CN203806022U - Wheel-tracked combined robot adaptable to complicated unstructured environments such as nuclear power plant - Google Patents
Wheel-tracked combined robot adaptable to complicated unstructured environments such as nuclear power plant Download PDFInfo
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- CN203806022U CN203806022U CN201420081848.7U CN201420081848U CN203806022U CN 203806022 U CN203806022 U CN 203806022U CN 201420081848 U CN201420081848 U CN 201420081848U CN 203806022 U CN203806022 U CN 203806022U
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Abstract
The utility model relates to a wheel-tracked combined robot adaptable to complicated unstructured environments such as a nuclear power plant and belongs to the technical field of industrial mobile robots. The base structure of the robot comprises a triangular car body, two main tracks, two swing arms and a swing arm track, wherein the two main tracks are driven by two front wheel motors respectively and wind three wheels on two sides of the car body respectively to form a triangle; shafts of the swing arms serve as rear wheel shafts of the car body as well, and the two swing arm shafts are independently driven by two low-velocity high torque self-locking motors respectively; the swing arm track winds the rear wheels of the car body and swing arm wheels, and the rear wheels of the car body serve as driving wheels. The wheel-tracked combined robot adaptable to the complicated unstructured environments such as the nuclear power plant has the advantages that the control over the robot is simplified, the structure is simple and easy to implement, high capability of climbing, obstacle crossing and walking up and down stairs and high operational stability can be achieved, and the wheel-tracked combined robot is widely applicable to occasions such as complex terrain, space exploration and exploder clearing rescue.
Description
Technical field
The utility model relates to mobile robot field, especially can adapt to complicated non-structured crusing robot.
Background technology
Along with scientific and technical development, crusing robot is progressively being applied to the different field of life, as space exploration, handling explosive and rescue, accident detection etc.And caterpillar robot receives much concern because of its unique stability and obstacle climbing ability.At present typical crawler type crusing robot can be divided into fixed type caterpillar robot and changeable-shaped caterpillar robot.Fixed type caterpillar robot structure, control simply, but its obstacle climbing ability is poor.Changeable-shaped caterpillar robot can be divided into four crawler belt double-pendulum arms and six crawler belt four swing arm robots, and traditional four crawler belt double-pendulum arms robot obstacle detourings and alerting ability are general, are not suitable for the occasion high to obstacle climbing ability requirement.Six crawler belt four swing arm robot obstacle climbing abilities are strong, and maneuverability is high, but structure, control complicatedly, and efficiency conversion ratio is low.
Summary of the invention
The purpose of this utility model is to solve the problem that above-mentioned prior art exists, provide a kind of wheel that can adapt to the complicated destructuring environment such as nuclear station to carry out compound type robot, the car body of this crusing robot adopts triangular structure, simple in structure, improve the obstacle climbing ability of robot, reduced control difficulty.
The technical scheme that the utility model adopts is:
Its basic structure is comprised of a triangle car body, two main crawler belts, two swing arms and swing arm crawler belt; Described two main crawler belts are driven respectively by two front turbin generators, are wrapped in respectively on three wheels of car body both sides, triangular in shape; Described swing arm, its axle is car body hind axle simultaneously, two arm shafts are respectively by two low speed high torque motor individual drive; Described swing arm crawler belt is wrapped on car body trailing wheel and swing arm trailing wheel, and take car body trailing wheel as drive wheel.
Be specially:
The wheel that can adapt to the complicated destructuring environment such as nuclear station is carried out compound type robot, comprises two triangle car bodies, two main crawler belts, two swing arm crawler belts, two front turbin generators, two swing arm driving motors, two front-wheels, two swing arm wheels, two drive wheels, hull bottom plate, two swing arms and two swing arm trailing wheels; Two triangle car bodies are fastenedly connected by base plate; Two front-wheels, two drive wheels, two swing arms are taken turns, are laid respectively on three angles of two triangle vehicle body sides; Two drive wheels are driven by two front turbin generators respectively; Article two, it is upper that main crawler belt is wrapped in respectively front-wheel, drive wheel and swing arm wheel, forms main crawler attachment; Swing arm and swing arm wheel are used same axis, and swing arm and arm shaft are connected and fixed, and arm shaft is driven by swing arm motor; Article two, swing arm crawler belt is wrapped in respectively on swing arm wheel and swing arm trailing wheel and forms rear-swing arm crawler attachment, and swing arm is taken turns by main track propulsion, and swing arm crawler belt is by swing arm wheel drive; Main crawler attachment is taken turns and is connected by swing arm with rear-swing arm crawler attachment, forms complete crawler attachment.
