle detouring driving pulley (27) and obstacle detouring driver train fixed support (28), obstacle detouring is connected with motor mounting rack (26) with obstacle detouring with the fixed end of motor (25), one end of obstacle detouring driver train fixed support (28) is connected with motor mounting rack (26) with obstacle detouring, the other end is connected with casing (4), obstacle detouring driving pulley (27) by bearing installation in obstacle detouring driver train fixed support (28), obstacle detouring driver train fixed support (28) is passed in its end, links to each other with the output shaft of obstacle detouring with motor (25) by elastic coupling.
6. according to the described mobile robot of claim 5, it is characterized in that: described obstacle detouring transmission device (23) comprises obstacle detouring drive pulley (29), obstacle detouring transmission shaft (30) and obstacle detouring transmission bracket (31), obstacle detouring transmission bracket (31) is installed on the fixed support (34) of obstacle detouring deceleration output mechanism (24), obstacle detouring transmission shaft (30) by bearing installation in obstacle detouring transmission bracket (31), two obstacle detouring drive pulleys (29) are installed in the two ends of obstacle detouring transmission shaft (30) respectively, one of them obstacle detouring drive pulley (29) links to each other with the obstacle detouring driving pulley (27) of obstacle detouring driver train (22) by being with synchronously, and another obstacle detouring drive pulley (29) links to each other with the obstacle detouring driven pulley (32) of obstacle detouring deceleration output mechanism (24) by synchronous band.
7. according to the described mobile robot of claim 5, it is characterized in that: described obstacle detouring deceleration output mechanism (24) comprises obstacle detouring driven pulley (32), obstacle detouring harmonic wave speed reducing machine (33), fixed support (34) and S. A. (35), one end of fixed support (34) and casing (4) bolt, the other end is connected with obstacle detouring harmonic wave speed reducing machine (33), obstacle detouring driven pulley (32) is connected with the input end of obstacle detouring harmonic wave speed reducing machine (33), S. A. (35) is connected with the mouth of obstacle detouring harmonic wave speed reducing machine (33), S. A. (35) reaches outside the casing (4), is connected with barrier getting over mechanism (2).
8. according to the described mobile robot of claim 1, it is characterized in that: described barrier getting over mechanism (2) comprises inner edge wheel assembly (36), outside wheel assembly (42), swing arm (57), arm shaft (58), obstacle detouring crawler belt (59), little wheel shaft (60), axle head baffle plate (62), inboard little wheel assembly (48) and the little wheel assembly in the outside (53), arm shaft (58) and little wheel shaft (60) are connected to the two ends of swing arm (57), inner edge wheel assembly (36) and outside wheel assembly (42) are installed in the both sides of arm shaft (58) respectively, inboard little wheel assembly (48) and the little wheel assembly in the outside (53) are installed in the both sides of little wheel shaft (60) respectively, inner edge wheel assembly (36) and inboard little wheel assembly (48) place a side of swing arm (57), outside wheel assembly (42) and the little wheel assembly in the outside (53) place the opposite side of swing arm (57), obstacle detouring crawler belt (59) is positioned at inner edge wheel assembly (36), outside wheel assembly (42), inboard little wheel assembly (48), the outside of the little wheel assembly in the outside (53), axle head baffle plate (62) place S. A. (35) axle head in outside wheel assembly (42) the arm shaft outer end cap (47).
9. according to the described mobile robot of claim 8, it is characterized in that: described inside and outside cincture assembly and inside and outside steamboat unit construction are identical, include wheel, wheel hub, wheel end cap and hubcap, wheel and wheel hub bolt, hubcap places wheel end cap inboard, the wheel end cap is connected with wheel hub, and inside and outside cincture assembly is connected with arm shaft (58), and inside and outside little wheel assembly is connected with little wheel shaft (60).
10. according to the described mobile robot of claim 8, it is characterized in that: described obstacle detouring crawler belt (59) comprises second tooth (67), second block (66), second sliver (68) and obstacle detouring track support frame (61), obstacle detouring crawler belt (59) inboard is provided with and the outer cincture of interior cincture (37) (43), second tooth (67) that inboard steamboat (49) and outside steamboat (54) are meshed, the outside is provided with second block (66), second sliver (68) in the middle of the obstacle detouring crawler belt (59) is positioned at the both sides up and down between cincture (37) and inboard steamboat (49) and outer cincture (43) and the outside steamboat (54), second sliver (68) edge has a plurality of V-slots, obstacle detouring track support frame (61) bolt is positioned at the right and left of second sliver (68) in the both sides up and down of swing arm (57) midway location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202318837U CN201317416Y (en) | 2008-12-19 | 2008-12-19 | Moving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202318837U CN201317416Y (en) | 2008-12-19 | 2008-12-19 | Moving robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201317416Y true CN201317416Y (en) | 2009-09-30 |
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ID=41196185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008202318837U Expired - Fee Related CN201317416Y (en) | 2008-12-19 | 2008-12-19 | Moving robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201317416Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802868A (en) * | 2014-01-28 | 2015-07-29 | 南京聚特机器人技术有限公司 | Multifunctional portable moving platform |
-
2008
- 2008-12-19 CN CNU2008202318837U patent/CN201317416Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802868A (en) * | 2014-01-28 | 2015-07-29 | 南京聚特机器人技术有限公司 | Multifunctional portable moving platform |
| CN104802868B (en) * | 2014-01-28 | 2017-03-29 | 南京聚特机器人技术有限公司 | A kind of portable multifunctional mobile platform |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090930 Termination date: 20121219 |