CN201619622U - Robot composite chassis - Google Patents
Robot composite chassis Download PDFInfo
- Publication number
- CN201619622U CN201619622U CN2009202006045U CN200920200604U CN201619622U CN 201619622 U CN201619622 U CN 201619622U CN 2009202006045 U CN2009202006045 U CN 2009202006045U CN 200920200604 U CN200920200604 U CN 200920200604U CN 201619622 U CN201619622 U CN 201619622U
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Abstract
The utility model relates to a robot composite chassis. A power box is fixed onto a frame; a walking output shaft of the power box is connected with a front wheel; an obstacle clearing and stair climbing output shaft is connected with a rear shaft gearbox through a transmission shaft; the rear shaft gearbox drives a belt pulley of an obstacle clearing caterpillar track through a rear wheel shaft; a roll-over frame of a rear wheel is installed on the rear wheel shaft through a shaft sleeve; an auxiliary caterpillar track frame is hinged with a caterpillar track frame; the auxiliary caterpillar track frame is movably connected with the power box through a front connecting rod; a chain wheel is connected between the auxiliary caterpillar track frame and the roll-over frame of the rear wheel; one end of an electronic push rod is connected onto the frame; the other end of the electronic push rod drives the rear wheel to overturn through a posture changing mechanism; one end of a bearing frame, one end of the frame and one end of the rear connecting rod are coaxially fixed onto a supporting shaft; positioning blocks are fixed to two ends of the supporting shaft and match with fastening rings at the end of the caterpillar track frame; and the other end of the rear connecting rod is hinged with the caterpillar track. The robot composite chassis has the functions of walking on flat ground, crossing pits and pitches, climbing stairs up and down and the like, and has the advantages of compact structure, steady work, safe use and small volume.
Description
Technical field
The utility model relates to the compound chassis of a kind of robot.
Background technology
The chassis of relevant at present report robot probably is divided into two kinds, and a kind of is wheeled, as wheeled mobile robot, electric wheelchair, another kind is a crawler type, as fire-fighting, rescue, explosion prevention robot, cart for travelling up or down stairs etc., wheel undercarriage have speed fast, turn to flexible characteristic, but obstacle climbing ability is poor.And the obstacle climbing ability of caterpillar chassis is strong, but speed is slow, steering flexibility is poor.Still lack the compound chassis of robot that has both advantages concurrently in the prior art.
Summary of the invention
The purpose of this utility model provides a kind of compact conformation, working stability, safety, and volume is small and exquisite and have level walking, stride bank, Yue Gou, climb the compound chassis of robot of obstacle detouring functions such as building up and down.
The technical scheme that its technical matters that solves the utility model adopts is: comprise secondary track frame, the obstacle detouring crawler belt, front rod, front-wheel, track frame, the composite power casing, electric pushrod, transmission shaft, become attitude mechanism, carrier, frame, trailing wheel, rear linking rod, locating piece, the rear axle gear case, hind axle and clasp, the composite power casing is fixed on the frame, the walking output shaft of composite power casing connects front-wheel, obstacle detouring, climb the building output shaft and connect the rear axle gear case by transmission shaft, the rear axle gear case drives the belt wheel of obstacle detouring crawler belt by hind axle, the turning rack of trailing wheel is installed on the hind axle by axle sleeve, secondary track frame and track frame are hinged, be movably connected by front rod between secondary track frame and the composite power casing, link to each other by sprocket wheel between the turning rack of secondary track frame and trailing wheel, one end of electric pushrod is connected on the frame, the other end drives the trailing wheel upset by becoming attitude mechanism, carrier, one end of frame and rear linking rod is coaxial to be fixed on the fulcrum, the two ends stationary positioned piece of fulcrum, locating piece matches with the clasp of track frame end, and the other end and the track frame of rear linking rod are hinged.
Become attitude mechanism and comprise change appearance axle, mechanism rack and trailing wheel pedestal, one group two of mechanism rack are symmetrical arranged parallel connection and become appearance axle and trailing wheel pedestal, on the change appearance axle between two mechanism rack, fix two swing arms, link to each other by bearing pin between two swing arms, one end of electric pushrod is hinged on the bearing pin, side in mechanism rack is provided with servo-actuated convex pendulum, link to each other by the convex balance staff between servo-actuated convex pendulum and the mechanism rack, the servo-actuated convex is laid out and is provided with the servo-actuated chute, mechanism rack is provided with guide groove, one end of swing arm is by sliding pin while and servo-actuated chute, the guide groove bearing fit, the end of convex balance staff is the servo-actuated minor sprocket fixedly, the servo-actuated minor sprocket by the servo-actuated chain be fixed on the servo-actuated hinge wheel that becomes on the appearance axle and link to each other, becoming fixed sectors sprocket wheel on the appearance axle, fan-shaped sprocket links to each other by trailing wheel upset chain and trailing wheel on the being fixed on turning rack sprocket wheel that overturns.
