CN204641922U - A kind of overturn arm mechanism being applicable to wheel-track combined chassis - Google Patents
A kind of overturn arm mechanism being applicable to wheel-track combined chassis Download PDFInfo
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- CN204641922U CN204641922U CN201520182599.5U CN201520182599U CN204641922U CN 204641922 U CN204641922 U CN 204641922U CN 201520182599 U CN201520182599 U CN 201520182599U CN 204641922 U CN204641922 U CN 204641922U
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- arm
- flip
- assembly
- wheel
- drive shaft
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Abstract
The utility model is a kind of overturn arm mechanism being applicable to wheel-track combined chassis, comprise hold, assembly advanced by side plate, 2 travel drive motor, 2 flip-arm synchronized links assemblies, 2 flip-arm drive motor assemblies, 4 invert arm assemblies; Described 2 flip-arm drive motor assemblies are separately fixed on hold, described flip-arm drive motor assembly is connected one to one with flip-arm synchronized links assembly, described every 1 flip-arm synchronized links assembly is connected with 2 invert arm assemblies, described invert arm assembly and described side plate are advanced the vehicle wheel component company of being nested one to one of assembly, and wherein said invert arm assembly is socketed on described wheel drive shaft; Described flip-arm drive motor assembly is rotated by invert arm assembly described in described flip-arm synchronized links Component driver or is swung on described vehicle wheel component.The utility model volume is little, be easy to control, diverse in function, can be widely used in the driving system of ground mobile robot, tracklaying vehicle, wheel-track combined robot etc.
Description
Technical field
The utility model relates to a kind of flip-arm of robot, particularly discloses a kind of overturn arm mechanism being applicable to wheel-track combined chassis.
Background technology
Along with the development of science and technology, Robotics have also been obtained significant progress, and robot application field is also more and more wider, and wherein the advance system of robot just belongs to an important ring of robot field.The walking mechanism of current existence can be divided into: wheeled, crawler type, leg formula and combined type.And wherein wheeled construction has higher moving velocity and structure is simple, but poor to landform adaptive capacity, obstacle climbing ability is low; Leg formula structure by leg pose adjustment, can adapt to multiple landform, but it needs a large amount of actuators, braking and steering hardware, makes system architecture complicated, stablizes gait planning and stable equilibrium's control is difficult to realization; Track structure has higher stability and obstacle climbing ability, but conduct oneself with dignity too high, energy consumption is large.
At present, developed more mobile robot both at home and abroad, the travel configuration of these robots respectively has feature.The disclosed a kind of satellite gear crawler belt combined type traveling gear of such as patent " CN203864836U ", its principal feature possesses good environment self-adaption and high obstacle climbing ability, although have higher moving velocity, but complex structure, shared volume are comparatively large, have certain limitation.For another example the disclosed a kind of wheel of patent " CN203806022U " carries out compound type robot, the principal feature of its advance system has very strong climbing, obstacle detouring, stair activity ability and stability of motion, although its structure is simply easy to realize, basic machine does not realize the motion structure of real wheel and crawler belt combined type.
Summary of the invention
The purpose of this utility model is to overcome the defect existed in prior art, provide a kind of under various environmental grounds condition, can adaptive environment change and the flip-arm being applicable to wheel-track combined chassis possessing strong cross country power and run at high speed.
The utility model is achieved in that a kind of overturn arm mechanism being applicable to wheel-track combined chassis, comprise hold 1, assembly 2,2 traveling drive motor 6 advanced by side plate, described side plate is advanced, and assembly 2 comprises side adapter plate 21,4 vehicle wheel components be fixed on described side adapter plate 21, described vehicle wheel component comprises wheel drive shaft 24, wheel 28, and described traveling drive motor 6 is connected with the wheel drive shaft 24 of 2 vehicle wheel components in described 4 vehicle wheel components; It is characterized in that: also comprise 2 flip-arm synchronized links assemblies, 3,2 flip-arm drive motor assemblies, 4,4 invert arm assemblies 5; Described 2 flip-arm drive motor assemblies 4 are separately fixed on described hold 1, described flip-arm drive motor assembly 4 is connected one to one with described flip-arm synchronized links assembly 3, described every 1 flip-arm synchronized links assembly 3 is connected with 2 described invert arm assemblies 5, described invert arm assembly 5 and described side plate are advanced the vehicle wheel component company of being nested one to one of assembly 2, and wherein said invert arm assembly 5 is socketed on described wheel drive shaft 24; Described flip-arm drive motor assembly 4 drives described invert arm assembly 5 rotate on described vehicle wheel component or swing by described flip-arm synchronized links assembly 3.
