CN201712688U - Small-sized mobile robot wheel swinging type composite driving device - Google Patents

Abstract

The utility model discloses a small-sized mobile robot wheel swinging type composite driving device, wherein two motors are fixed at two ends of a bottom plate diagonally; the wheels are driven by synchronous belt pulleys; two belt pulleys at the same side are driven by the motors installed at the same side; the two belt pulleys are connected through a synchronous belt, then the trolley can realize four-wheel drive, and the in-situ turning of the trolley can realized through controlling the rotating direction of two motors, thus saving turning radius and motion space; the middle of the trolley is installed with a swing arm which comprises an inner and outer connection plates, a bearing, a synchronous belt and a synchronous belt pulley and is driven through gear drive via the motor installed in the middle of the trolley so as to play the role of the auxiliary legs and crawler belts when passing through larger barriers, thus improving the obstacle detouring ability.

Description

A wheel-pendulum compound driving device for a small mobile robot

technical field

The utility model belongs to the field of robot technology and automation, in particular to a wheel-pendulum compound driving device for a small mobile robot.

Background technique

At present, in the motion mechanism of mobile robots, wheeled, crawler and footed mechanisms are generally used. Wheeled mobile robots have the characteristics of simple structure, fast moving speed and easy manipulation, but they are not suitable for crossing obstacles such as steps and ravines; Tracked robots have high traversing ability and good environmental adaptability in natural environments such as soft and uneven terrain, but have high frictional resistance and high energy consumption; legged mobile robots have high mobility and are easy to adapt All kinds of complex ground environments, but the mechanism and control are more complicated and expensive. In recent years, many scholars have carried out research on mobile robots based on composite mechanisms, but many of them only combine wheeled, legged or tracked, legged mechanisms together. Yao Yanan, Shi Kan and others from Beijing Jiaotong University applied in 2007 Patent (publication number: CN 101157372A) of a walking-wheel-track compound mobile robot. Although the wheel-type, crawler-type and leg-type mechanisms are combined together, a telescopic rod mechanism is used in the middle and the force is carried out by rack and pinion or hydraulic pressure. The transfer of the system greatly increases the complexity and cost of the organization, and makes the control more complicated.

Utility model content

The utility model aims at the deficiencies of the prior art, and provides a wheel-pendulum compound driving device for a small mobile robot. The utility model combines the characteristics of the wheel mechanism and the leg mechanism, and has the characteristics of light weight, small volume, simple structure and the ability to turn on the spot. The tires are used to achieve high-speed and long-distance movement, and the two swing arms in the middle are used to improve its obstacle-surmounting ability and environmental adaptability.

The utility model is realized through the following technical solutions: a small mobile robot wheel pendulum compound driving device, which includes two outer connecting plates, two inner connecting plates, four small swing arm bearings, and four swing arm large bearings , two small pulleys, two large pulleys, four wheels, six bearing housings, four driving pulleys, bottom plate, two driving motors, four driving shafts, swing arm motor, three motor seats, small Gears, bull gear, main shaft, two bushings, two timing belts and two swing arm belts. The two driving motors are diagonally fixed on both ends of the base plate through two motor seats, the output shaft of the driving motor is connected to one end of the driving pulley, the other end of the driving pulley is connected to one end of the driving shaft, and the other end of the driving shaft One end is connected with the pulley, the middle of the drive shaft is fixed on the bottom plate through the bearing seat, and the drive pulley is connected with the drive pulley on the same side through the timing belt; the swing arm motor is fixed on the bottom plate through the motor seat, and its output shaft is connected to the small The gears are keyed, the small gear meshes with the large gear, and the large gear is fixed on the main shaft. The main shaft is fixed in the middle of the bottom plate through two bearing seats. A swing arm small bearing and a small pulley are connected with the other end of the inner connecting plate. The swing arm composed of the outer connecting plate and the inner connecting plate is symmetrically installed in the middle of the bottom plate, the two ends of the main shaft are respectively keyed to the two shaft sleeves, and the two end faces of the shaft sleeve are respectively connected to the inner connecting plate and the outer connecting plate. One end is connected, and the outer diameter direction of the axle sleeve is successively covered with a swing arm large bearing and a large pulley, and the other end of the inner connecting plate and the outer connecting plate is connected with a swing arm small bearing and a small pulley.

The beneficial effect that the utility model has is:

1. The mobile robot described in this utility model uses a wheeled mobile robot as a carrier, which combines the motion advantages of wheeled, crawler and legged mechanisms, and has the characteristics of fast movement and strong obstacle-crossing ability.

2. The mobile robot described in the utility model is light in weight, small in size, simple in structure, and simple and reliable in control.

3. The mobile robot described in the utility model can adopt different motion modes according to different environmental characteristics, so as to improve the environmental adaptability of the robot.