In a side that becomes the appearance axle tensioning shaft is set, fixed tensioning wheel on the tensioning shaft, trailing wheel upset chain interlock tension wheel.
Bumper is set below carrier, and an end of bumper is fixed on the carrier, and the other end is fixed on the composite power casing.
The utility model is by above-mentioned specific design, make the compound chassis of robot not only be suitable for the level walking function, and possess the bank of striding, Yue Gou, climb obstacle detouring functions such as building up and down, have compact conformation,, working stability, safety, volume is small and exquisite, the advantage of good reliability.
Description of drawings
Below in conjunction with drawings and Examples detailed content of the present utility model is described.
Fig. 1 is the utility model level walking status architecture scheme drawing;
Fig. 2 is that the utility model is striden bank, got over ditch status architecture scheme drawing;
Fig. 3 is that the utility model is climbed building status architecture scheme drawing;
Fig. 4 is the structural representation that the utility model becomes attitude mechanism;
Fig. 5 is the mounting structure scheme drawing between the utility model mid frame and carrier;
Fig. 6 is the mounting structure scheme drawing between the turning rack of secondary track frame and trailing wheel.
The specific embodiment
As shown in the figure, the utility model comprises secondary track frame 1, obstacle detouring crawler belt 2, front rod 3, front-wheel 4, track frame 5, composite power casing 7, electric pushrod 9, transmission shaft 10, become attitude mechanism 11, carrier 12, frame 13, trailing wheel 14, rear linking rod 15, locating piece 16, rear axle gear case 17, hind axle 19 and clasp 18, composite power casing 7 is fixed on the frame 13, the walking output shaft of composite power casing 7 connects front-wheel 4, obstacle detouring, climb the building output shaft and connect rear axle gear case 17 by transmission shaft 10, rear axle gear case 17 drives the belt wheel 20 of obstacle detouring crawler belt 2 by hind axle 19, the turning rack 39 of trailing wheel 14 is installed on the hind axle 19 by axle sleeve 40, secondary track frame 1 is hinged with track frame 5, be movably connected by front rod 3 between secondary track frame 1 and the composite power casing 7, link to each other by sprocket wheel 41 between the turning rack 39 of secondary track frame 1 and trailing wheel 14, one end of electric pushrod 9 is connected on the frame 13, the other end drives trailing wheel 14 upsets by becoming attitude mechanism 11, carrier 12, one end of frame 13 and rear linking rod 15 is coaxial to be fixed on the fulcrum 21, the two ends stationary positioned piece 16 of fulcrum 21, locating piece 16 matches with the clasp 18 of track frame 5 ends, and the other end of rear linking rod 15 and track frame 5 are hinged.Become attitude mechanism 11 and comprise change appearance axle 22, mechanism rack 23 and trailing wheel pedestal 42,23 1 groups two of mechanism rack are symmetrical arranged parallel connection and become appearance axle 22 and trailing wheel pedestal 42, on the change appearance axle 22 between two mechanism rack 23, fix two swing arms 24, link to each other by bearing pin 25 between two swing arms 24, one end of electric pushrod 9 is hinged on the bearing pin 25, side in mechanism rack 23 is provided with servo-actuated convex pendulum 26, link to each other by convex balance staff 27 between servo-actuated convex pendulum 26 and the mechanism rack 23, servo-actuated convex pendulum 26 is provided with servo-actuated chute 28, mechanism rack 6 is provided with guide groove 29, one end of swing arm 24 is by 30 whiles and servo-actuated chute 28 of sliding pin, guide groove 29 bearing fits, the end of convex balance staff 27 is servo-actuated minor sprocket 31 fixedly, servo-actuated minor sprocket 31 by servo-actuated chain 32 be fixed on the servo-actuated hinge wheel 33 that becomes on the appearance axle 22 and link to each other, becoming fixed sectors sprocket wheel 34 on the appearance axle 22, fan-shaped sprocket 34 links to each other with trailing wheel upset sprocket wheel 36 on being fixed on turning rack 39 by trailing wheel upset chain 35.In a side that becomes appearance axle 22 tensioning shaft 6 is set, fixed tensioning wheel 38 on the tensioning shaft 6, trailing wheel upset chain 35 interlock tension wheels 38.Bumper 8 is set below carrier 12, and an end of bumper 8 is fixed on the carrier 12, and the other end is fixed on the composite power casing 7.The method that concrete structure content, principle of work and the mechanism of the utility model realizes is as follows:
During level walking, composite power casing 7 incision running on wheels shelves, level walking mechanism obtains power, the obstacle detouring traveling gear runs out of steam, because secondary track frame 1, obstacle detouring crawler belt 2, track frame 5 are that fulcrum is upwards lifted by electric pushrod 9 by support 13 with clasp 18, away from ground, front-wheel 4, trailing wheel 14 land.
