CN202279171U - Crawler detection robot with turnover mechanism - Google Patents
Crawler detection robot with turnover mechanism Download PDFInfo
- Publication number
- CN202279171U CN202279171U CN2011204025866U CN201120402586U CN202279171U CN 202279171 U CN202279171 U CN 202279171U CN 2011204025866 U CN2011204025866 U CN 2011204025866U CN 201120402586 U CN201120402586 U CN 201120402586U CN 202279171 U CN202279171 U CN 202279171U
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- Prior art keywords
- turnover
- upset
- robot
- wheel
- driving wheel
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Abstract
The utility model discloses a crawler detection robot with a turnover mechanism, which comprises a machine body, an upper box body, turnover front wheels, a turnover beam shaft, driving wheels, inducers, driven wheels, a driving motor, walking pedrails, turnover pedrails, a turnover motor and a hollow spindle, wherein the machine body is provided with the driving wheels, the driven wheels, the inducers, the walking pedrails, the turnover pedrails, and the turnover front wheels in a bilaterally symmetric way, and is provided with a front cover and a back cover in a fore-and-aft symmetrical way, and the driving wheels are arranged at the two sides of the front section of the machine body; the inducers are arranged between the driving wheels and the driven wheels and are meshed with the walking pedrails, and the turnover beam shaft is arranged on turnover arms of the robot and is connected with the hollow spindle; and the turnover front wheels are arranged on the turnover arms of the robot and are connected with the driving wheels through the turnover pedrails. The crawler detection robot with the turnover mechanism has the advantages of small size, strong flexibility, simple structure, and easiness in maintenance, and can fully adapt to the change in different grounds, space size, shape change, slope and other defects, and expand the application fields of the robot.
Description
Technical field
The utility model relates to a kind of robot, relates in particular to a kind ofly to have the level land and walk at a high speed, domatic ascending, a kind of band switching mechanism crawler type investigation robot of carrying capacitys such as leap of obstacle trench and wetland, muddy ground, rubble ground.
Background technology
The robot field is more and more wider along with development of science and technology; Caterpillar robot well applies in the military affairs in modern times; Especially no matter caterpillar robot is as bomb disposal robot, investigation robot or BFR in the war against terror, is all bringing into play more and more important effect.Though it is a variety of that switching mechanism crawler type investigation robot also has, China's great majority form for copying according to foreign technology, and weight is big, and manoevreability is poor, hard transportation, and expenditure of energy is fast; Complex structure, maintainability is poor, so for seek a kind of light and handy, convenient, investigate a lot of colleges and universities of robot and research institute flexibly and all drop into the research and development that come into, but R&D costs are high, the time is long, so the problem of essence is still less than solution.
The utility model content
The technical matters that the utility model will solve is: overcome the deficiency that prior art exists, a kind of demand that can satisfy existing market fully is provided, the band switching mechanism crawler type investigation robot of the research and development ability of ability cost-cutting, and enough colleges and universities simultaneously.
The utility model solves the technical scheme that its technical matters takes: a kind of band switching mechanism crawler type investigation robot, by body, upper box cover, upper cartridge body, go up the box header board, go up the box side plate, hexagonal pillar stiffener, front shroud, back cover, upset front-wheel, flip beam axle, driving wheel, inducer, flower wheel, drive motor, traveling crawler, upset crawler belt, upset motor and hollow spindle form, described body is symmetrically set with driving wheel, flower wheel, inducer, traveling crawler, upset crawler belt, front-wheel overturns; Front and back are symmetrically arranged with front shroud and back cover; Described upper box cover, upper cartridge body are fixed on through the hexagonal pillar stiffener on the top of body, and described last box header board, last box side plate are arranged on upper cartridge body four limits, fix through screw; Described inducer is arranged between driving wheel and the flower wheel; With the traveling crawler engagement, be used for supporting the weight and the shape of keeping crawler belt of robot, extra bearing force is provided when high capacity; Under the situation of crawler belt fracture, still can realize certain driveability in addition; The inside of described driving wheel is provided with drive motor, and the drive motor leading portion is provided with the upset motor, and two motors drive body left and right sides driving wheel respectively; Described hollow spindle is arranged on upset motor front end; Connect left and right sides driving wheel, and adopt gear transmission between the upset motor
Described flip beam axle is arranged on the robot flip-arm; Connect hollow spindle; A large amount of thrust needle rollers that adopt between hollow spindle and upset main shaft, needle bearing so that make robot advance with rotary movement in be in relative motion; Described upset front-wheel is arranged on the robot flip-arm, connects driving wheel through the upset crawler belt.
