CN201703446U - Rocker crawler-type traveling robot - Google Patents
Rocker crawler-type traveling robot Download PDFInfo
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- CN201703446U CN201703446U CN2010201512894U CN201020151289U CN201703446U CN 201703446 U CN201703446 U CN 201703446U CN 2010201512894 U CN2010201512894 U CN 2010201512894U CN 201020151289 U CN201020151289 U CN 201020151289U CN 201703446 U CN201703446 U CN 201703446U
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- walking wheel
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Abstract
本实用新型公开了一种摇杆履带式行走机器人，包括：底盘，其两侧分别设置一摇杆履带式行走机构，它包括在底盘前部固设的伺服电机，其输出轴与摇杆中部连接，摇杆前端向上倾斜，摇杆前、后端分别铰接一行星轮和一前行走轮；在底盘后部设置驱动电机和摆杆机构，驱动电机输出轴连接一主动轮，摆杆机构包括摆杆、后行走轮和复位弹簧，摆杆一端铰接在底盘上，其另一端与后行走轮铰接，复位弹簧一端固定在底盘上，另一端固定在摆杆上，伺服电机转轴轴心与驱动电机转轴轴心的间距大于前行走轮的中心与后行走轮的间距，在同侧主动轮、行星轮、前行走轮、和后行走轮上套有一双面齿同步带。其结构简单、运动灵活、要求的设备资源较少，具有较强的越野能力。
The utility model discloses a rocker crawler type walking robot, which comprises: a chassis, a rocker crawler type walking mechanism is respectively arranged on both sides of the chassis, which includes a servo motor fixed at the front part of the chassis, the output shaft of which is connected to the middle part of the rocker connection, the front end of the rocker is tilted upward, and the front and rear ends of the rocker are respectively hinged to a planetary wheel and a front wheel; a drive motor and a swing rod mechanism are arranged at the rear of the chassis, and the output shaft of the drive motor is connected to a driving wheel. The swing rod mechanism includes One end of the swing rod is hinged on the chassis, the other end is hinged on the rear travel wheel, one end of the return spring is fixed on the chassis, the other end is fixed on the swing rod, the axis of the servo motor shaft and the drive The distance between the shaft center of the motor shaft is greater than the distance between the center of the front road wheel and the rear road wheel, and a double-sided tooth synchronous belt is set on the same side driving wheel, the planetary wheel, the front road wheel and the rear road wheel. It has simple structure, flexible movement, requires less equipment resources, and has strong off-road capability.
Description
Technical field
The utility model relates to a kind of rocking bar crawler-type traveling robot.
Background technology
Complex structure such as existing robots such as the lunar rover vehicle, snake-shaped robot, the device resource of requirement is more.The cross country power effect is not ideal in addition, has some problems during as across obstacle or stair activity.
The utility model content
The purpose of this utility model is that a kind of simple in structure, rocking bar crawler-type traveling robot that cross country power is stronger is provided in order to solve the problems of the technologies described above.
To achieve these goals, the utility model is by the following technical solutions:
A kind of rocking bar crawler-type traveling robot, it comprises: the chassis, one cover rocking bar crawler type walking mechanism is set respectively in the both sides on this chassis, this rocking bar crawler type walking mechanism is included in the servomotor that the front portion, chassis sets firmly, the output shaft of this servomotor is connected with the middle part of a rocking bar, this rocking bar front end upwards is skewed, and the front and back ends of this rocking bar is a hinged satellite gear and a front walking wheel respectively; At the rear portion on described chassis drive motor and swing-bar mechanism are set, the output shaft of this drive motor connects a driving wheel, this swing-bar mechanism comprises fork, rear walking wheel and retracing spring, one end of this fork is hinged on the described chassis, its other end and rear walking wheel are hinged, one end of this retracing spring is fixed on the described chassis, the other end is fixed on the fork, distance between the rotating shaft core of servomotor and the rotating shaft core of drive motor is greater than the center of front walking wheel and the distance between the rear walking wheel center, at the driving wheel of homonymy, satellite gear, front walking wheel, with be with a double cog synchronous belt on the rear walking wheel.
