CN204937297U - The synchronous pitch-changing mechanism of rescue robot four step - Google Patents
The synchronous pitch-changing mechanism of rescue robot four step Download PDFInfo
- Publication number
- CN204937297U CN204937297U CN201520611992.1U CN201520611992U CN204937297U CN 204937297 U CN204937297 U CN 204937297U CN 201520611992 U CN201520611992 U CN 201520611992U CN 204937297 U CN204937297 U CN 204937297U
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- gear
- swivel nut
- expansion link
- robot
- main gear
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Abstract
The utility model discloses the synchronous pitch-changing mechanism of rescue robot four step, comprise two strut bars, main gear, driven gear, straight gear, drive motor, two strut bars are arranged on the chassis of robot car body, drive motor is arranged on robot car body, expansion link and lower expansion link are set between two strut bars up and down respectively, main gear installed by upper expansion link and lower expansion link, the center clamping of main gear connects connecting rod one end, connecting rod the other end connects straight gear, the transmission gear of straight gear and drive motor driving end is in transmission connection, before main gear, driven gear is all installed in rear two ends, and lateral connection screw rod one and screw rod two is distinguished on each driven gear, screw rod one is connected left swivel nut and right swivel nut respectively with the two ends, left and right of both screw rods two, the utility model is applicable to shake rear rescue robot at lane, the width of vehicle body can be changed, possesses failure-free obstacle climbing ability.
Description
Technical field
The utility model relates to a kind of rescue robot, particularly relates to the synchronous pitch-changing mechanism of a kind of rescue robot four step.
Background technology
The whole world all suffer from the destruction of a large amount of disaster and man-made disaster every year.Huge disaster can cause large-area building collapse and personal casualty, and after disaster occurs, the most urgent thing is exactly search and rescue those to be trapped in survivor in ruins.But complicated dangerous disaster field brings huge security threat to rescue group and survivor, and salvage work also can be hindered fast and effeciently to carry out.Using rescue robot to carry out auxiliary search and rescue is the effective means solving this difficult problem.For improving rescue efficiency, require that rescue robot has the ability to pass through the complex environment search survivor in the rear ruins of shake and obtains context dependant information residing for survivor, thus its traveling gear need possess failure-free obstacle climbing ability and narrow space carrying capacity.
Utility model content
For above-mentioned Problems existing, the utility model aims to provide the synchronous pitch-changing mechanism of a kind of rescue robot four step, and the synchronous pitch-changing mechanism of this four step is applicable to shake rear rescue robot at lane, can change the width of vehicle body, possess failure-free obstacle climbing ability.
To achieve these goals, the technical scheme that adopts of the utility model is as follows:
The synchronous pitch-changing mechanism of rescue robot four step, it is characterized in that: comprise two strut bars, main gear, driven gear, straight gear, drive motor, two described strut bars are arranged on the chassis of robot car body, described drive motor is arranged on robot car body, expansion link and lower expansion link are set between two described strut bars up and down respectively, described main gear installed by expansion link and described lower expansion link on described, the center clamping of described main gear connects connecting rod one end, described connecting rod the other end connects described straight gear, the transmission gear of described straight gear and described drive motor driving end is in transmission connection, before described main gear, described driven gear is all installed at rear two ends, and lateral connection screw rod one and screw rod two is distinguished on each described driven gear, described screw rod one is connected left swivel nut and right swivel nut respectively with the two ends, left and right of described both screw rods two, described left swivel nut is contrary with the thread rotary orientation of described right swivel nut inside, the realization rate of technical scheme is: the synchronous distance changing mechanism of this four step comprises the screw rod screw bushing structure of two groups of symmetrical installations, often organize left and right swivel nut internal whorl rotation direction contrary, screw rod one and screw rod two can at main gears, driven gear, driven by drive motor under the cooperation of straight gear and transmission gear and rotate simultaneously, during displacement, cooperatively interact between each gear, before and after ensureing robot car body, two groups of synchronous constant speed of left and right wheels strut, left and right wheels is made to keep symmetrical about the car body longitudinal centerline moment, when can guarantee that left and right wheels struts, robot center of gravity can not offset, thus realize the stable of robot complex environment and advance.
Further, the end winding support of described connecting rod arranges annular collar, described annular collar periphery is arranged circle teeth.
Further, described main gear center arranges the teeth blocked hole with the fastening clamping of described annular collar.
Further, on the bearing support that described left swivel nut and described right swivel nut are fixedly mounted on the left and right wheels of robot car body respectively, in pitch-changing mechanism, strut bar is installed on chassis, drive motor is installed on car body, left and right swivel nut is fixedly installed on left and right wheels bearing support respectively, does not affect itself performance.
The beneficial effects of the utility model are: after the utility model can ensure shake, rescue robot is at lane, can change the width of vehicle body, possess failure-free obstacle climbing ability, have the very fast ability implementing rescue in harsh environment, the extent of injury of reduction accident.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation.
Fig. 2 is the utility model strut bar and main gear location diagram.
Fig. 3 is the utility model connecting rod schematic diagram.
Fig. 4 is the utility model main gear schematic diagram.
Wherein: 1-main gear, 2-driven gear, the left swivel nut of 3-screw rod one, 4-screw rod two, 5-, the right swivel nut of 6-, 7-connecting rod, 8-straight gear, 9-transmission gear, 10-drive motor, 11-strut bar, the upper expansion link of 12-, expansion link under 13-, 14-teeth, 15-teeth blocked hole.
Detailed description of the invention
In order to make those of ordinary skill in the art understand the technical solution of the utility model, below in conjunction with drawings and Examples, the technical solution of the utility model is further described.
