CN204488996U - Planetary differential obstacle crossing type caterpillar robot - Google Patents

Planetary differential obstacle crossing type caterpillar robot Download PDF

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Publication number
CN204488996U
CN204488996U CN201520132959.0U CN201520132959U CN204488996U CN 204488996 U CN204488996 U CN 204488996U CN 201520132959 U CN201520132959 U CN 201520132959U CN 204488996 U CN204488996 U CN 204488996U
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China
Prior art keywords
wheel
gear
steering wheel
arm
fixed
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Expired - Fee Related
Application number
CN201520132959.0U
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Chinese (zh)
Inventor
王黎喆
胡明
马善红
陈文华
张阳
田芳菲
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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Priority to CN201520132959.0U priority Critical patent/CN204488996U/en
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Publication of CN204488996U publication Critical patent/CN204488996U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses a kind of planetary differential obstacle crossing type caterpillar robot.Drive lacking, modularization are combined with caterpillar mobile robot, mobile robot can be made to obtain in fields such as space exploration, disaster search and rescue, warlike operations and apply more widely.The utility model comprises drive wheel assemblies, vehicle body component, robot assemblies and end effector component; Vehicle body component both sides are connected with four drive wheel assemblies, and the top of robot assemblies and vehicle body component is affixed, and robot assemblies drives end effector component.Drive lacking Technology application to caterpillar mobile robot, is strengthened the ability that it adapts to complex-terrain environment by the utility model; Drive wheel assemblies travels and obstacle detouring only needs a motor, and adopts the modular design closed, and is easy to sealing and changes.