On described chassis, also be installed with one with the cooresponding locating part of rocking bar.
The rear walking wheel end of the two ends of described rocking bar and described fork respectively sets firmly a strut member.
When straight line moving, the angle of described rocking bar and horizontal direction is 30 ° to 50 °.
The beneficial effects of the utility model: simple in structure, the device resource that motion neck is lived, required is less, provides cost savings simultaneously, has stronger cross country power, can leaping over obstacles, stair activity, adapt to different stairway step height and less turn radius.
Description of drawings
Fig. 1 is the side-looking structural representation of the utility model rocking bar crawler-type traveling robot.
Side-looking structural representation when Fig. 2 crosses over higher obstacle for the utility model rocking bar crawler-type traveling robot.
The specific embodiment
As shown in Figure 1, a kind of rocking bar crawler-type traveling robot, it is characterized in that: it comprises: chassis 1,1 both sides are provided with a rocking bar crawler type walking mechanism respectively on the chassis, the rocking bar crawler type walking mechanism is included in the servomotor 21 that 1 front portion, chassis sets firmly, the middle part of the output shaft of servomotor 21 and a rocking bar 22 is connected, rocking bar 22 front ends upwards are skewed, before the rocking bar 22, the rear end is a hinged satellite gear 23 and a front walking wheel 24 respectively, 1 rear portion is provided with drive motor 26 and swing-bar mechanism on the chassis, the output shaft of drive motor 26 connects a driving wheel 27, swing-bar mechanism comprises fork 28, rear walking wheel 29 and retracing spring 30, one end of fork 28 is hinged on the chassis 1, its other end and rear walking wheel 29 are hinged, one end of retracing spring 30 is fixed on the chassis 1, the other end is fixed on the fork 28, distance between the output shaft axle center of servomotor 21 and the output shaft axle center of drive motor 26 is greater than the axle center of front walking wheel 24 wheel shafts and the distance between the rear walking wheel 29 wheel shaft axle center, at the driving wheel 27 of homonymy, satellite gear 23, front walking wheel 24, with be with a double cog synchronous belt 31 on the rear walking wheel 29.
In order to prevent under the drive of motor, the rotation that rocking bar 22 is excessive sets firmly a locating part 25 on chassis 1.
When running into the road surface obstacle is arranged, in order to prevent to be with 31 to touch rocking bar 22 and fork 28 synchronously, the rear walking wheel end of the both ends of rocking bar 22 and fork 28 respectively sets firmly a strut member 32.
When straight line moving, rocking bar 22 and horizontal direction angle are between 30 ° to 50 °, and optimal value is 45 °.
When the utility model rocking bar crawler-type traveling robot, when straight line moving, drive motor work, servomotor is not worked.
The effect of retracing spring is the rotation along with rocking bar, during the robot alteration of form, makes synchronous band in tension always.When the rocking bar clickwise, the length of synchronous band is equivalent to elongated, spring elongation this moment.In the process of rocking bar left-hand revolution, the length of band is equivalent to shorten synchronously, prevents that band is broken synchronously, at this moment the retracing spring retraction.
As shown in Figure 2, when robot when direct of travel has higher obstacle, be that obstacle is when being higher than the height of satellite gear, servomotor begins to drive the rocking bar clockwise direction and rotates gradually, contact the formation friction with the obstacle top up to synchronous band, this moment, servomotor drove the rocking bar left-hand revolution, when servomotor is concordant with the obstacle top, the concordant road wheel that becomes of satellite gear, front walking wheel built on stilts with the obstacle top, rear walking wheel is concordant with ground, this moment, robot ambulation was roughly triangular in shape, finished the action of going up a slope up to robot, and servomotor drives the rocking bar clickwise, become initial condition, move on.
When robot was crossed over lower obstacle or following abrupt slope, servomotor drove the rocking bar left-hand revolution, adjusts the center of gravity of robot.
When rotate in the robot original place, only need both sides drive motor counter-rotating, servomotor is not worked.