The utility model has the advantages of:
1, adopts aluminium as main material, thereby greatly reduce the total mass of robot;
2, this robot volume is little, alerting ability is strong, simple in structure, be convenient to safeguard that can adapt to the variation of Different Ground fully, space size, alteration of form and defective such as domatic have enlarged the application of robot
Description of drawings
Fig. 1 is a kind of perspective view with switching mechanism crawler type investigation robot of the utility model;
Fig. 2 is a kind of band switching mechanism of the utility model crawler type investigation robot domain structural representation.
Wherein: the 1-body; The 2-upper box cover; The 3-upper cartridge body; The last box header board of 4-; The last box side plate of 5-; 6-hexagonal pillar stiffener; The 7-front shroud; The 8-back cover; The 9-front-wheel that overturns; 10-flip beam axle; The 11-driving wheel; The 12-inducer; The 13-flower wheel; The 14-drive motor; The 15-traveling crawler; The 16-crawler belt that overturns; The 17-motor that overturns; The 18-hollow spindle
The specific embodiment
As depicted in figs. 1 and 2: a kind of band switching mechanism crawler type investigation robot, by body 1, upper box cover 2, upper cartridge body 3, go up box header board 4, go up box side plate 5, hexagonal pillar stiffener 6, front shroud 7, back cover 8, upset front-wheel 9, flip beam axle 10, driving wheel 11, inducer 12, flower wheel 13, drive motor 14, traveling crawler 15, upset crawler belt 16, upset motor 17 and hollow spindle 18 form, described body 1 is symmetrically set with driving wheel 11, flower wheel 13, inducer 12, traveling crawler 15, upset crawler belt 16, front-wheel 9 overturns; Front and back are symmetrically arranged with front shroud 7 and back cover 8; Described upper box cover 2, upper cartridge body 3 are fixed on through hexagonal pillar stiffener 6 on the top of body 1, describedly go up box header board 4, go up box side plate 5 and be arranged on upper cartridge body 3 four limits, fix through screw; Described inducer 12 is arranged between driving wheel 11 and the flower wheel 13; With traveling crawler 15 engagements, be used for supporting the weight and the shape of keeping crawler belt of robot, extra bearing force is provided when high capacity; Under the situation of crawler belt fracture, still can realize certain driveability in addition; The inside of described driving wheel 11 is provided with drive motor 14, and drive motor 14 leading portions are provided with 15, two motors of upset motor and drive body left and right sides driving wheel 11 respectively; Described hollow spindle 18 is arranged on upset motor 17 front ends; Connect left and right sides driving wheel 11, and adopt gear transmission between the upset motor 17, described flip beam axle 19 is arranged on the robot flip-arm; Connect hollow spindle 18; A large amount of thrust needle rollers that adopt between hollow spindle 18 and flip beam axle 19, needle bearing so that make robot advance with rotary movement in be in relative motion; Described upset front-wheel 9 is arranged on the robot flip-arm, connects driving wheel 11 through upset crawler belt 16.