During work, described main crawler belt and horizontal plane angle are acute angle.
The swing arm driving motor that described swing arm driving motor is low speed high torque self-locking.
Car body of the present utility model adopts triangular design, compare following advantage with traditional crusing robot: the triangle car body of robot can make robot direct clear an obstacle when running into the obstacle with certain altitude, simplified the control to robot, simple in structure being easy to realized.Article two, the rear-swing arm device of individual drive can move by auxiliary robot, improves stability.Described utility model has stronger climbing, obstacle detouring, stair activity ability and stability of motion.Can be widely used in the occasions such as complex-terrain, space exploration, handling explosive and rescue.This robot can be adapted to nuclear station or other equipment is various, complex structure and not structurized environment.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present utility model;
Fig. 2 is integral structure birds-eye view of the present utility model;
Fig. 3 is main crawler attachment schematic diagram of the present utility model;
Fig. 4 is rear-swing arm crawler attachment schematic diagram of the present utility model.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in detail.
Embodiment
Referring to Fig. 1,2,3,4, this wheel that can adapt to the complicated destructuring environment such as nuclear station is carried out compound type robot, the main crawler belt of two each and every one triangle car bodies 1, two 2, two swing arm crawler belts 3, two front turbin generators 4, two swing arm driving motors 5, two front-wheels 6, two 7, two drive wheels 8 of swing arm wheel, hull bottom plate 9, two swing arms 10 and two swing arm trailing wheels 11, consists of.Described two main crawler belts 2 are driven respectively by two front turbin generators 4, are wrapped in respectively on the front-wheel 6 that is positioned at three angles of car body, drive wheel 8 and the swing arm wheel 7 of triangle car body 1 both sides the main crawler attachment of composition triangular in shape; Described two swing arm crawler belts 3 are wrapped on swing arm wheel 7 and swing arm trailing wheel 11 and form rear-swing arm crawler attachment, respectively by swing arm driving motor 5 individual drive of two low speed high torque self-lockings; Described main crawler attachment is taken turns 7 with rear-swing arm crawler attachment by swing arm and is connected, and forms complete crawler attachment, then is fastenedly connected with hull bottom plate 9.
The swing arm driving motor that described swing arm driving motor is low speed high torque self-locking;
Described main crawler belt 2, swing arm crawler belt 3 adopt industrial double cog synchronous belt, and the light intensity of quality is high, compares metal construction crawler belt and rubber chain structure crawler belt, and alleviate robot weight and improve maneuvering performance, selection standard model Timing Belt, convenient replacement, reduces costs.
Described swing arm driving motor 5 adopts turbine and worm decelerator, meets the requirement of when self-locking of big retarding.
The wheel shoe compound type robot that the utility model can adapt to the complicated destructuring environment such as nuclear station has three kinds of patterns in the process of moving.
When good road conditions are travelled, rear-swing arm device rises, and has guaranteed less turn radius, and robot is driven by front turbin generator 4, and swing arm driving motor 5 is in closed condition.Front turbin generator 4 drives two front-wheels 6 to rotate, and front-wheel 6 drives two main crawler belt 2 operations simultaneously.In whole process, two swing arms 10 all do not have to rotate, and by main crawler belt 2, provide power for robot advances.
When running into the small-scale obstacle thing, rear-swing arm device rises, and robot is driven by front turbin generator 4, and swing arm driving motor 5 is in closed condition.Front turbin generator 4 drives two front-wheels 6 to rotate, and front-wheel 6 drives two main crawler belt 2 operations simultaneously.Due to triangle car body 1 structure design (see Fig. 3, main crawler belt and horizontal plane angle are acute angle) of robot, when contacting with obstacle, main crawler belt 2 can, for robot provides friction force upwards, can make robot clear an obstacle.In whole process, two swing arms 10 all do not have to rotate, and by main crawler belt 2, provide power for robot advances.
When running into large obstacle as stair, two swing arms 10 are put to level attitude, and while increasing robot climbing, with the area of contact of obstacle, the main crawler belt 2 of robot is by two swing arms wheels, 7 drive swing arm crawler belts 3, and main crawler belt 2 is synchronizeed with swing arm crawler belt 3 speed.Main crawler belt 2 front end triangular structures ride over stair edge, utilize crawler belt to carry out application force between rib and stair and make robot stairs, the area of contact that robot when climbing increases guarantees that its center of gravity horizontal projection always between crawler belt and stair contact point, has higher stability and speed limit.In whole process, two swing arms 10 need to be put to level attitude swing arm crawler belt 3 is contacted with stair, increase robot in the area of contact of stair, can make robot more stable in the process of moving.