The level land strides bank, more during ditch, can start the compound chassis of robot and become attitude mechanism 11, locating piece 16 breaks away from clasp 18,9 elongations of electric power push rod, because the effect of front rod 3 and rear linking rod 15, track frame 5 levels are transferred to land, front-wheel 4 is mentioned built on stilts relatively, because of secondary track frame 1 and front rod 3 hinged, so may command and ground form an obstacle detouring angle, track frame 5 rear portions also become an inclination obstacle detouring gradient, and trailing wheel 14 surmounts obstacle detouring crawler belt 2 and is hidden in the compound chassis owing to become the interlock upset of each chain, sprocket wheel in the attitude mechanism 11.Belt wheel 20, obstacle detouring crawler belt 2 obtain power by transmission shaft 10, rear axle gear case 17 at this moment, and front-wheel 4 runs out of steam simultaneously.Just can there be straight line moving on trench, bank or the uneven different road surface on the compound chassis of robot, turning to, falls back, turns around after the attitude adjustment finished, owing to adopt 2 secondary composite power casees, therefore as long as control rotating speed of motor and turning to, the moving velocity that the compound chassis of robot just can easily accomplish to suit, turn to and original place 360 degree rotate.
During stair climbing, at first to carry out the adjustment (attitude preparation) of chassis angle up and down.When the compound chassis of robot backward was to stairway step, starting became posture switch.Electric power push rod 9 elongations this moment are that fulcrum makes track frame 5 tilt to transfer to land with clasp (18), because of secondary track frame 1 fixing with front rod 3, so form an obstacle detouring gradient with ground, also reduced the height of carrier 12 simultaneously, obstacle detouring crawler belt 2 obtains power simultaneously, walking front-wheel 4 runs out of steam simultaneously
When the compound chassis of robot to the stair backward, trailing wheel 14 contact stairway steps are ready for climbing the building attitude.Because the effect of secondary track frame 1 reduces the center of gravity on the compound chassis of robot significantly, improve stability.
When continuing to creep to stair in the compound chassis of robot, obstacle detouring crawler belt 2 begins to contact stairway step and forces trailing wheel 14 to do the clockwise direction upset in the compound chassis of robot, because driving, trailing wheel 14 becomes 11 actions of attitude mechanism, constant for guaranteeing carrier 12 normal conditions, impel electric pushrod 9 elongations, trailing wheel 14 draws in gradually with entering the step degree.
Enter the building process of climbing subsequently, when barrier getting over mechanism combined with step fully, trailing wheel 14 drew in gradually with entering the step degree, and trailing wheel 14 collapses to glue grouser bottom line with the interior step inclined-plane that leaves, and trailing wheel 14 draws in and finishes, and whole trailing wheel 14 gathering processes are finished automatically.The adjustment of compound chassis attitude simultaneously guarantees the compound chassis of robot when last going downstairs, its center of gravity in the support scope, the steady safety of whole process.Electric pushrod 9 elongations make track frame 5 and carrier 12 form the angle that matches with the step degree of dip, the compound chassis of robot front-wheel in the process on step inclined-plane lifts and leaves the step inclined-plane, can change according to step degree of dip degree by double-shaft tilt angle sensor, thereby 9 elongations of follow-up control electric pushrod or contraction make carrier 12 be in normal condition all the time.
Owing to the effect of sensor, electric pushrod 9 contraction work make outside gradually stretching, extension of trailing wheel 14 and kiss the earth become support by becoming attitude mechanism 11 when the afterbody step is climbed on the compound chassis of robot.