Described invert arm assembly 5 comprises flip-arm 54, track support plate 55, flip-arm servo axis 52, flip-arm idle pulley 51, flip-arm crawler belt 53, first flange 59, flip-arm drive wheel 56, double end link flange 57, flip-arm axle drive shaft 58, described track support plate 55 is fixed on described flip-arm 54, one end of described flip-arm 54 is coupling end 541, the other end of flip-arm 54 is free end 542, described flip-arm servo axis 52 is fixed on the free end 542 of described flip-arm 54, the two ends of described flip-arm servo axis 52 are respectively equipped with flip-arm idle pulley 51, described flip-arm crawler belt 53 is set in described flip-arm 54 with outside track support plate 55, it is outer and be fixed on the coupling end 541 of described flip-arm 54 by described first flange 59 that described flip-arm axle drive shaft 58 is enclosed within described wheel drive shaft 24, described flip-arm drive wheel 56 is fixed on one end of described wheel drive shaft 24, described wheel 28 is fixed on described flip-arm drive wheel 56 by described double end link flange 57,
Described flip-arm synchronized links assembly 3 comprises transmission shaft 31, clutch shaft bearing seat 32, and the two ends of described transmission shaft 31 are respectively equipped with the first spur gear pair 34, and described transmission shaft 31 is provided with the first bevel-gear pair 33; The two ends of described transmission shaft 31 are connected with described flip-arm axle drive shaft 58 respectively by described first spur gear pair 34; The both sides of described transmission shaft 31 are fixed on described hold 1 respectively by described clutch shaft bearing seat 32; Described flip-arm synchronized links assembly 3 is connected with described flip-arm drive motor assembly 4 by described first bevel-gear pair 33.
Described side plate assembly 2 of advancing also comprises the second bearing seat 22, main track sprocket 23, main crawler belt 25, described wheel drive shaft 24 is fixed on described side adapter plate 21 by described second bearing seat 22, described main track sprocket 23 is connected with described wheel drive shaft 24, and described main crawler belt 25 is meshed with described main track sprocket 23.
It is outer and be connected with spacer by bearing, outside framework oil seal that described flip-arm axle drive shaft 58 is enclosed within described wheel drive shaft 24.
The beneficial effects of the utility model are: described flip-arm drive motor assembly 4 drives described invert arm assembly 5 rotate on described vehicle wheel component or swing by described flip-arm synchronized links assembly 3, and controlled the motion of the main track sprocket 23 on described wheel drive shaft 24 by described traveling drive motor 6, thus by described main track sprocket 23 with engage the run-in synchronism realizing front and back wheel between main crawler belt 25.The utility model have volume little, be easy to the features such as control, diverse in function, the driving system of ground mobile robot, tracklaying vehicle, wheel-track combined robot etc. can be widely used in.
Accompanying drawing explanation
Fig. 1 is the utility model plan structure schematic diagram.
Fig. 2 is the utility model invert arm assembly 5, flip-arm synchronized links assembly 3, side plate are advanced assembly 2, flip-arm drive motor assembly 4, travel anatomical connectivity relation schematic diagram between drive motor 6.
Fig. 3 is the annexation schematic diagram of the utility model invert arm assembly 5 and wheel 28.
Fig. 4 is the structural blast figure of the utility model tumbler assembly 5 and wheel 28.
Fig. 5 is the structural representation of the utility model flip-arm synchronized links assembly 3.
Fig. 6 is that the utility model side plate is advanced the structural blast figure of assembly 2.
Wherein: 1, hold; 2, side plate is advanced assembly; 21, side adapter plate; 22, the second bearing seat; 23, main track sprocket; 24, wheel drive shaft; 25, main crawler belt; 28, wheel;
3, flip-arm synchronized links assembly; 31, transmission shaft; 32, clutch shaft bearing seat; 33, the first bevel-gear pair; 34, the first spur gear pair;
4, flip-arm drive motor assembly;
5, invert arm assembly; 51, flip-arm idle pulley; 52, flip-arm servo axis; 53, flip-arm crawler belt; 54, flip-arm; 55, track support plate; 56, flip-arm drive wheel; 57, double end link flange; 58, flip-arm axle drive shaft; 59, the first flange; 541, coupling end; 542, free end;
6, drive motor is travelled; 61, the second bevel-gear pair.
Detailed description of the invention
According to Fig. 1 ~ Fig. 6, the utility model comprises hold 1, side plate is advanced, and assembly 2,2 travels drive motor 6,2 flip-arm synchronized links assemblies 3,2 flip-arm drive motor assemblies 4,4 invert arm assemblies 5.
