CN203740002U - Swing arm type tracked robot - Google Patents
Swing arm type tracked robot Download PDFInfo
- 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
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- China
- Prior art keywords
- wheel
- swing arm
- steamboat
- trailing wheel
- robot
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- Expired - Fee Related
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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
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).
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 |
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CN (1) | CN203740002U (en) |
Cited By (6)
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 |
CN108100060A (en) * | 2017-12-26 | 2018-06-01 | 中国科学院合肥物质科学研究院 | A kind of multi-mode wall-climbing device robot movement mechanism |
CN109703639A (en) * | 2018-12-03 | 2019-05-03 | 北京建筑大学 | A kind of robot with variable structure |
CN110328651A (en) * | 2019-07-29 | 2019-10-15 | 东北大学 | Towards old man can obstacle detouring accompany and attend to robot |
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 |
-
2013
- 2013-12-12 CN CN201320812373.XU patent/CN203740002U/en not_active Expired - Fee Related
Cited By (7)
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 |
CN108100060A (en) * | 2017-12-26 | 2018-06-01 | 中国科学院合肥物质科学研究院 | A kind of multi-mode wall-climbing device robot movement mechanism |
CN109703639A (en) * | 2018-12-03 | 2019-05-03 | 北京建筑大学 | A kind of robot with variable structure |
CN110328651A (en) * | 2019-07-29 | 2019-10-15 | 东北大学 | Towards old man can obstacle detouring accompany and attend to robot |
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 |
---|---|---|---|
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: 20140730 Termination date: 20141212 |
|
EXPY | Termination of patent right or utility model |