CN203111344U - Planet wheel type robot car walking mechanism - Google Patents

Planet wheel type robot car walking mechanism Download PDF

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Publication number
CN203111344U
CN203111344U CN 201320133252 CN201320133252U CN203111344U CN 203111344 U CN203111344 U CN 203111344U CN 201320133252 CN201320133252 CN 201320133252 CN 201320133252 U CN201320133252 U CN 201320133252U CN 203111344 U CN203111344 U CN 203111344U
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CN
China
Prior art keywords
rear side
satellite gear
wheel
gear
behind
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Expired - Fee Related
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CN 201320133252
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Chinese (zh)
Inventor
潘西川
潘岳
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潘西川
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Priority to CN 201320133252 priority Critical patent/CN203111344U/en
Application granted granted Critical
Publication of CN203111344U publication Critical patent/CN203111344U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a planet wheel type robot car walking mechanism which comprises a car frame, wherein a left side front planet wheel and a left side rear planet wheel are arranged on the left side of the car frame, a left driving motor is arranged at the upper portion of the left side of the car frame, a left side front belt wheel is connected on a wheel shaft of the left side front planet wheel, a left side rear belt wheel is connected on a wheel shaft of the left side rear planet wheel, and a left double-face gear synchronous belt is connected on the left side front belt wheel and the left side rear belt wheel. A right side front planet wheel and a right side rear planet wheel are arranged on the right side of the car frame, a right driving motor is arranged at the upper portion of the right side of the car frame, a right side front belt wheel is connected on a wheel shaft of the right side front planet wheel, a right side rear belt wheel is connected on a wheel shaft of the right side rear planet wheel, and a right double-face gear synchronous belt is connected on the right side front belt wheel and the right side rear belt wheel. A rear side planet wheel support is hinged to the rear side of the car frame, and a rear side planet wheel is connected on the rear side planet wheel support. The planet wheel type robot car walking mechanism is reasonable in design, large in bearing capacity, strong in obstacle climbing ability, high in practicality, good in use effect and convenient to popularize and use.