Description

Planetary differential obstacle crossing type caterpillar robot
Technical field
The utility model belongs to robotics, relates to mobile robot, is specifically related to a kind of planetary differential obstacle crossing type caterpillar robot.
Background technology
Caterpillar type robot is at climbing, obstacle detouring and have preceence across in trench etc., is often applied to the fields such as military affairs, fire-fighting and nuke industry.Underactuated Mechanical Systems can improve mechanical system alerting ability, reduce costs and energy resource consumption etc., becomes the focus of robot field's research gradually.If drive lacking technology, modular technology are combined with caterpillar mobile robot, make it have self adaptation complicated ground environment, multi-locomotion mode, attitude of doing more physical exercises, control feature that is convenient and low energy consumption, mobile robot can be made to obtain in fields such as space exploration, disaster search and rescue, warlike operations and apply more widely.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, proposes a kind of planetary differential obstacle crossing type caterpillar robot, by drive lacking Technology application to caterpillar mobile robot, strengthens the ability that it adapts to complex-terrain environment; Drive wheel assemblies travels and obstacle detouring only needs a motor, and adopts the modular design closed, and is easy to sealing and changes.
The technical solution adopted in the utility model is as follows:
The utility model comprises drive wheel assemblies, vehicle body component, robot assemblies and end effector component; Described vehicle body component both sides are connected with four drive wheel assemblies, described robot assemblies and the top of vehicle body component affixed, robot assemblies drive end effector component.
Described drive wheel assemblies comprise drive motor, finishing bevel gear cuter to, bearing, main shaft, driving wheel, the first retarder, the second retarder, the first gear mesh, the second gear mesh, gear wheel shaft, the 3rd gear mesh, coder, motor housing, swing arm, flower wheel and crawler belt; The first described retarder comprises sun wheel, satellite gear, pinion carrier and gear ring.Described drive motor is installed in the motor support cover of motor housing; Main shaft is bearing in motor housing by bearing, and affixed with the output shaft of drive motor, by finishing bevel gear cuter to transmission power; Described sun wheel and main shaft affixed, pinion carrier is hinged on main shaft, and satellite gear is hinged in pinion carrier; Described driving wheel and pinion carrier affixed; Described gear ring and satellite gear form gear pair, and transmit power with the first gear mesh by the second retarder; The first described gear mesh and gear wheel shaft are by the second gear mesh transferring power; One end of swing arm is fixed on gear wheel shaft, and is connected by pipe link between two side arms; Flower wheel is hinged on the other end of swing arm; Described driving wheel is connected by crawler belt with flower wheel; Described gear wheel shaft gives the 3rd gear mesh transmission power, and coder detects the rotating speed of the 3rd gear mesh.
Described robot assemblies comprises mechanical arm steering wheel, support, thrust ball bearing, arm seat, shoulder joint steering wheel, large arm, shoulder joint steering wheel, middle arm, elbow joint steering wheel, forearm and wrist joint steering wheel.Described support is fixed in vehicle body component top, and mechanical arm steering wheel is fixed in support, its output shaft and arm seat affixed; Described arm seat is supported on support by thrust ball bearing, and arm seat has enough to meet the need pair with being configured to; Two shoulder joint steering wheels are all fixed in arm seat, and the output shaft of the both sides of large arm and two shoulder joint steering wheels is affixed; Described shoulder joint steering wheel is fixed in middle arm, the output shaft of shoulder joint steering wheel and the side of large arm affixed, opposite side and the middle arm of large arm are hinged; Described elbow joint steering wheel is fixed in middle arm; The side of forearm and the output shaft of elbow joint steering wheel affixed, opposite side and middle arm hinged; Described wrist joint steering wheel is fixed in forearm.
Described end effector component comprises actr steering wheel, pawl dish, first connecting rod, second connecting rod and paw.Described pawl dish is fixed in the output shaft of wrist joint steering wheel, and pawl dish and forearm form and have enough to meet the need pair; Described actr steering wheel is fixed in pawl dish, and the middle part of first connecting rod is fixed in the output shaft of actr steering wheel, and two ends are hinged with one end of a second connecting rod respectively; Two paw centerings are arranged, and middle part all forms moving sets with the slideway of pawl dish, and afterbody is hinged with the other end of a second connecting rod respectively.