Describe below in conjunction with the principle of work of accompanying drawing the utility model, a kind of band switching mechanism crawler type investigation robot, as shown in Figure 1; The left and right sides is a symmetrical structure; Driving wheel 11 drives traveling crawler 15 and rotates, and traveling crawler 15 contacts with ground, produces relative motion.Driving wheel 11 is delivered to upset front-wheel 9 with transmission simultaneously, the also transmission of upset crawler belt 16, thus realize climbing function.As shown in Figure 2, when drive motor 14 energisings, drive motor 14 rotates; Thereby driving driving wheel 11 rotates; When left side drive motor 14 clockwise rotated, left side traveling crawler 15 also clockwise rotated, when the right drive motor 14 rotates counterclockwise simultaneously; The right traveling crawler 15 also rotates counterclockwise, and body 1 to overtake; Otherwise go backward; When the right drive motor 14 clockwise rotated, the right traveling crawler 15 also clockwise rotated, and simultaneously during drive motor 14 cws of the left side, left side traveling crawler 15 also clockwise rotates, and body 1 bends to right; Otherwise turn left.
What should explain at last is: above embodiment only in order to the explanation the utility model and and the described technical scheme of unrestricted the utility model; Therefore, although this specification sheets has carried out detailed explanation to the utility model with reference to each above-mentioned embodiment,, those of ordinary skill in the art should be appreciated that still and can make amendment or be equal to replacement the utility model; And all do not break away from the technical scheme and the improvement thereof of the spirit and the scope of the utility model, and it all should be encompassed in the claim scope of the utility model.
Claims (3)
1. a band switching mechanism crawler type is investigated robot; Form by body, upper box cover, upper cartridge body, last box header board, last box side plate, hexagonal pillar stiffener, front shroud, back cover, upset front-wheel, flip beam axle, driving wheel, inducer, flower wheel, drive motor, traveling crawler, upset crawler belt, upset motor and hollow spindle; It is characterized in that being: described body is symmetrically set with driving wheel, flower wheel, inducer, traveling crawler, upset crawler belt, upset front-wheel, and front and back are symmetrically arranged with front shroud and back cover, and said driving wheel is located at body leading portion both sides; Said inducer is arranged between driving wheel and the flower wheel; With the traveling crawler engagement, described flip beam axle is arranged on the robot flip-arm, connects hollow spindle; Described upset front-wheel is arranged on the robot flip-arm, connects driving wheel through the upset crawler belt.
2. a kind of band switching mechanism crawler type investigation robot according to claim 1; It is characterized in that: described upper box cover, upper cartridge body are fixed on the top of body through the hexagonal pillar stiffener; Described last box header board, last box side plate are arranged on upper cartridge body four limits, fix through screw.
3. a kind of band switching mechanism crawler type investigation robot according to claim 1; It is characterized in that: the inside of described driving wheel is provided with drive motor; The drive motor leading portion is provided with the upset motor, and described hollow spindle is arranged on upset motor front end, connects left and right sides driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204025866U CN202279171U (en) | 2011-10-21 | 2011-10-21 | Crawler detection robot with turnover mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204025866U CN202279171U (en) | 2011-10-21 | 2011-10-21 | Crawler detection robot with turnover mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202279171U true CN202279171U (en) | 2012-06-20 |
Family
ID=46225348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204025866U Expired - Fee Related CN202279171U (en) | 2011-10-21 | 2011-10-21 | Crawler detection robot with turnover mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202279171U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104627259A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Transferring robot in hazardous environment |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
| CN109882180A (en) * | 2019-04-28 | 2019-06-14 | 河海大学常州校区 | A kind of crawler type Sea miner |
-
2011
- 2011-10-21 CN CN2011204025866U patent/CN202279171U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104627259A (en) * | 2013-11-14 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Transferring robot in hazardous environment |
| CN104627259B (en) * | 2013-11-14 | 2016-09-07 | 沈阳新松机器人自动化股份有限公司 | A kind of hazardous environment reprints robot |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
| CN108216400B (en) * | 2016-12-21 | 2019-10-25 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
| CN109882180A (en) * | 2019-04-28 | 2019-06-14 | 河海大学常州校区 | A kind of crawler type Sea miner |
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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: 20120620 Termination date: 20131021 |