Claims (3)
1. the wheel that can adapt to the complicated destructuring environment such as nuclear station is carried out compound type robot, it is characterized in that comprising two triangle car bodies, two main crawler belts, two swing arm crawler belts, two front turbin generators, two swing arm driving motors, two front-wheels, two swing arm wheels, two drive wheels, hull bottom plate, two swing arms and two swing arm trailing wheels; Two triangle car bodies are fastenedly connected by base plate; Two front-wheels, two drive wheels, two swing arms are taken turns, are laid respectively on three angles of two triangle vehicle body sides; Two drive wheels are driven by two front turbin generators respectively; Article two, it is upper that main crawler belt is wrapped in respectively front-wheel, drive wheel and swing arm wheel, forms main crawler attachment; Swing arm and swing arm wheel are used same axis, and swing arm and arm shaft are connected and fixed, and arm shaft is driven by swing arm motor; Article two, swing arm crawler belt is wrapped in respectively on swing arm wheel and swing arm trailing wheel and forms rear-swing arm crawler attachment, and swing arm is taken turns by main track propulsion, and swing arm crawler belt is by swing arm wheel drive; Main crawler attachment is taken turns and is connected by swing arm with rear-swing arm crawler attachment, forms complete crawler attachment.
2. as claimed in claim 1 wheel carried out compound type robot, it is characterized in that described main crawler belt and horizontal plane angle are acute angle.
3. as claimed in claim 1 wheel carried out compound type robot, it is characterized in that the swing arm driving motor that described swing arm driving motor is low speed high torque self-locking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420081848.7U CN203806022U (en) | 2014-02-26 | 2014-02-26 | Wheel-tracked combined robot adaptable to complicated unstructured environments such as nuclear power plant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420081848.7U CN203806022U (en) | 2014-02-26 | 2014-02-26 | Wheel-tracked combined robot adaptable to complicated unstructured environments such as nuclear power plant |
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| Publication Number | Publication Date |
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| CN203806022U true CN203806022U (en) | 2014-09-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420081848.7U Expired - Fee Related CN203806022U (en) | 2014-02-26 | 2014-02-26 | Wheel-tracked combined robot adaptable to complicated unstructured environments such as nuclear power plant |
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| Country | Link |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103863424A (en) * | 2014-02-26 | 2014-06-18 | 南昌大学 | Patrol robot capable of adapting to complicated unstructured terrains |
| CN104354774A (en) * | 2014-11-07 | 2015-02-18 | 哈尔滨工业大学 | Deformable crawler-type moving system |
| CN104875798A (en) * | 2015-05-04 | 2015-09-02 | 国家电网公司 | Wheel-tracked switchable mobile robot of transformer substation |
| CN104875802A (en) * | 2015-05-13 | 2015-09-02 | 西北工业大学 | Lightweight foldable tracked robot chassis |
| CN105035192A (en) * | 2015-07-27 | 2015-11-11 | 山东科技大学 | Traveling mechanism for wheel-track inspection robot and working method thereof |
| CN105605980A (en) * | 2016-01-14 | 2016-05-25 | 任曲波 | Energy-heat-hiding laser battle robot with investigation function |
-
2014
- 2014-02-26 CN CN201420081848.7U patent/CN203806022U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103863424A (en) * | 2014-02-26 | 2014-06-18 | 南昌大学 | Patrol robot capable of adapting to complicated unstructured terrains |
| CN104354774A (en) * | 2014-11-07 | 2015-02-18 | 哈尔滨工业大学 | Deformable crawler-type moving system |
| CN104354774B (en) * | 2014-11-07 | 2016-11-23 | 哈尔滨工业大学 | A kind of deformable crawler-type mobile system |
| CN104875798A (en) * | 2015-05-04 | 2015-09-02 | 国家电网公司 | Wheel-tracked switchable mobile robot of transformer substation |
| CN104875802A (en) * | 2015-05-13 | 2015-09-02 | 西北工业大学 | Lightweight foldable tracked robot chassis |
| CN105035192A (en) * | 2015-07-27 | 2015-11-11 | 山东科技大学 | Traveling mechanism for wheel-track inspection robot and working method thereof |
| CN105605980A (en) * | 2016-01-14 | 2016-05-25 | 任曲波 | Energy-heat-hiding laser battle robot with investigation function |
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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: 20140903 Termination date: 20150226 |
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| EXPY | Termination of patent right or utility model |