CN203439162U - Obstacle surmounting device used for crawler type robot - Google Patents
Obstacle surmounting device used for crawler type robot Download PDFInfo
- Publication number
- CN203439162U CN203439162U CN201320423740.7U CN201320423740U CN203439162U CN 203439162 U CN203439162 U CN 203439162U CN 201320423740 U CN201320423740 U CN 201320423740U CN 203439162 U CN203439162 U CN 203439162U
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- wheel
- obstacle surmounting
- obstacle
- wheels
- type robot
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Abstract
The utility model discloses an obstacle surmounting device used for a crawler type robot. The obstacle surmounting device comprises rear wheels and front wheels. The rear wheels and the front wheels are fixedly arranged on a carriage. Power devices are arranged in an inner chamber of the carriage. Rotation shafts of the power devices stretch out of two sides of the carriage and are respectively and fixedly connected with rotary rods. The tail end of each rotary rod is provided with an obstacle surmounting wheel. A common crawler belt is arranged at a rear wheel, a front wheel and an obstacle surmounting wheel at each side. The obstacle surmounting device used for the crawler type robot has following beneficial effects: when no barrier is arranged in a road, an obstacle surmounting mechanism walks by two pairs of fixing wheels at the carriage; and when a barrier is arranged in the road, movements of the rotary rods enable obstacle surmounting wheels to move downwards and the carriage is enabled to walk and climb by the obstacle surmounting wheels and the rear wheels so that driving capacity of a vehicle driven in an uneven road surface is improved and inconvenience and dangerousness of driving are reduced.
Description
Technical field
The utility model belongs to field of mechanical technique, relates to a kind of obstacle crossing device for caterpillar type robot.
Background technology
The in the situation that of circumstance complication, as step, hollow road, obstacle etc., make travelling of vehicle become difficult and inconvenient, even accidents caused.Therefore the running gear that, design has an obstacle crossing function becomes particularly important.
Utility model content
The purpose of this utility model is to provide a kind of obstacle crossing device for caterpillar type robot, improves robot at the driveability of roughness pavement, improves crossing ability, reduces the inconvenience of travelling.
The technical scheme that the utility model adopts is: a kind of obstacle crossing device for caterpillar type robot, comprise the trailing wheel and the front-wheel that are fixedly mounted on compartment, in compartment inner chamber, be provided with engine installation, the turning cylinder of engine installation stretches out both sides, compartment and is fixedly connected with a bull stick respectively, the end of each bull stick is provided with a Stump-jump wheel, the trailing wheel of every side, front-wheel and Stump-jump wheel are provided with a common crawler belt, form two groups of crawler belt wheel type barrier-crossing unit.
Obstacle crossing device for caterpillar type robot of the present utility model, is further characterized in that,
The structure of engine installation is, comprises motor and two variable speed motor, is coaxially fixed with miniature gears on the output shaft of motor, and the big gear wheel on the turning cylinder of miniature gears and engine installation is connected by meshing transmission; Two variable speed motor are separately installed with one group of belt wheel, and each belt wheel is in transmission connection with the wheel shaft of a side front-wheel by a V band.
Between the Stump-jump wheel of two groups of crawler belt wheel type barrier-crossing unit, be connected with connecting rod.
The beneficial effects of the utility model are, when road clear, barrier getting over mechanism is advanced with the two pairs of hard-wired trailing wheels on compartment and front-wheel; When obstacle appears in road, walk, climb with Stump-jump wheel and trailing wheel in compartment.When left and right variable speed motor rotating speed is identical, machine can straight-line travelling; When motor rotary speed is different, can realize differential steering, motor moves bull stick by gear transmission, realizes the work conversion of Stump-jump wheel and two front-wheels.
Accompanying drawing explanation
Fig. 1 is the utility model device obstacle crossing device structural representation while not meeting obstacle;
Fig. 2 is the interior structural representation of the utility model device while not meeting obstacle;
Fig. 3 is the structural representation of the engine installation in the utility model device;
Obstacle detouring status architecture schematic diagram when Fig. 4 is the utility model device chance obstacle.
In figure, 1. trailing wheel, 2. front-wheel, 3. bull stick, 4. Stump-jump wheel, 5. connecting rod, 6. crawler belt, 7. compartment, 8. engine installation, 9. miniature gears, 10. motor, 11. belt wheels, 12.V band, 13. variable speed motor, 14. big gear wheels.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is elaborated.