After climbing the building and finishing, continuing to swash when the compound chassis of robot enters the plane and promptly enters and climb the building done state, does not change as climbing this attitude of building again.When the compound chassis of robot as no longer climbing the building, the compound chassis of robot promptly returns to the level walking state.
The principle of work that becomes attitude mechanism 11 is: the electric stair climbing ladder wheelchair building of climbing, the complete machine inclination angle changes, because double-shaft tilt angle sensor will be kept the normal condition of electric wheelchair complete machine in the mechanism, double-shaft tilt angle sensor control electric pushrod 9 continues to extend, swing arm 24 pressed down fan-shaped sprocket 34 and servo-actuated hinge wheel 33 are turned an angle, drive trailing wheel upset sprocket wheel 36 simultaneously, servo-actuated minor sprocket 31 rotates, thereby making trailing wheel 14 make clockwise direction rotates, servo-actuated convex pendulum 26 is also made clockwise direction simultaneously and is rotated, servo-actuated convex pendulum 26 is owing to increase resistances for change attitude mechanism 11, make when becoming the attitude mechanism action controlled by double-shaft tilt angle sensor, and trailing wheel 14 all can play and the ground supports effect before drawing in fully.The building impels trailing wheel 14 under the effect of stairway step because electric stair climbing ladder wheelchair is climb in addition, trailing wheel 14 is played force the gathering effect.
The building of climbing is continued on the compound chassis of robot, and climb the building crawler belt and enter stairway step fully this moment under double-shaft tilt angle sensor control, and electric stair climbing ladder wheelchair complete machine is in normal condition all the time.
When the compound chassis of robot is continued to climb to the afterbody step of stair, the distance measuring sensor in the wheelchair to electric pushrod 9 controls down and the servo-actuated convex put trailing wheel 14 beginnings decontroled gradually, become level land upper support wheel.
The building of climbing is continued on the compound chassis of robot, because the complete machine inclination angle changes, double-shaft tilt angle sensor control electric pushrod 9 shrinks, and pulling swing arm 24, servo-actuated convex pendulum 26 are emitted trailing wheel 14 fully, and secondary crawler belt begins to draw in.
When not needing to climb the building again, start the level walking button, electric pushrod 9 is shunk fully, make obstacle detouring crawler belt 2 upwards lift built on stilts and front-wheel 4 lands as the compound chassis of robot.This moment, the obstacle detouring crawler belt front-wheel 4 that runs out of steam obtained power.
Claims (4)
1. compound chassis of robot, it is characterized in that comprising secondary track frame (1), obstacle detouring crawler belt (2), front rod (3), front-wheel (4), track frame (5), composite power casing (7), electric pushrod (9), transmission shaft (10), become attitude mechanism (11), carrier (12), frame (13), trailing wheel (14), rear linking rod (15), locating piece (16), rear axle gear case (17), hind axle (19) and clasp (18), composite power casing (7) is fixed on the frame (13), the walking output shaft of composite power casing (7) connects front-wheel (4), obstacle detouring, climb the building output shaft and connect rear axle gear case (17) by transmission shaft (10), rear axle gear case (17) drives the belt wheel (20) of obstacle detouring crawler belt (2) by hind axle (19), the turning rack (39) of trailing wheel (14) is installed on the hind axle (19) by axle sleeve (40), secondary track frame (1) is hinged with track frame (5), be movably connected by front rod (3) between secondary track frame (1) and the composite power casing (7), link to each other by sprocket wheel (41) between the turning rack (39) of secondary track frame (1) and trailing wheel (14), one end of electric pushrod (9) is connected on the frame (13), the other end drives trailing wheel (14) upset by becoming attitude mechanism (11), carrier (12), one end of frame (13) and rear linking rod (15) is coaxial to be fixed on the fulcrum (21), the two ends stationary positioned pieces (16) of fulcrum (21), locating piece (16) matches with the clasp (18) of track frame (5) end, and the other end of rear linking rod (15) and track frame (5) are hinged.