Described side plate is advanced, and assembly 2 comprises side adapter plate 21,4 vehicle wheel components be fixed on described side adapter plate 21, described vehicle wheel component comprises wheel drive shaft 24, wheel 28, and described traveling drive motor 6 is connected by the second bevel-gear pair 61 with the wheel drive shaft 24 of 2 vehicle wheel components in described 4 vehicle wheel components.Described side plate assembly 2 of advancing also comprises the second bearing seat 22, main track sprocket 23, main crawler belt 25.Described wheel drive shaft 24 is fixed on described side adapter plate 21 by described second bearing seat 22, and described main track sprocket 23 is connected with described wheel drive shaft 24, and described main crawler belt 25 is meshed with described main track sprocket 23.Wherein, described main crawler belt 25 has two, and the main crawler belt of every bar 25 is meshed with former and later two main track sprockets 23 of side, side adapter plate 21, to realize the run-in synchronism of front and back wheel assembly respectively.
Described 2 flip-arm drive motor assemblies 4 are separately fixed on described hold 1, described flip-arm drive motor assembly 4 is connected one to one with described flip-arm synchronized links assembly 3, and namely a flip-arm drive motor assembly 4 is connected with a flip-arm synchronized links assembly 3.Described every 1 flip-arm synchronized links assembly 3 is connected with 2 described invert arm assemblies 5, and 2 described invert arm assemblies 5 are connected in the both sides of 1 flip-arm synchronized links assembly 3.Described invert arm assembly 5 and described side plate are advanced the vehicle wheel component company of being nested one to one of assembly 2, and wherein said invert arm assembly 5 is socketed on described wheel drive shaft 24; Described flip-arm drive motor assembly 4 drives described invert arm assembly 5 independent rotation or swing on described vehicle wheel component by described flip-arm synchronized links assembly 3.
Described invert arm assembly 5 comprises flip-arm 54, track support plate 55, flip-arm servo axis 52, flip-arm idle pulley 51, flip-arm crawler belt 53, first flange 59, flip-arm drive wheel 56, double end link flange 57, flip-arm axle drive shaft 58, described track support plate 55 is fixed on described flip-arm 54, one end of described flip-arm 54 is coupling end 541, the other end of flip-arm 54 is free end 542, described flip-arm servo axis 52 is fixed on the free end 542 of described flip-arm 54, the two ends of described flip-arm servo axis 52 are respectively equipped with flip-arm idle pulley 51, described flip-arm crawler belt 53 is set in described flip-arm 54 with outside track support plate 55, it is outer and be fixed on the coupling end 541 of described flip-arm 54 by described first flange 59 that described flip-arm axle drive shaft 58 is enclosed within described wheel drive shaft 24, described flip-arm drive wheel 56 is fixed on one end of described wheel drive shaft 24, described wheel 28 is fixed on described flip-arm drive wheel 56 by described double end link flange 57.Described flip-arm axle drive shaft 58 and the separate motion of described wheel drive shaft 24, realize wheel 28 to rotate to swing with flip-arm 54 and independently open, and under the state of main crawler belt 25 and wheel 28 high speed rotating, flip-arm 54 also can independence and freedom swing.
It is outer and be connected with spacer by bearing, outside framework oil seal that described flip-arm axle drive shaft 58 is enclosed within described wheel drive shaft 24, plays the effect of waterproof dust-separation.
Described flip-arm synchronized links assembly 3 comprises transmission shaft 31, clutch shaft bearing seat 32, and the two ends of described transmission shaft 31 are respectively equipped with the first spur gear pair 34, and described transmission shaft 31 is provided with the first bevel-gear pair 33; The two ends of described transmission shaft 31 are connected with described flip-arm axle drive shaft 58 respectively by described first spur gear pair 34; The both sides of described transmission shaft 31 are fixed on described hold 1 respectively by described clutch shaft bearing seat 32; Described flip-arm synchronized links assembly 3 is connected with described flip-arm drive motor assembly 4 by described first bevel-gear pair 33.When described flip-arm drive motor assembly 4 drives described transmission shaft 31 by described first bevel-gear pair 33, described transmission shaft 31 drives 2 flip-arm axle drive shafts 58 at transmission shaft 31 two ends to link by described first spur gear pair 34, thus drive the flip-arm 54 on described 2 flip-arm axle drive shafts 58 to link further, realize described flip-arm 54 in the outer independent swing of described wheel drive shaft 24.
Claims (4)
1. one kind is applicable to the overturn arm mechanism on wheel-track combined chassis, comprise hold (1), assembly (2) advanced by side plate, 2 travel drive motor (6), described side plate is advanced, and assembly (2) comprises side adapter plate (21), 4 vehicle wheel components be fixed on described side adapter plate (21), described vehicle wheel component comprises wheel drive shaft (24), wheel (28), and described traveling drive motor (6) is connected with the wheel drive shaft (24) of 2 vehicle wheel components in described 4 vehicle wheel components; It is characterized in that: also comprise 2 flip-arm synchronized links assemblies (3), 2 flip-arm drive motor assemblies (4), 4 invert arm assemblies (5); Described 2 flip-arm drive motor assemblies (4) are separately fixed on described hold (1), described flip-arm drive motor assembly (4) is connected one to one with described flip-arm synchronized links assembly (3), described every 1 flip-arm synchronized links assembly (3) is connected with 2 described invert arm assemblies (5), described invert arm assembly (5) and described side plate are advanced the vehicle wheel component company of being nested one to one of assembly (2), and wherein said invert arm assembly (5) is socketed on described wheel drive shaft (24); Described flip-arm drive motor assembly (4) drives described invert arm assembly (5) rotate on described vehicle wheel component or swing by described flip-arm synchronized links assembly (3).