Described vehicle body component comprises base plate, upper plate, left plate, right panel, rear plate and header board; The bottom of described left plate, right panel, front and rear panels is all fixed in base plate, and top is all affixed with upper plate; The support of described robot assemblies is fixed in the upper plate of vehicle body component, and the motor housing of four drive wheel assemblies is all fixed on base plate.
The beneficial effects of the utility model:
1, drive wheel assemblies of the present utility model adopts the transmission of planetary differential formula drive lacking, and traveling, obstacle detouring only need a propulsion source;
2, drive wheel assemblies of the present utility model adopts modular design, is easy to sealing and changes;
3, end effector component of the present utility model adopts slider-crank mechanism to realize Movement transmit, and actr steering wheel is near the paw of actuating station, and operational stability is good.
4, four drive wheel assemblies of the present utility model are individual drive module, and add the kinematic dexterity of track machines robot system, the no-radius that can be realized robot by the differential between drive wheel assemblies is turned to.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present utility model;
Fig. 2 is the transmission principle figure of drive wheel assemblies in the utility model;
Fig. 3 is the structural representation of drive wheel assemblies in the utility model;
Fig. 4 is each part schematic diagram of vehicle body component in the utility model;
Fig. 5 is the structural representation of robot assemblies in the utility model;
Fig. 6 is the kinematic pair schematic diagram in the utility model between each part of robot assemblies;
Fig. 7 is the structural representation of end effector component in the utility model;
Fig. 8 is motoring condition schematic diagram of the present utility model;
Fig. 9 is operating condition schematic diagram of the present utility model;
Figure 10 is obstacle detouring view of the present utility model;
Figure 11 is that obstacle detouring of the present utility model returns to form schematic diagram.
In figure: 1, drive wheel assemblies, 2, vehicle body component, 3, robot assemblies, 4, end effector component, 1-1, drive motor, 1-2, finishing bevel gear cuter pair, 1-3, bearing, 1-4, main shaft, 1-5, driving wheel, 1-6, first retarder, 1-7, second retarder, 1-8, first gear mesh, 1-9, second gear mesh, 1-10, gear wheel shaft, 1-11, 3rd gear mesh, 1-12, coder, 1-13, motor housing, 1-14, pipe link, 1-15, swing arm, 1-16, flower wheel, 1-17, sun wheel, 1-18, satellite gear, 1-19, pinion carrier, 1-20, gear ring, 1-21, crawler belt, 2-1, base plate, 2-2, upper plate, 2-3, left plate, 2-4, right panel, 2-5, rear plate, 2-6, header board, 3-1, mechanical arm steering wheel, 3-2, support, 3-3, thrust ball bearing, 3-4, arm seat, 3-5, shoulder joint steering wheel, 3-6, large arm, 3-7, shoulder joint steering wheel, 3-8, middle arm, 3-9, elbow joint steering wheel, 3-10, forearm, 3-11, wrist joint steering wheel, 4-1, actr steering wheel, 4-2, pawl dish, 4-3, first connecting rod, 4-4, second connecting rod, 4-5, paw.
Detailed description of the invention
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As shown in Figure 1, planetary differential obstacle crossing type caterpillar robot, comprises drive wheel assemblies 1, vehicle body component 2, robot assemblies 3 and end effector component 4; Vehicle body component 2 both sides are connected with four drive wheel assemblies 1, and robot assemblies 3 is affixed with the top of vehicle body component 2, and robot assemblies 3 drives end effector component 4.
As shown in Figures 2 and 3, drive wheel assemblies 1 comprises drive motor 1-1, finishing bevel gear cuter to 1-2, bearing 1-3, main shaft 1-4, driving wheel 1-5, the first retarder 1-6, the second retarder 1-7, the first gear mesh 1-8, the second gear mesh 1-9, gear wheel shaft 1-10, the 3rd gear mesh 1-11, coder 1-12, motor housing 1-13, swing arm 1-15, flower wheel 1-16 and crawler belt 1-21; First retarder 1-6 comprises sun wheel 1-17, satellite gear 1-18, pinion carrier 1-19 and gear ring 1-20.Drive motor 1-1 is installed in the motor support cover of motor housing 1-13; Main shaft 1-4 is bearing in motor housing 1-13 by bearing 1-3, and transmits power by finishing bevel gear cuter to 1-2 with the output shaft of drive motor 1-1; Sun wheel 1-17 and main shaft 1-4 is affixed, and pinion carrier 1-19 is hinged on main shaft 1-4, and satellite gear 1-18 is hinged on pinion carrier 1-19; Driving wheel 1-5 and pinion carrier 1-19 is affixed; Gear ring 1-20 and satellite gear 1-18 forms gear pair, and transmits power with the first gear mesh 1-8 by the second retarder 1-7; First gear mesh 1-8 and gear wheel shaft 1-10 is by the second gear mesh 1-9 transferring power; One end of swing arm 1-15 is fixed on gear wheel shaft 1-10, and is connected by pipe link 1-14 between two side arms; Flower wheel 1-16 is hinged on the other end of swing arm 1-15; Driving wheel 1-5 is connected by crawler belt 1-21 with flower wheel 1-16; Gear wheel shaft 1-10 transmits power to the 3rd gear mesh 1-11, and coder 1-12 detects the rotating speed of the 3rd gear mesh 1-11, thus the rotating speed of prototype gear axle 1-10 and swing arm 1-15.