4. The mobile robot described in the utility model can turn in situ by controlling the running directions of the drive motors on both sides, reduce the turning radius, realize fast turning and save turning space.

Description of drawings

Fig. 1 is the front view of the structural principle of the present utility model.

FIG. 2 is a top view of FIG. 1 .

In the figure, 1. Outer connecting plate, 2. Small bearing of swing arm, 3. Small pulley, 4. Inner connecting plate, 5. Wheel, 6. Bearing seat, 7. Driving pulley, 8. Base plate, 9. Driving Motor, 10, drive shaft, 11, swing arm motor, 12, motor seat, 13, pinion gear, 14, large gear, 15, synchronous belt, 16, main shaft, 17, swing arm large bearing, 18, axle sleeve, 19 , large pulley, 20, swing arm belt.

Detailed ways

The utility model comprises two outer connecting plates, two inner connecting plates, four small swing arm bearings, four large swing arm bearings, two small pulleys, two large pulleys, four wheels, and six bearing seats. , four drive pulleys, bottom plate, two drive motors, four drive shafts, swing arm motors, three motor seats, pinion gear, bull gear, main shaft, two bushings, two timing belts and two swing arms belt; two driving motors are diagonally fixed at both ends of the bottom plate through two motor seats, the output shaft of the driving motor is connected with one end of the driving pulley through a set screw, and the other end of the driving pulley is connected with one end of the driving shaft through a tightening Fixed screw connection, the other end of the drive shaft is connected with the pulley, the middle of the drive shaft is fixed on the bottom plate through the bearing seat, and the drive pulley is connected with the drive pulley on the same side through the timing belt, so that the two drive motors can Realize the four-wheel drive of the robot; the swing arm motor is fixed on the bottom plate through the motor base, and its output shaft is keyed to the pinion, and then meshed with the large gear. The large gear is fixed on the main shaft, and the main shaft is fixed on the bottom plate through two bearing seats. In the middle part, the two ends of the main shaft are connected with the outer connecting plate and the inner connecting plate through the axle sleeve, and the other ends of the outer connecting plate and the inner connecting plate are connected with the small bearing of the swing arm and the small pulley.

The four driving pulleys are driven by two driving motors arranged diagonally, the two driving pulleys on one side are driven by the driving motor installed on the same side, the two driving pulleys are connected by a synchronous belt, and the other side The two drive pulleys are driven by another diagonally placed drive motor installed on the same side, so that the four wheels are driven by four drive pulleys to realize the four-wheel drive of the car, which greatly improves the movement ability of the car and crosses small obstacles. , Gully ability, and at the same time by controlling the rotation direction of the two drive motors, the car can turn in situ, saving the turning radius and movement space.

The swing arm composed of the outer connecting plate and the inner connecting plate is symmetrically installed in the middle of the bottom plate. The output torque of the swing arm motor is transmitted to the large gear through the small gear, and the torque is amplified at the same time. The large gear is fixedly connected to the main shaft to drive it to rotate. The two ends are respectively keyed to two shaft sleeves, and the two end faces of the shaft sleeve are connected to one end of the inner connecting plate and one end of the outer connecting plate through screws. The other end of connecting plate and outer connecting plate is connected with swing arm little bearing and small pulley, and swing arm can rotate 360 degrees under the drive of swing arm motor like this, and swing arm band can rotate freely simultaneously.

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

As shown in Figures 1 and 2, the utility model includes two outer connecting plates 1, two inner connecting plates 4, four small swing arm bearings 2, four large swing arm bearings 17, two small pulleys 3, two A large pulley 19, four wheels 5, six bearing blocks 6, four drive pulleys 7, a base plate 8, two drive motors 9, four drive shafts 10, swing arm motors 11, three motor seats 12, Pinion 13, bull gear 14, main shaft 16, two bushings 18, two timing belts 15 and two swing arm belts 20; two drive motors 9 are diagonally fixed on both ends of the bottom plate 8 through two motor seats 12 , the output shaft of the drive motor 9 is connected with one end of the drive pulley 7 by a set screw, the other end of the drive pulley 7 is connected with one end of the drive shaft 10 by a set screw, and the other end of the drive shaft 10 is connected with the pulley, The middle of the drive shaft 10 is fixed on the base plate 8 through the bearing housing 6, and the drive pulley and the drive pulley on the same side are connected through the synchronous belt 15, so that the four-wheel drive of the robot can be realized by two drive motors 9; The motor 11 is fixed on the bottom plate 8 through the motor base 12, its output shaft is keyed to the pinion 13, and then meshed with the large gear 14, the large gear 14 is fixed on the main shaft 16, and the main shaft 14 is fixed on the bottom plate 8 through two bearing seats 6 The middle part, the two ends of main shaft 14 are connected with outer connecting plate 1 and inner connecting plate 4 through axle sleeve 18, and the other end of outer connecting plate 1 and inner connecting plate 4 is connected with swing arm small bearing 2 and small pulley 3.