2. the compound chassis of robot according to claim 1, it is characterized in that becoming attitude mechanism (11) and comprise change appearance axle (22), mechanism rack (23) and trailing wheel pedestal (42), (23) one groups two of mechanism rack are symmetrical arranged parallel connection and become appearance axle (22) and trailing wheel pedestal (42), on the change appearance axle (22) between two mechanism rack (23), fix two swing arms (24), link to each other by bearing pin (25) between two swing arms (24), one end of electric pushrod (9) is hinged on the bearing pin (25), side in mechanism rack (23) is provided with servo-actuated convex pendulum (26), link to each other by convex balance staff (27) between servo-actuated convex pendulum (26) and the mechanism rack (23), servo-actuated convex pendulum (26) is provided with servo-actuated chute (28), mechanism rack (6) is provided with guide groove (29), one end of swing arm (24) is by sliding pin (30) while and servo-actuated chute (28), guide groove (29) bearing fit, the end of convex balance staff (27) is servo-actuated minor sprocket (31) fixedly, servo-actuated minor sprocket (31) by servo-actuated chain (32) be fixed on the servo-actuated hinge wheel (33) that becomes on the appearance axle (22) and link to each other, go up fixed sectors sprocket wheel (34) becoming appearance axle (22), fan-shaped sprocket (34) links to each other by trailing wheel upset chain (35) and trailing wheel on being fixed on turning rack (39) sprocket wheel (36) that overturns.
3. the compound chassis of robot according to claim 2 is characterized in that in a side that becomes appearance axle (22) tensioning shaft (6) being set, and tensioning shaft (6) is gone up fixed tensioning wheel (38), trailing wheel upset chain (35) interlock tension wheel (38).
4. according to claim 1 or the compound chassis of 2 or 3 described robots, it is characterized in that in the below of carrier (12) bumper (8) being set, an end of bumper (8) is fixed on the carrier (12), and the other end is fixed on the composite power casing (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202006045U CN201619622U (en) | 2009-11-11 | 2009-11-11 | Robot composite chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202006045U CN201619622U (en) | 2009-11-11 | 2009-11-11 | Robot composite chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201619622U true CN201619622U (en) | 2010-11-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202006045U Expired - Fee Related CN201619622U (en) | 2009-11-11 | 2009-11-11 | Robot composite chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201619622U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080819A (en) * | 2016-08-26 | 2016-11-09 | 湖南千智机器人科技发展有限公司 | The balance suspension system of adjustable chassis height |
| CN107215398A (en) * | 2017-05-12 | 2017-09-29 | 东南大学 | The full free degree obstacle detouring crawler body of plane |
| CN108433897A (en) * | 2018-05-08 | 2018-08-24 | 深圳市福尔泰医疗科技有限公司 | Full ground type manned robot equipped with trailing wheel elevating mechanism and method for moving up/down steps |
| CN108514479A (en) * | 2018-05-08 | 2018-09-11 | 深圳市福尔泰医疗科技有限公司 | Full ground type manned robot and method for moving up/down steps |
| CN113086033A (en) * | 2021-04-25 | 2021-07-09 | 七斗科技(宜昌)有限公司 | Horizontal low-attitude stair climbing robot and stair climbing method |
| CN114394168A (en) * | 2022-02-15 | 2022-04-26 | 中联恒通机械有限公司 | Wheel-track composite moving platform |
-
2009
- 2009-11-11 CN CN2009202006045U patent/CN201619622U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080819A (en) * | 2016-08-26 | 2016-11-09 | 湖南千智机器人科技发展有限公司 | The balance suspension system of adjustable chassis height |
| CN107215398A (en) * | 2017-05-12 | 2017-09-29 | 东南大学 | The full free degree obstacle detouring crawler body of plane |
| CN108433897A (en) * | 2018-05-08 | 2018-08-24 | 深圳市福尔泰医疗科技有限公司 | Full ground type manned robot equipped with trailing wheel elevating mechanism and method for moving up/down steps |
| CN108514479A (en) * | 2018-05-08 | 2018-09-11 | 深圳市福尔泰医疗科技有限公司 | Full ground type manned robot and method for moving up/down steps |
| CN108514479B (en) * | 2018-05-08 | 2023-09-22 | 深圳市福尔泰医疗科技有限公司 | All-terrain manned robot and step ascending and descending method |
| CN108433897B (en) * | 2018-05-08 | 2023-09-22 | 深圳市福尔泰医疗科技有限公司 | All-terrain manned robot with rear wheel lifting mechanism and step-up and down method |
| CN113086033A (en) * | 2021-04-25 | 2021-07-09 | 七斗科技(宜昌)有限公司 | Horizontal low-attitude stair climbing robot and stair climbing method |
| CN114394168A (en) * | 2022-02-15 | 2022-04-26 | 中联恒通机械有限公司 | Wheel-track composite moving platform |
| CN114394168B (en) * | 2022-02-15 | 2023-01-06 | 中联恒通机械有限公司 | Wheel-track composite moving platform |
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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: 20101103 Termination date: 20121111 |