As shown in Figure 4, vehicle body component 2 comprises base plate 2-1, upper plate 2-2, left plate 2-3, right panel 2-4, rear plate 2-5 and header board 2-6; The bottom of left plate 2-3, right panel 2-4, header board 2-6 and rear plate 2-5 is all fixed in base plate 2-1, and top is all affixed with upper plate 2-2; The motor housing 1-13 of four drive wheel assemblies 1 is all fixed on base plate 2-1.
As shown in Figure 5 and Figure 6, robot assemblies 3 comprises mechanical arm steering wheel 3-1, support 3-2, thrust ball bearing 3-3, arm seat 3-4, shoulder joint steering wheel 3-5, large arm 3-6, shoulder joint steering wheel 3-7, middle arm 3-8, elbow joint steering wheel 3-9, forearm 3-10 and wrist joint steering wheel 3-11.Support 3-2 is fixed in the upper plate 2-2 of vehicle body component 2, and mechanical arm steering wheel 3-1 is fixed in support 3-2, its output shaft and arm seat 3-4 affixed; Arm seat 3-4 is supported on support 3-2 by thrust ball bearing 3-3, and arm seat 3-4 and support 3-2 forms and has enough to meet the need pair; Two shoulder joint steering wheel 3-5 are all fixed in arm seat 3-4, and the output shaft of the both sides of large arm 3-6 and two shoulder joint steering wheel 3-5 is affixed; Shoulder joint steering wheel 3-7 is fixed in middle arm 3-8, the output shaft of shoulder joint steering wheel 3-7 and the side of large arm 3-6 affixed, opposite side and the middle arm 3-8 of large arm 3-6 are hinged; Elbow joint steering wheel 3-9 is fixed in middle arm 3-8; The side of forearm 3-10 and the output shaft of elbow joint steering wheel 3-9 affixed, opposite side and middle arm 3-8 hinged; Wrist joint steering wheel 3-11 is fixed in forearm 3-10.
As shown in Figure 6 and Figure 7, end effector component 4 comprises actr steering wheel 4-1, pawl dish 4-2, first connecting rod 4-3, second connecting rod 4-4 and paw 4-5.Pawl dish 4-2 is fixed in the output shaft of wrist joint steering wheel 3-11, and pawl dish 4-2 and forearm 3-10 forms and has enough to meet the need pair; Actr steering wheel 4-1 is fixed in pawl dish 4-2, and the middle part of first connecting rod 4-3 is fixed in the output shaft of actr steering wheel 4-1, and two ends are hinged with one end of a second connecting rod 4-4 respectively; Two paw 4-5 centerings are arranged, and middle part all forms sliding pair with the slideway of pawl dish 4-2, and afterbody is hinged with the other end of a second connecting rod 4-4 respectively; The rotation of actr steering wheel 4-1 realizes the movement of two paw 4-5 thus centering folding.
The principle of work of this planetary differential obstacle crossing type caterpillar robot is:
As shown in Figure 1, this planetary differential obstacle crossing type caterpillar robot has two kinds of mode of operations: Move Mode and work pattern.
As shown in Fig. 7,8 and Fig. 9, when subdued topography, power is all passed to pinion carrier 1-19 by finishing bevel gear cuter to 1-2, main shaft 1-4, sun wheel 1-17, satellite gear 1-18 by the drive motor 1-1 of four drive wheel assemblies 1, pinion carrier 1-19 drives the driving wheel 1-5 affixed with it to rotate, driving wheel 1-5 and then driving crawler belt 1-21 rotate, robot normally travels, and utilizes the differential between four drive wheel assemblies 1 to realize turning to; Robot assemblies 3 drives end effector component 4 to perform crawl task;
As shown in Figure 10 and Figure 11, when running into obstacle, the crawler belt 1-21 rotating speed of drive wheel assemblies 1 slows down, make the power of drive motor 1-1 only a part pass to pinion carrier 1-19, pinion carrier 1-19 drives the driving wheel 1-5 affixed with it to rotate, and driving wheel 1-5 drives crawler belt 1-21 to rotate; Another part power passes to the second retarder 1-7 by gear ring 1-20, and pass to gear wheel shaft 1-10 through the first gear mesh 1-8, the second gear mesh 1-9, gear wheel shaft 1-10 drives the swing arm 1-15 affixed with it to swing, and another part passes to swing arm 1-15, and robot realizes obstacle detouring.After clear an obstacle, robot system resets to motoring condition and continues mobile.