When the robot left-hand rotation, when turning right, its both sides drive motor has only a sideway swivel, and opposite side stops, and servomotor is not worked.
More than be preferred embodiment of the present utility model and design graphic; above-mentioned preferred embodiment and to design graphic only be casehistory; be not to be used to limit interest field of the present utility model; all with equalization technological means or be the interest field that contained of the application's claim and the implementer does not all break away from protection domain of the present utility model.
Claims (5)
1. rocking bar crawler-type traveling robot, it is characterized in that: it comprises: the chassis, one cover rocking bar crawler type walking mechanism is set respectively in the both sides on this chassis, this rocking bar crawler type walking mechanism is included in the servomotor that the front portion, chassis sets firmly, the output shaft of this servomotor is connected with the middle part of a rocking bar, this rocking bar front end upwards is skewed, and the front and back ends of this rocking bar is a hinged satellite gear and a front walking wheel respectively; At the rear portion on described chassis drive motor and swing-bar mechanism are set, the output shaft of this drive motor connects a driving wheel, this swing-bar mechanism comprises fork, rear walking wheel and retracing spring, one end of this fork is hinged on the described chassis, its other end and rear walking wheel are hinged, one end of this retracing spring is fixed on the described chassis, the other end is fixed on the fork, distance between the rotating shaft core of servomotor and the rotating shaft core of drive motor is greater than the center of front walking wheel and the distance between the rear walking wheel center, at the driving wheel of homonymy, satellite gear, front walking wheel, with be with a double cog synchronous belt on the rear walking wheel.
2. rocking bar crawler-type traveling robot according to claim 1 is characterized in that: on described chassis, also be installed with one with the cooresponding locating part of rocking bar.
3. rocking bar crawler-type traveling robot according to claim 1 and 2 is characterized in that: the rear walking wheel end of the two ends of described rocking bar and described fork respectively sets firmly a strut member.
4. rocking bar crawler-type traveling robot according to claim 1 is characterized in that: when straight line moving, the angle of described rocking bar and horizontal direction is 30 ° to 50 °.
5. rocking bar crawler-type traveling robot according to claim 3 is characterized in that: when straight line moving, the angle of described rocking bar and horizontal direction is 30 ° to 50 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201512894U CN201703446U (en) | 2010-04-02 | 2010-04-02 | Rocker crawler-type traveling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201512894U CN201703446U (en) | 2010-04-02 | 2010-04-02 | Rocker crawler-type traveling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201703446U true CN201703446U (en) | 2011-01-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201512894U Expired - Fee Related CN201703446U (en) | 2010-04-02 | 2010-04-02 | Rocker crawler-type traveling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201703446U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211624A (en) * | 2011-04-27 | 2011-10-12 | 中国地质大学（武汉） | Searching and rescuing positioning system robot |
| CN103418581A (en) * | 2013-07-19 | 2013-12-04 | 新奥光伏能源有限公司 | Washing device |
| CN111438700A (en) * | 2020-04-16 | 2020-07-24 | 哈尔滨锅炉厂有限责任公司 | A robot is patrolled and examined to 5G crawler-type intelligence for power plant |
-
2010
- 2010-04-02 CN CN2010201512894U patent/CN201703446U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102211624A (en) * | 2011-04-27 | 2011-10-12 | 中国地质大学（武汉） | Searching and rescuing positioning system robot |
| CN102211624B (en) * | 2011-04-27 | 2012-11-28 | 中国地质大学（武汉） | Searching and rescuing positioning system robot |
| CN103418581A (en) * | 2013-07-19 | 2013-12-04 | 新奥光伏能源有限公司 | Washing device |
| CN103418581B (en) * | 2013-07-19 | 2016-02-24 | 新奥光伏能源有限公司 | A kind of cleaning device |
| CN111438700A (en) * | 2020-04-16 | 2020-07-24 | 哈尔滨锅炉厂有限责任公司 | A robot is patrolled and examined to 5G crawler-type intelligence for power plant |
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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: 20110112 Termination date: 20120402 |