2. according to a kind of overturn arm mechanism being applicable to wheel-track combined chassis described in claim 1, it is characterized in that: described invert arm assembly (5) comprises flip-arm (54), track support plate (55), flip-arm servo axis (52), flip-arm idle pulley (51), flip-arm crawler belt (53), the first flange (59), flip-arm drive wheel (56), double end link flange (57), flip-arm axle drive shaft (58), described track support plate (55) is fixed on described flip-arm (54), one end of described flip-arm (54) is coupling end (541), the other end of flip-arm (54) is free end (542), described flip-arm servo axis (52) is fixed on the free end (542) of described flip-arm (54), the two ends of described flip-arm servo axis (52) are respectively equipped with flip-arm idle pulley (51), described flip-arm crawler belt (53) is set in described flip-arm (54) and track support plate (55) outward, described flip-arm axle drive shaft (58) is enclosed within described wheel drive shaft (24) is also fixed on described flip-arm (54) outward coupling end (541) by described first flange (59), described flip-arm drive wheel (56) is fixed on one end of described wheel drive shaft (24), described wheel (28) is fixed on described flip-arm drive wheel (56) by described double end link flange (57),
Described flip-arm synchronized links assembly (3) comprises transmission shaft (31), clutch shaft bearing seat (32), and the two ends of described transmission shaft (31) are respectively equipped with the first spur gear pair (34), and described transmission shaft (31) is provided with the first bevel-gear pair (33); The two ends of described transmission shaft (31) are connected with described flip-arm axle drive shaft (58) respectively by described first spur gear pair (34); The both sides of described transmission shaft (31) are fixed on described hold (1) respectively by described clutch shaft bearing seat (32); Described flip-arm synchronized links assembly (3) is connected with described flip-arm drive motor assembly (4) by described first bevel-gear pair (33).
3. according to a kind of overturn arm mechanism being applicable to wheel-track combined chassis described in claim 1, it is characterized in that: described side plate assembly (2) of advancing also comprises the second bearing seat (22), main track sprocket (23), main crawler belt (25), described wheel drive shaft (24) is fixed on described side adapter plate (21) by described second bearing seat (22), described main track sprocket (23) is connected with described wheel drive shaft (24), and described main crawler belt (25) is meshed with described main track sprocket (23).
4. according to a kind of overturn arm mechanism being applicable to wheel-track combined chassis described in claim 2, it is characterized in that: described flip-arm axle drive shaft (58) is enclosed within described wheel drive shaft (24) and be connected with spacer by bearing, outside framework oil seal outward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520182599.5U CN204641922U (en) | 2015-03-30 | 2015-03-30 | A kind of overturn arm mechanism being applicable to wheel-track combined chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520182599.5U CN204641922U (en) | 2015-03-30 | 2015-03-30 | A kind of overturn arm mechanism being applicable to wheel-track combined chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204641922U true CN204641922U (en) | 2015-09-16 |
Family
ID=54094689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520182599.5U Withdrawn - After Issue CN204641922U (en) | 2015-03-30 | 2015-03-30 | A kind of overturn arm mechanism being applicable to wheel-track combined chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204641922U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787133A (en) * | 2015-03-30 | 2015-07-22 | 上海合时智能科技有限公司 | Turnover arm mechanism applicable to wheel-track combined chassis |
| CN111874118A (en) * | 2020-06-24 | 2020-11-03 | 河海大学常州校区 | Obstacle crossing robot based on wheel-track leg type chassis |
-
2015
- 2015-03-30 CN CN201520182599.5U patent/CN204641922U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104787133A (en) * | 2015-03-30 | 2015-07-22 | 上海合时智能科技有限公司 | Turnover arm mechanism applicable to wheel-track combined chassis |
| CN104787133B (en) * | 2015-03-30 | 2017-07-14 | 上海合时智能科技有限公司 | A kind of upset arm mechanism suitable for wheel-track combined chassis |
| CN111874118A (en) * | 2020-06-24 | 2020-11-03 | 河海大学常州校区 | Obstacle crossing robot based on wheel-track leg type chassis |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150916 Effective date of abandoning: 20170714 |
|
| AV01 | Patent right actively abandoned |