Obstacle crossing device for caterpillar type robot of the present utility model, comprise the trailing wheel 1 and the front-wheel 2 that are fixedly mounted on compartment, in compartment 7 inner chambers, be provided with engine installation 8, the turning cylinder of engine installation 8 stretches out both sides, compartment and is fixedly connected with a bull stick 3 respectively, the end of each bull stick 3 is provided with a Stump-jump wheel 4, the trailing wheel 1 of every side, front-wheel 2 and Stump-jump wheel 4 are provided with a common crawler belt 6, form two groups of crawler belt wheel type barrier-crossing unit, between the Stump-jump wheel 4 of two unit, be connected with connecting rod 5, be convenient to synchronous rotation.
With reference to Fig. 2, Fig. 3, the structure of engine installation 8 is, comprise motor 10 and two left and right variable speed motor 13 of variable speed motor 13(), on the output shaft of motor 10, be coaxially fixed with miniature gears 9, the big gear wheel 14 on the turning cylinder of miniature gears 9 and engine installation 8 is connected by meshing transmission; Two variable speed motor 13 are separately installed with one group of belt wheel 11, and each belt wheel 11 is in transmission connection with the wheel shaft of 12 and one side front-wheel 2 by a V.
In Fig. 1, figure, as shown in Fig. 3, when road clear, left and right variable speed motor 13 provides power, by belt wheel 11 and V, be with 12 by power transmission to two front-wheel 2, to drive car body to travel, when left and right variable speed motor 13 rotating speeds are when identical, robot straight-line travelling; When left and right variable speed motor 13 rotating speeds are different, can realize differential steering.
As shown in Figure 4, when there is obstacle in road, the power of motor 10 rotates bull stick 3 after transmitting by miniature gears 9 and big gear wheel 14, bull stick 3 motions make Stump-jump wheel 4 move to front lower place, ride over before obstacle, make compartment 7 with Stump-jump wheel 4 and trailing wheel 1 walking and climbing, stride across obstacle, or climb up step.
Claims (3)
1. the obstacle crossing device for caterpillar type robot, it is characterized in that, comprise the trailing wheel (1) and the front-wheel (2) that are fixedly mounted on compartment, in compartment (7) inner chamber, be provided with engine installation (8), the turning cylinder of engine installation (8) stretches out both sides, compartment and is fixedly connected with a bull stick (3) respectively, the end of each bull stick (3) is provided with a Stump-jump wheel (4), the trailing wheel of every side (1), front-wheel (2) and Stump-jump wheel (4) are provided with a common crawler belt (6), form two groups of crawler belt wheel type barrier-crossing unit.
2. the obstacle crossing device for caterpillar type robot according to claim 1, it is characterized in that, the structure of described engine installation (8) is, comprise motor (10) and two variable speed motor (13), on the output shaft of motor (10), be coaxially fixed with miniature gears (9), the big gear wheel (14) on the turning cylinder of miniature gears (9) and engine installation (8) is connected by meshing transmission; Two variable speed motor (13) are separately installed with one group of belt wheel (11), and each belt wheel (11) is with (12) and the wheel shaft of a side front-wheel (2) to be in transmission connection by a V.
3. the obstacle crossing device for caterpillar type robot according to claim 1, is characterized in that, between the Stump-jump wheel (4) of two groups of described crawler belt wheel type barrier-crossing unit, is connected with connecting rod (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320423740.7U CN203439162U (en) | 2013-07-16 | 2013-07-16 | Obstacle surmounting device used for crawler type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320423740.7U CN203439162U (en) | 2013-07-16 | 2013-07-16 | Obstacle surmounting device used for crawler type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203439162U true CN203439162U (en) | 2014-02-19 |
Family
ID=50090231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320423740.7U Expired - Fee Related CN203439162U (en) | 2013-07-16 | 2013-07-16 | Obstacle surmounting device used for crawler type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203439162U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270500A (en) * | 2015-10-23 | 2016-01-27 | 河北工业大学 | Sliding-like gear mechanism and mobile robot |
-
2013
- 2013-07-16 CN CN201320423740.7U patent/CN203439162U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270500A (en) * | 2015-10-23 | 2016-01-27 | 河北工业大学 | Sliding-like gear mechanism and mobile robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140219 Termination date: 20160716 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |