CN203740002U - Swing arm type tracked robot - Google Patents

Swing arm type tracked robot Download PDF

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Publication number
CN203740002U
CN203740002U CN201320812373.XU CN201320812373U CN203740002U CN 203740002 U CN203740002 U CN 203740002U CN 201320812373 U CN201320812373 U CN 201320812373U CN 203740002 U CN203740002 U CN 203740002U
Authority
CN
China
Prior art keywords
wheel
swing arm
steamboat
robot
trailing wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201320812373.XU
Other languages
Chinese (zh)
Inventor
金维
秦建军
刘承荣
柳珊
武伯有
袁齐
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing University of Civil Engineering and Architecture
Original Assignee
Beijing University of Civil Engineering and Architecture
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing University of Civil Engineering and Architecture filed Critical Beijing University of Civil Engineering and Architecture
Priority to CN201320812373.XU priority Critical patent/CN203740002U/en
Application granted granted Critical
Publication of CN203740002U publication Critical patent/CN203740002U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a swing arm type tracked robot. In order to realize that the robot can walks forwards normally in a complex pavement environment, swing arms with small wheels are additionally mounted, and the purpose of assisting the robot body to pass through complex pavements under the driving of independent motors is realized; as mentioned above, the robot can walk forwards in different modes, and has various movement solutions for passing through paths with different barriers.

Description

Swing arm type caterpillar robot
Technical field
The utility model relates to a kind of crawler belt of realizing and advances and the wheeled robot of advancing and mutually switching.
Background technology
Along with scientific and technological development, and the world is to more the taking good care of yourself of human resources, and the development of robot is unquestionable.But, common robot there is no too strong adaptive capacity aspect the combination that adapts to complex environment and advance at a high speed in smooth-riding surface, conversion, substantially all adopt the wheeled or single mode of advancing of crawler-mounted, and the robot of bionic type is also at development phase, and, its complex structure, volume is large, very flexible, is unsuitable for adapting to the robot of multiple environment.
Utility model content
Based on the above, it is a kind of that the purpose of this utility model is to provide, can overcome Various Complex road surface, the flexible robot with the swing arm of steamboat that installs additional that is applicable to the multiple common scene that even happens suddenly, by the swing of robot swinging arm, realize and carry out advancing of effective obstacle detouring in comparatively smooth common ground or complex-terrain, multiple thereby realization is adapted to, is applicable to by a robot, the scrnario operation of conversion.
The utility model solves the technical scheme that its technical matters adopts:
Install the caterpillar type robot assembly with the swing arm of steamboat additional, comprise body, crawler belt, front-wheel, trailing wheel, swing arm, steamboat, described fuselage interior is useful on the front turbin generator that drives front-wheel, drive the rear-wheel motor of trailing wheel, with the swing arm motor that drives swing arm, the dead front end both sides that are arranged in body of described front-wheel and axle sleeve, the dead both sides, rear end that are arranged in body of trailing wheel and axle sleeve, described crawler belt overlays on both sides front-wheel and trailing wheel, swing arm tail end respectively with the dead outside that is arranged in front-wheel and trailing wheel of axle, described each swing arm head end and little turbin generator are connected, steamboat is dead on the output shaft of little turbin generator, described little turbin generator is used for driving steamboat, drive front-wheel to realize the rotation of front-wheel by front turbin generator, rear-wheel motor drives trailing wheel to realize the rotation of trailing wheel, drive swing arm to realize the circle swing of swing arm by swing arm motor, drive steamboat to realize the rotation of steamboat by steamboat motor, make to overlay on the caterpillar drive on front-wheel and trailing wheel by the rotation of front-wheel and trailing wheel.
Compared with prior art, the utility model has the advantage of:
The utility model is driven and has been ensured the motion that overlays on the crawler belt on fuselage two side wheels by four-wheel four axles, thereby further ensure the ability of advancing of fuselage main body, utilize and can realize circle swing to the driving of four swing arms, and the steamboat that in addition can turn round by individual motor, improve the obstacle climbing ability of body, ensured the body ability of advancing in all cases.
Brief description of the drawings:
Fig. 1 is the master drawing of overlooking of the present utility model;
Fig. 2 is driving of the present utility model, drive mechanism;
Fig. 3 is overall transmission layout of the present utility model;
Fig. 4 is to be normal condition figure of the present utility model;
Fig. 5 to Figure 11 is the substep constitution diagram of the utility model in the time topping bar.
Label in accompanying drawing 1~accompanying drawing 5: 1 fuselage, 2 crawler belts, 3 front-wheels, 4 trailing wheels, 5 swing arms, 6 steamboats, 7 front turbin generators, 8 swing arm motors, 9 little turbin generators, 10 rear-wheel motors, 11 axle sleeves, 12 axles.
Detailed description of the invention:
Referring to Fig. 1~Fig. 5, swing arm type caterpillar robot, drive front-wheel 3 to realize the rotation of front-wheel 3 by front turbin generator 7, rear-wheel motor 10 drives trailing wheel 4 to realize the rotation of trailing wheel 4, drive swing arm 5 to realize the circle swing of swing arm 5 by swing arm motor 8, drive steamboat 6 to realize the rotation of steamboat 6 by steamboat motor 9, by the rotation of front-wheel 3 and trailing wheel 4, the crawler belt 2 overlaying on front-wheel 3 and trailing wheel 4 is moved, and then realize substantially moving of body 1, by realizing circle swing to the driving of four swing arms 5, and in addition by the steamboat 6 that independently steamboat motor 9 can turn round, improve the obstacle climbing ability of body 1, in the time running into step obstacle, there is following two schemes:
As Fig. 6, Figure 10, shown in Figure 11, can drive swing arm 5 that body 1 is propped by swing arm motor 8;
As Fig. 7, Fig. 8, Fig. 9 also can make swing arm 5 ride on obstacle, drives swing arm 5 to lift body 1, then by driving front-wheel 3, trailing wheel 4 rolls the crawler belt 2 overlaying on body 1 both sides front-wheel 3 and trailing wheel 4, to pass through obstacle.
On level land or Shashi on the ground, the swing arm 5 of four of front and back is lifted, and only drives crawler belt 2 to advance by front-wheel 3 and trailing wheel 4, described steamboat 6 plays guarantee obstacle detouring by the driving of steamboat motor 9 in robot traveling process, assists the effect of action.