The four drive pulleys 7 are driven by two drive motors 9 arranged diagonally, wherein the two drive pulleys 7 on one side are driven by the drive motor 9 installed on the same side, and the two drive pulleys are driven by synchronous The belt 15 is connected, and the two driving pulleys 7 on the other side are driven by another diagonally placed driving motor 9 installed on the same side, so that the four driving pulleys 7 drive the four wheels 5 to realize the four-wheel drive of the trolley. The driving can greatly improve the movement ability of the car and the ability to cross small obstacles and ravines. At the same time, by controlling the rotation direction of the two drive motors 9, the car can turn in situ, saving the turning radius and movement space.

The swing arm composed of the outer connecting plate 1 and the inner connecting plate 4 is symmetrically installed in the middle of the base plate 8, the output torque of the swing arm motor 11 is transmitted to the large gear 14 through the pinion 13, and the torque is amplified at the same time, and the large gear 14 is fixed. Connected to the main shaft 16 to drive it to rotate, the two ends of the main shaft 16 are respectively keyed to two shaft sleeves 18, and the two end faces of the shaft sleeve 18 are connected to one end of the inner connecting plate 4 and the outer connecting plate 1 through screws, and the shaft sleeve 18 The outer diameter direction of the swing arm is successively covered with a swing arm large bearing 17 and a large pulley 19, and the other end of the inner connecting plate 4 and the outer connecting plate 1 is connected with a swing arm small bearing 2 and a small pulley 3, so that the swing arm is in the swing arm motor Can rotate 360 degrees under the drive of 11, and swing arm belt 20 can rotate freely simultaneously.

When the two drive motors 9 rotate in the same direction and at the same speed, the torque drives the wheels 5 to rotate through the drive shaft 10 and the synchronous belt 15, and the trolley travels in a straight line; when the two drive motors 9 run at different speeds, the speeds of the wheels on both sides are different. The trolley turns; when the speed directions of the two driving motors 9 are opposite, the trolley realizes turning in situ. The output shaft of the swing arm motor 11 drives the pinion gear 13 and the bull gear 14 to rotate, and transmits to the main shaft 16 to drive the swing arm to rotate. When running into a larger obstacle, the swing arm can serve as an auxiliary leg and a caterpillar to realize obstacle surmounting.

Claims (1)

1. A wheel-pendulum compound driving device for a small mobile robot is characterized in that it comprises two outer connecting plates (1), two inner connecting plates (4), four swing arm small bearings (2), four Swing arm large bearing (17), two small pulleys (3), two large pulleys (19), four wheels (5), six bearing housings (6), four driving pulleys (7), Base plate (8), two drive motors (9), four drive shafts (10), swing arm motor (11), three motor seats (12), pinion gear (13), bull gear (14), main shaft ( 16), two shaft sleeves (18), two timing belts (15) and two swing arm belts (20); the two drive motors (9) are diagonally fixed on the bottom plate through two motor seats (12) (8), the output shaft of the drive motor (9) is connected to one end of the drive pulley (7), the other end of the drive pulley (7) is connected to one end of the drive shaft (10), and the drive shaft (10) The other end of the drive shaft (10) is fixed on the bottom plate (8) through the bearing seat (6) in the middle of the drive shaft (10), and the drive pulley and the drive pulley on the same side are connected through the timing belt (15) at the same time; The motor (11) is fixed on the base plate (8) through the motor base (12), its output shaft is keyed to the pinion (13), the pinion (13) meshes with the bull gear (14), and the bull gear (14) is fixed on On the main shaft (16), the main shaft (14) is fixed on the middle part of the bottom plate (8) through two bearing seats (6), and the two ends of the main shaft (14) are connected with the outer connection plate (1) and the inner connection through the shaft sleeve (18). The plate (4) is connected, and the other end of the outer connecting plate (1) and the inner connecting plate (4) is connected with a swing arm small bearing (2) and a small pulley (3); the outer connecting plate (1) and the inner connecting plate The swing arm composed of the plate (4) is symmetrically installed in the middle of the bottom plate (8), the two ends of the main shaft (16) are respectively keyed with two shaft sleeves (18), and the two end faces of the shaft sleeve (18) are respectively connected with the inner One end of the connecting plate (4) and the outer connecting plate (1) is connected, and the outer diameter direction of the shaft sleeve (18) is sequentially covered with a swing arm large bearing (17) and a large pulley (19), and the inner connecting plate (4) and The other end of the outer connecting plate (1) is connected with the small bearing of the swing arm (2) and the small pulley (3).

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