With reference to the synchronous pitch-changing mechanism of a kind of rescue robot four step shown in accompanying drawing 1-4, comprise two strut bars 11, main gear 1, driven gear 2, straight gear 8, drive motor 10, two described strut bars 11 are arranged on the chassis of robot car body, described drive motor 10 is arranged on robot car body, expansion link 12 and lower expansion link 13 are set between two described strut bars 11 up and down respectively, described main gear installed by expansion link 12 and described lower expansion link 13 on described, the center clamping of described main gear connects connecting rod 7 one end, described connecting rod 7 the other end connects described straight gear 8, described straight gear 8 is in transmission connection with the transmission gear 9 of described drive motor 10 driving end, before described main gear 1, described driven gear 2 is all installed at rear two ends, and lateral connection screw rod 1 and screw rod two is distinguished on each described driven gear 2, described screw rod 1 is connected left swivel nut 5 and right swivel nut 6 respectively with the two ends, left and right of described both screw rods two, described left swivel nut 5 is contrary with the thread rotary orientation of described right swivel nut 6 inside, described left swivel nut 5 and described right swivel nut 6 are fixedly mounted on the bearing support of the left and right wheels of robot car body respectively.
The utility model improves further and is: the end winding support of described connecting rod 7 arranges annular collar, described annular collar periphery is arranged circle teeth 14, described main gear 1 center arranges the teeth blocked hole 15 with the fastening clamping of described annular collar, by the effect of cooperatively interacting of teeth 14 and teeth blocked hole 15 can make main gear 1 be connecting rod 7 in conjunction with time Quick fastening be connected together, and also can separate fast when being separated, realize automatically combining preferably.
The utility model specific works principle is as follows:
1), during displacement, upper expansion link 12 stretches with lower expansion link 13, makes main gear 1 move to relevant position, engages with two driven gears 2 at its two ends simultaneously.
2) drive motor 10 rotates, and band nutating gear 9 rotates, and straight gear 8 engages with transmission gear 9, drives main gear 1 to rotate.
3) main gear 1 drives former and later two gears to rotate with identical speed and rotation direction.
4) two driven gears 2 drive screw rod 1, screw rod two constant velocity rotation, and left swivel nut 5, right swivel nut about 6 constant speed strut, and can complete displacement.
5) when displacement completes, upper expansion link 12 moves with lower expansion link 13 simultaneous retractable, and main gear 1 is separated with two driven gears 2, ensures that robot is normally advanced.
Claims (4)
1. the synchronous pitch-changing mechanism of rescue robot four step, it is characterized in that: comprise two strut bars, main gear, driven gear, straight gear, drive motor, two described strut bars are arranged on the chassis of robot car body, described drive motor is arranged on robot car body, expansion link and lower expansion link are set between two described strut bars up and down respectively, described main gear installed by expansion link and described lower expansion link on described, the center clamping of described main gear connects connecting rod one end, described connecting rod the other end connects described straight gear, the transmission gear of described straight gear and described drive motor driving end is in transmission connection, before described main gear, described driven gear is all installed at rear two ends, and lateral connection screw rod one and screw rod two is distinguished on each described driven gear, described screw rod one is connected left swivel nut and right swivel nut respectively with the two ends, left and right of described both screw rods two, described left swivel nut is contrary with the thread rotary orientation of described right swivel nut inside.
2. the synchronous pitch-changing mechanism of rescue robot four step according to claim 1, is characterized in that: the end winding support of described connecting rod arranges annular collar, described annular collar periphery is arranged circle teeth.
3. the synchronous pitch-changing mechanism of rescue robot four step according to claim 2, is characterized in that: described main gear center arranges the teeth blocked hole with the fastening clamping of described annular collar.
4. the synchronous pitch-changing mechanism of rescue robot four step according to claim 1, is characterized in that: described left swivel nut and described right swivel nut are fixedly mounted on the bearing support of the left and right wheels of robot car body respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520611992.1U CN204937297U (en) | 2015-08-14 | 2015-08-14 | The synchronous pitch-changing mechanism of rescue robot four step |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520611992.1U CN204937297U (en) | 2015-08-14 | 2015-08-14 | The synchronous pitch-changing mechanism of rescue robot four step |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204937297U true CN204937297U (en) | 2016-01-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520611992.1U Expired - Fee Related CN204937297U (en) | 2015-08-14 | 2015-08-14 | The synchronous pitch-changing mechanism of rescue robot four step |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204937297U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109107068A (en) * | 2018-07-12 | 2019-01-01 | 上海医修哥网络科技股份有限公司 | A kind of automatic obstacle-avoiding fire-fighting robot based on Mecanum wheel |
| CN109551466A (en) * | 2019-01-09 | 2019-04-02 | 刘华 | Recognizable obstacle shrinks the robot base of avoidance automatically |
-
2015
- 2015-08-14 CN CN201520611992.1U patent/CN204937297U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109107068A (en) * | 2018-07-12 | 2019-01-01 | 上海医修哥网络科技股份有限公司 | A kind of automatic obstacle-avoiding fire-fighting robot based on Mecanum wheel |
| CN109107068B (en) * | 2018-07-12 | 2020-10-23 | 上海医修哥网络科技股份有限公司 | Automatic obstacle-avoiding fire-fighting robot based on Mecanum wheels |
| CN109551466A (en) * | 2019-01-09 | 2019-04-02 | 刘华 | Recognizable obstacle shrinks the robot base of avoidance automatically |
| CN109551466B (en) * | 2019-01-09 | 2024-01-02 | 刘华 | Robot base capable of identifying obstacle and automatically shrinking to avoid obstacle |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160106 Termination date: 20160814 |