Claims (2)

1. planetary differential obstacle crossing type caterpillar robot, comprise drive wheel assemblies, vehicle body component, robot assemblies and end effector component, it is characterized in that: described vehicle body component both sides are connected with four drive wheel assemblies, described robot assemblies and the top of vehicle body component affixed, robot assemblies drive end effector component;
Described drive wheel assemblies comprise drive motor, finishing bevel gear cuter to, bearing, main shaft, driving wheel, the first retarder, the second retarder, the first gear mesh, the second gear mesh, gear wheel shaft, the 3rd gear mesh, coder, motor housing, swing arm, flower wheel and crawler belt; The first described retarder comprises sun wheel, satellite gear, pinion carrier and gear ring; Described drive motor is installed in the motor support cover of motor housing; Main shaft is bearing in motor housing by bearing, and affixed with the output shaft of drive motor, by finishing bevel gear cuter to transmission power; Described sun wheel and main shaft affixed, pinion carrier is hinged on main shaft, and satellite gear is hinged in pinion carrier; Described driving wheel and pinion carrier affixed; Described gear ring and satellite gear form gear pair, and transmit power with the first gear mesh by the second retarder; The first described gear mesh and gear wheel shaft are by the second gear mesh transferring power; One end of swing arm is fixed on gear wheel shaft, and is connected by pipe link between two side arms; Flower wheel is hinged on the other end of swing arm; Described driving wheel is connected by crawler belt with flower wheel; Described gear wheel shaft gives the 3rd gear mesh transmission power, and coder detects the rotating speed of the 3rd gear mesh;
Described robot assemblies comprises mechanical arm steering wheel, support, thrust ball bearing, arm seat, shoulder joint steering wheel, large arm, shoulder joint steering wheel, middle arm, elbow joint steering wheel, forearm and wrist joint steering wheel; Described support is fixed in vehicle body component top, and mechanical arm steering wheel is fixed in support, its output shaft and arm seat affixed; Described arm seat is supported on support by thrust ball bearing, and arm seat has enough to meet the need pair with being configured to; Two shoulder joint steering wheels are all fixed in arm seat, and the output shaft of the both sides of large arm and two shoulder joint steering wheels is affixed; Described shoulder joint steering wheel is fixed in middle arm, the output shaft of shoulder joint steering wheel and the side of large arm affixed, opposite side and the middle arm of large arm are hinged; Described elbow joint steering wheel is fixed in middle arm; The side of forearm and the output shaft of elbow joint steering wheel affixed, opposite side and middle arm hinged; Described wrist joint steering wheel is fixed in forearm;
Described end effector component comprises actr steering wheel, pawl dish, first connecting rod, second connecting rod and paw; Described pawl dish is fixed in the output shaft of wrist joint steering wheel, and pawl dish and forearm form and have enough to meet the need pair; Described actr steering wheel is fixed in pawl dish, and the middle part of first connecting rod is fixed in the output shaft of actr steering wheel, and two ends are hinged with one end of a second connecting rod respectively; Two paw centerings are arranged, and middle part all forms moving sets with the slideway of pawl dish, and afterbody is hinged with the other end of a second connecting rod respectively.
2. planetary differential obstacle crossing type caterpillar robot according to claim 1, is characterized in that: described vehicle body component comprises base plate, upper plate, left plate, right panel, rear plate and header board; The bottom of described left plate, right panel, front and rear panels is all fixed in base plate, and top is all affixed with upper plate; The support of described robot assemblies is fixed in the upper plate of vehicle body component, and the motor housing of four drive wheel assemblies is all fixed on base plate.
CN201520132959.0U 2015-03-09 2015-03-09 Planetary differential obstacle crossing type caterpillar robot Expired - Fee Related CN204488996U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520132959.0U CN204488996U (en) 2015-03-09 2015-03-09 Planetary differential obstacle crossing type caterpillar robot

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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106942188A (en) * 2017-03-01 2017-07-14 安徽农业大学 A kind of caterpillar band self-propelled Intelligent hot mist machine
CN109760084A (en) * 2019-02-01 2019-05-17 哈尔滨工业大学(深圳) A kind of modularization trapping manipulator becoming born of the same parents based on kinematic pair
CN112550499A (en) * 2020-12-02 2021-03-26 西安理工大学 Four-foot type complex pavement adaptive robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106942188A (en) * 2017-03-01 2017-07-14 安徽农业大学 A kind of caterpillar band self-propelled Intelligent hot mist machine
CN109760084A (en) * 2019-02-01 2019-05-17 哈尔滨工业大学(深圳) A kind of modularization trapping manipulator becoming born of the same parents based on kinematic pair
CN112550499A (en) * 2020-12-02 2021-03-26 西安理工大学 Four-foot type complex pavement adaptive robot
CN112550499B (en) * 2020-12-02 2021-11-16 西安理工大学 Four-foot type complex pavement adaptive robot

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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: 20150722

Termination date: 20170309