Description

Planet gear type robot car traveling gear
Technical field
The utility model relates to a kind of mechanical running mechanism, especially relates to a kind of planet gear type robot car traveling gear.
Background technology
The traveling gear of robot car mainly contains several forms such as wheel formula, legged and crawler type, the action of wheel formula robot car is stable, handle simple, in unmanned factory, be used for carrying parts, of many uses, be suitable for most level walking, but because its center of gravity fixes, so obstacle climbing ability is restricted, can not across obstacle, can not stair climbing, ubiquity carrying and is lacked, the problem of obstacle climbing ability difference, therefore, applied environment is restricted, can not be applied in military, alert with and rescue use etc. in the terrain environment of various complexity.
The utility model content
Technical problem to be solved in the utility model is at above-mentioned deficiency of the prior art, a kind of planet gear type robot car traveling gear is provided, it is simple in structure, and is reasonable in design, and realization is convenient and cost is low, load-carrying capacity is big, obstacle climbing ability is strong, and is applied widely, practical, result of use is good, is convenient to promote the use of.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of planet gear type robot car traveling gear, it is characterized in that: comprise vehicle frame, the left side of described vehicle frame is provided with satellite gear behind the preceding satellite gear in left side and the left side, described vehicle frame left upper portion is provided with the left drive motor for satellite gear walking behind preceding satellite gear and the left side on the left of driving, the wheel shaft of satellite gear is connected behind the output shaft of described left drive motor and the described left side, be connected with back, left side belt wheel behind the described left side on the wheel shaft of satellite gear, be connected with belt wheel before the left side before the described left side on the wheel shaft of satellite gear, be connected with left double cog synchronous belt before the described left side behind belt wheel and the left side on the belt wheel; The right side of described vehicle frame is provided with before the right side satellite gear behind the satellite gear and right side, described vehicle frame right upper portion is provided with the right drive motor for satellite gear walking behind satellite gear and the right side before the drive right side, the wheel shaft of satellite gear is connected before the output shaft of described right drive motor and the described right side, be connected with belt wheel before the right side before the described right side on the wheel shaft of satellite gear, be connected with belt wheel behind the right side behind the described right side on the wheel shaft of satellite gear, be connected with right double cog synchronous belt before the described right side behind belt wheel and the right side on the belt wheel; The rear side of described vehicle frame is hinged with the rear side planetary carrier, is connected with the rear side satellite gear on the described rear side planetary carrier.
Above-mentioned planet gear type robot car traveling gear is characterized in that: the hinged position of the rear side of described rear side planetary carrier and described vehicle frame is connected with bumper.
Above-mentioned planet gear type robot car traveling gear is characterized in that: the rear side left part of described vehicle frame is provided with rear side left limit device, and the rear side right part of described vehicle frame is provided with rear side right limit device.
Above-mentioned planet gear type robot car traveling gear, it is characterized in that: described rear side left limit device is rear side left limit spring, one end of described rear side left limit spring is connected with the rear side left part of described vehicle frame, and the other end of described rear side left limit spring is connected with the left side of described rear side planetary carrier; Described rear side right limit device is rear side right limit spring, and an end of described rear side right limit spring is connected with the rear side right part of described vehicle frame, and the other end of described rear side right limit spring is connected with the right side of described rear side planetary carrier.
Above-mentioned planet gear type robot car traveling gear, it is characterized in that: before the described left side behind satellite gear, the left side before satellite gear, the right side behind satellite gear, the right side structure of satellite gear and rear side satellite gear identical and include wheel carrier and first satellite gear, second satellite gear and the third line star-wheel that is laid on the wheel carrier triangular in shape, the geometric centre position of described wheel carrier is provided with wheel shaft, and described first satellite gear, second satellite gear and the third line star-wheel all are rotationally connected with described wheel carrier.
The utility model compared with prior art has the following advantages:
1, the utility model is simple in structure, and is reasonable in design, and realization is convenient and cost is low.
2, load-carrying capacity of the present utility model is big, and obstacle climbing ability is strong, can cross the obstacle that is higher than self.
3, of the present utility model applied widely, applied environment is unrestricted, is applicable to military, the alert terrain environment of using and rescuing various complexity such as using.
4, of the present utility model practical, result of use is good, is convenient to promote the use of.
In sum, the utility model is simple in structure, and is reasonable in design, and realization is convenient and cost is low, and load-carrying capacity is big, and obstacle climbing ability is strong, and is applied widely, practical, and result of use is good, is convenient to promote the use of.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Description of drawings
Fig. 1 is front view of the present utility model.
Fig. 2 is the birds-eye view of Fig. 1.
Fig. 3 is the structural representation of satellite gear and rear side satellite gear behind satellite gear before satellite gear behind satellite gear before the utility model left side, the left side, the right side, the right side.
Description of reference numerals:
1-vehicle frame; Satellite gear before 2-left side; Satellite gear behind 3-left side;
4-left drive motor; Belt wheel before 5-left side; Belt wheel behind 6-left side;
7-left double cog synchronous belt; Satellite gear before 8-right side; Satellite gear behind 9-right side;