Claims (3)

1. swing arm type caterpillar robot assembly, comprise body (1), crawler belt (2), front-wheel (3), trailing wheel (4), swing arm (5), steamboat (6), fuselage (1) inside is useful on the front turbin generator (7) that drives front-wheel (3), drive the rear-wheel motor (10) of trailing wheel (4), with the swing arm motor (8) that drives swing arm (5), described front-wheel (3) and the dead front end both sides that are arranged in body (1) of axle sleeve (11), trailing wheel (4) and the dead both sides, rear end that are arranged in body (1) of axle sleeve (11), described crawler belt (2) overlays on both sides front-wheel (3) and trailing wheel (4), swing arm (5) tail end respectively with the dead outside that is arranged in front-wheel (3) and trailing wheel (4) of axle 2 (12), described each swing arm (5) head end and little turbin generator (9) are connected, steamboat (6) is dead on the output shaft of little turbin generator (9), described little turbin generator (9) is for driving steamboat (6).
2. swing arm type caterpillar robot assembly according to claim 1, drive front-wheel (3) to realize the rotation of front-wheel (3) by front turbin generator (7), rear-wheel motor (10) drives trailing wheel (4) to realize the rotation of trailing wheel (4), drive swing arm (5) to realize the circle swing of swing arm (5) by swing arm motor (8), drive steamboat (6) to realize the rotation of steamboat (6) by little turbin generator (9).
3. swing arm type caterpillar robot assembly according to claim 2, makes to overlay on crawler belt (2) motion on front-wheel (3) and trailing wheel (4) by the rotation of front-wheel (3) and trailing wheel (4).
CN201320812373.XU 2013-12-12 2013-12-12 Swing arm type tracked robot Expired - Fee Related CN203740002U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320812373.XU CN203740002U (en) 2013-12-12 2013-12-12 Swing arm type tracked robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320812373.XU CN203740002U (en) 2013-12-12 2013-12-12 Swing arm type tracked robot

Publications (1)

Publication Number Publication Date
CN203740002U true CN203740002U (en) 2014-07-30

Family

ID=51339839

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201320812373.XU Expired - Fee Related CN203740002U (en) 2013-12-12 2013-12-12 Swing arm type tracked robot

Country Status (1)

Country Link
CN (1) CN203740002U (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104443085A (en) * 2014-11-18 2015-03-25 上海大学 Crawler type six-freedom-degree mobile robot
CN104875811A (en) * 2015-06-12 2015-09-02 洛阳理工学院 Wheel leg assisted composite obstacle crossing device
CN109703639A (en) * 2018-12-03 2019-05-03 北京建筑大学 A kind of robot with variable structure
CN111055673A (en) * 2019-12-30 2020-04-24 北京晶品特装科技有限责任公司 Lightweight driving device for robot platform

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104443085A (en) * 2014-11-18 2015-03-25 上海大学 Crawler type six-freedom-degree mobile robot
CN104875811A (en) * 2015-06-12 2015-09-02 洛阳理工学院 Wheel leg assisted composite obstacle crossing device
CN104875811B (en) * 2015-06-12 2018-03-23 洛阳理工学院 A kind of compound obstacle crossing device of wheel leg assist type
CN109703639A (en) * 2018-12-03 2019-05-03 北京建筑大学 A kind of robot with variable structure
CN111055673A (en) * 2019-12-30 2020-04-24 北京晶品特装科技有限责任公司 Lightweight driving device for robot platform

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Legal Events

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

Granted publication date: 20140730

Termination date: 20141212

EXPY Termination of patent right or utility model