CN203439162U - Obstacle surmounting device used for crawler type robot - Google Patents
Obstacle surmounting device used for crawler type robot Download PDFInfo
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- 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
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- engine installation
- stump
- type robot
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- 238000009434 installation Methods 0.000 claims description 14
- 244000309464 bull Species 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000009194 climbing Effects 0.000 abstract description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
本实用新型公开了一种用于履带式机器人的越障装置，包括固定安装在车厢上的后轮和前轮，在车厢内腔中设置有动力装置，动力装置的转动轴伸出车厢两侧并且分别与一个转杆固定连接，每个转杆的末端安装有一越障轮，每侧的后轮、前轮和越障轮设置有共同的一条履带。本实用新型装置在道路无障碍物时，越障机构以车厢上两对固定轮行走；在道路出现障碍物时，转杆运动使得越障轮向下移动，使车厢以越障轮和后轮行走和爬坡，提高车辆在不平整路面的行驶能力，减少其行驶的不便和危险性。
The utility model discloses an obstacle-surmounting device for a crawler robot, which comprises a rear wheel and a front wheel fixedly installed on a carriage, and a power device is arranged in the inner chamber of the carriage, and the rotating shaft of the power device extends out from both sides of the carriage. And respectively fixedly connected with a rotating rod, an obstacle-crossing wheel is installed at the end of each rotating rod, and the rear wheel, front wheel and obstacle-breaking wheel on each side are provided with a common track. When the device of the utility model has no obstacles on the road, the obstacle-crossing mechanism walks with two pairs of fixed wheels on the carriage; Walking and climbing, improve the driving ability of the vehicle on uneven roads, and reduce the inconvenience and danger of driving.
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 (3)
| 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 |
| CN110239639A (en) * | 2019-07-01 | 2019-09-17 | 上海钧工机器人有限公司 | A kind of crawler type motion platform of variable topological structure |
| CN115435179A (en) * | 2022-09-29 | 2022-12-06 | 杭州电子科技大学 | A crawler pipeline inspection robot |
-
2013
- 2013-07-16 CN CN201320423740.7U patent/CN203439162U/en not_active Expired - Fee Related
Cited By (3)
| 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 |
| CN110239639A (en) * | 2019-07-01 | 2019-09-17 | 上海钧工机器人有限公司 | A kind of crawler type motion platform of variable topological structure |
| CN115435179A (en) * | 2022-09-29 | 2022-12-06 | 杭州电子科技大学 | A crawler pipeline inspection 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140219 Termination date: 20160716 |