10-right drive motor; Belt wheel before 11-right side; Belt wheel behind 12-right side;
13-right double cog synchronous belt; 14-rear side planetary carrier; 15-rear side satellite gear;
16-bumper; 17-rear side left limit device; 18-rear side right limit device;
19-wheel carrier; 20-the first satellite gear; 21-the second satellite gear;
22-the third line star-wheel; 23-wheel shaft.
The specific embodiment
As depicted in figs. 1 and 2, the utility model comprises vehicle frame 1, the left side of described vehicle frame 1 is provided with satellite gear 3 behind the preceding satellite gear 2 in left side and the left side, described vehicle frame 1 left upper portion is provided with the left drive motor 4 for satellite gear 3 walkings behind preceding satellite gear 2 and the left side on the left of driving, the wheel shaft of satellite gear 3 is connected behind the output shaft of described left drive motor 4 and the described left side, be connected with back, left side belt wheel 6 behind the described left side on the wheel shaft of satellite gear 3, be connected with belt wheel 5 before the left side before the described left side on the wheel shaft of satellite gear 2, be connected with left double cog synchronous belt 7 before the described left side behind belt wheel 5 and the left side on the belt wheel 6; The right side of described vehicle frame 1 is provided with before the right side satellite gear 9 behind the satellite gear 8 and right side, described vehicle frame 1 right upper portion is provided with the right drive motor 10 for satellite gear 9 walkings behind satellite gear 8 and the right side before the drive right side, the wheel shaft of satellite gear 8 is connected before the output shaft of described right drive motor 10 and the described right side, be connected with belt wheel 11 before the right side before the described right side on the wheel shaft of satellite gear 8, be connected with belt wheel 12 behind the right side behind the described right side on the wheel shaft of satellite gear 9, be connected with right double cog synchronous belt 13 before the described right side behind belt wheel 11 and the right side on the belt wheel 12; The rear side of described vehicle frame 1 is hinged with rear side planetary carrier 14, is connected with rear side satellite gear 15 on the described rear side planetary carrier 14.
In the present embodiment, the hinged position of the rear side of described rear side planetary carrier 14 and described vehicle frame 1 is connected with bumper 16.The rear side left part of described vehicle frame 1 is provided with rear side left limit device 17, and the rear side right part of described vehicle frame 1 is provided with rear side right limit device 18.Preferably, described rear side left limit device 17 is rear side left limit spring, and an end of described rear side left limit spring is connected with the rear side left part of described vehicle frame 1, and the other end of described rear side left limit spring is connected with the left side of described rear side planetary carrier 14; Described rear side right limit device 18 is rear side right limit spring, and an end of described rear side right limit spring is connected with the rear side right part of described vehicle frame 1, and the other end of described rear side right limit spring is connected with the right side of described rear side planetary carrier 14.By rear side left limit device 17 and rear side right limit device 18 are set, can avoid the movement angle of described rear side planetary carrier 14 on left and right directions excessive, damaged in collision rear side planetary carrier 14 and rear side satellite gear 15.
As shown in Figure 3, in the present embodiment, before the described left side behind satellite gear 2, the left side before satellite gear 3, the right side behind satellite gear 8, the right side structure of satellite gear 9 and rear side satellite gear 15 identical and include wheel carrier 19 and first satellite gear 20, second satellite gear 21 and the third line star-wheel 22 that is laid on the wheel carrier 19 triangular in shape, the geometric centre position of described wheel carrier 19 is provided with wheel shaft 23, and described first satellite gear 20, second satellite gear 21 and the third line star-wheel 22 all are rotationally connected with described wheel carrier 19.
When the utility model uses, the wheel shaft that left side drive motor 4 drives the preceding satellite gear 2 in left side rotates, and then satellite gear 2 rotates before driving the left side, belt wheel 6 rotated after the wheel shaft of satellite gear 2 drove the left side before the left side, back, left side belt wheel 6 drives back, left side belt wheel 6 by left double cog synchronous belt 7 and rotates, the wheel shaft of back satellite gear 3 rotated on the left of back, left side belt wheel 6 drove, and then satellite gear 3 rotates after driving the left side; The wheel shaft of satellite gear 9 rotates behind the right drive motor 10 drive right sides, and then satellite gear 9 rotates behind the drive right side, belt wheel 12 rotated after the wheel shaft of satellite gear 9 drove the right side behind the right side, belt wheel 11 rotated before belt wheel 12 drove the right side by right double cog synchronous belt 13 behind the right side, the wheel shaft rotation of satellite gear 8 before the belt wheel 11 drive right sides before the right side, and then satellite gear 8 rotates before driving the right side; Because it is hinged with the rear side of vehicle frame 1 to connect the rear side planetary carrier 14 of rear side satellite gear 15, therefore rear side satellite gear 15 has not only lengthened the length of whole locomotive body, and, on rear side satellite gear 15 and the vehicle frame 1, down, a left side, the right corner degree is big, when robot car travels, run into obstacle and can adjust the angle of moment of torsion up and down of vehicle frame 1 voluntarily, and turn flexibly, the more ability of rolling that satellite gear has in addition, the auxiliary reinforcing of left side double cog synchronous belt 7 and right double cog synchronous belt 13, make robot car can cross the obstacle that is higher than self, cross over wideer irrigation canals and ditches, be applicable to military, the alert terrain environment of using and rescuing various complexity such as using.
The above; it only is preferred embodiment of the present utility model; be not that the utility model is imposed any restrictions; every any simple modification, change and equivalent structure of above embodiment being done according to the utility model technical spirit changes, and all still belongs in the protection domain of technical solutions of the utility model.

Claims (5)

1. planet gear type robot car traveling gear, it is characterized in that: comprise vehicle frame (1), the left side of described vehicle frame (1) is provided with satellite gear (3) behind the preceding satellite gear (2) in left side and the left side, described vehicle frame (1) left upper portion is provided with the left drive motor (4) for satellite gear (3) walking behind preceding satellite gear (2) and the left side on the left of driving, the wheel shaft of satellite gear (3) is connected behind the output shaft of described left drive motor (4) and the described left side, be connected with back, left side belt wheel (6) on the wheel shaft of satellite gear behind the described left side (3), be connected with belt wheel (5) before the left side on the wheel shaft of satellite gear before the described left side (2), be connected with left double cog synchronous belt (7) behind belt wheel before the described left side (5) and the left side on the belt wheel (6); The right side of described vehicle frame (1) is provided with before the right side satellite gear (9) behind the satellite gear (8) and right side, described vehicle frame (1) right upper portion is provided with the right drive motor (10) for satellite gear (9) walking behind satellite gear (8) and the right side before the drive right side, the wheel shaft of satellite gear (8) is connected before the output shaft of described right drive motor (10) and the described right side, be connected with belt wheel (11) before the right side on the wheel shaft of satellite gear before the described right side (8), be connected with belt wheel (12) behind the right side on the wheel shaft of satellite gear behind the described right side (9), be connected with right double cog synchronous belt (13) behind belt wheel before the described right side (11) and the right side on the belt wheel (12); The rear side of described vehicle frame (1) is hinged with rear side planetary carrier (14), is connected with rear side satellite gear (15) on the described rear side planetary carrier (14).
2. according to the described planet gear type robot car of claim 1 traveling gear, it is characterized in that: the hinged position of the rear side of described rear side planetary carrier (14) and described vehicle frame (1) is connected with bumper (16).
3. according to the described planet gear type robot car of claim 1 traveling gear, it is characterized in that: the rear side left part of described vehicle frame (1) is provided with rear side left limit device (17), and the rear side right part of described vehicle frame (1) is provided with rear side right limit device (18).
4. according to the described planet gear type robot car of claim 3 traveling gear, it is characterized in that: described rear side left limit device (17) is rear side left limit spring, one end of described rear side left limit spring is connected with the rear side left part of described vehicle frame (1), and the other end of described rear side left limit spring is connected with the left side of described rear side planetary carrier (14); Described rear side right limit device (18) is rear side right limit spring, and an end of described rear side right limit spring is connected with the rear side right part of described vehicle frame (1), and the other end of described rear side right limit spring is connected with the right side of described rear side planetary carrier (14).
5. according to the described planet gear type robot car of claim 1 traveling gear, it is characterized in that: satellite gear before the described left side (2), back, left side satellite gear (3), satellite gear before the right side (8), the structure of satellite gear behind the right side (9) and rear side satellite gear (15) is identical and include wheel carrier (19) and first satellite gear (20) that is laid on the wheel carrier (19) triangular in shape, second satellite gear (21) and the third line star-wheel (22), the geometric centre position of described wheel carrier (19) is provided with wheel shaft (23), described first satellite gear (20), second satellite gear (21) and the third line star-wheel (22) all are rotationally connected with described wheel carrier (19).
CN 201320133252 2013-03-21 2013-03-21 Planet wheel type robot car walking mechanism Expired - Fee Related CN203111344U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201320133252 CN203111344U (en) 2013-03-21 2013-03-21 Planet wheel type robot car walking mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201320133252 CN203111344U (en) 2013-03-21 2013-03-21 Planet wheel type robot car walking mechanism

Publications (1)

Publication Number Publication Date
CN203111344U true CN203111344U (en) 2013-08-07

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201320133252 Expired - Fee Related CN203111344U (en) 2013-03-21 2013-03-21 Planet wheel type robot car walking mechanism

Country Status (1)

Country Link
CN (1) CN203111344U (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103407510A (en) * 2013-08-21 2013-11-27 上海工程技术大学 Deformable planet wheel robot with left body and right body hinged
CN103465779A (en) * 2013-09-17 2013-12-25 哈尔滨工程大学 Double-engine type omni-directional four-wheel drive traveling mechanism
CN105128968A (en) * 2015-09-01 2015-12-09 苏州达力客自动化科技有限公司 Stair climbing robot
CN105290931A (en) * 2015-10-28 2016-02-03 江苏基业信息技术有限公司 Storage tank wall maintenance robot and control system thereof
CN106112957A (en) * 2016-07-25 2016-11-16 南京理工大学 A kind of two-sided traveling reconnaissance robot
CN111319438A (en) * 2020-02-22 2020-06-23 苏州玖物互通智能科技有限公司 Mobile platform

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103407510A (en) * 2013-08-21 2013-11-27 上海工程技术大学 Deformable planet wheel robot with left body and right body hinged
CN103465779A (en) * 2013-09-17 2013-12-25 哈尔滨工程大学 Double-engine type omni-directional four-wheel drive traveling mechanism
CN103465779B (en) * 2013-09-17 2015-12-09 哈尔滨工程大学 Omnidirectional with double engines 4 wheel driven walking mechanism
CN105128968A (en) * 2015-09-01 2015-12-09 苏州达力客自动化科技有限公司 Stair climbing robot
CN105290931A (en) * 2015-10-28 2016-02-03 江苏基业信息技术有限公司 Storage tank wall maintenance robot and control system thereof
CN105290931B (en) * 2015-10-28 2017-07-07 江苏基业信息技术有限公司 A kind of storage tank shell maintaining robot and its control system
CN106112957A (en) * 2016-07-25 2016-11-16 南京理工大学 A kind of two-sided traveling reconnaissance robot
CN111319438A (en) * 2020-02-22 2020-06-23 苏州玖物互通智能科技有限公司 Mobile platform

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130807

Termination date: 20210321