CN204937301U - A kind of flame-proof type barrier-surpassing robot - Google Patents
A kind of flame-proof type barrier-surpassing robot Download PDFInfo
- Publication number
- CN204937301U CN204937301U CN201520713325.4U CN201520713325U CN204937301U CN 204937301 U CN204937301 U CN 204937301U CN 201520713325 U CN201520713325 U CN 201520713325U CN 204937301 U CN204937301 U CN 204937301U
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- trident
- car body
- gear
- wheel
- flame proof
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Abstract
The utility model relates to barrier-surpassing robot, specifically a kind of flame-proof type barrier-surpassing robot, optical fiber cabin and sensor are arranged on control system flame proof car body respectively, flame proof car body is separately installed with at least one group of trident wheel traveling gear, two the trident wheel traveling gear symmetries often organized are installed on the both sides of flame proof car body; Trident wheel traveling gear comprises motor, retarder, input shaft, trident gear and BOGEY WHEEL, and motor is connected with one end of input shaft by retarder, and the other end and the trident gear of input shaft are rotationally connected; The part interlock that input shaft is positioned at trident gear has sun wheel, the periphery of sun wheel is along the circumferential direction evenly equipped with multiple idle pulley, and be along the circumferential direction evenly equipped with the gearbox output shaft identical with BOGEY WHEEL quantity in each idle pulley periphery, one end interlock of each gearbox output shaft has satellite gear, and other end interlock has BOGEY WHEEL.The advantages such as the utility model has flame proof formal Specification, and obstacle detouring is effective, and power is large.
Description
Technical field
The utility model relates to barrier-surpassing robot, and specifically a kind of flame-proof type barrier-surpassing robot, is applicable to the detection in calamity after-explosion gaseous environment dangerous area.
Background technology
Current, the various explosion accident caused because of fire, gas leakage happens occasionally.The special fire disaster explosion accident that such as various mine safety accidents, residential building gas explosion accident, particularly Tianjin Rui Hai company dangerous chemical on August 12nd, 2015 warehouse occur, causes serious life and property loss and severe social influence.Because disaster field is in confused situation, the subsequent explosion that rescue operations causes happens occasionally, and causes rescue group's situation wrecked in speedily carrying out rescue work occurs.If adopt the automation equipment of alternative people to go deep into disaster scene before rescue, just can implement high efficiency rescue under the prerequisite guaranteeing rescue group's safety, reduce personnel and property damage to greatest extent.Therefore develop flame-proof type height obstacle climbing ability robot and there is very large essentiality.
Utility model content
Substitute to meet automation equipment the demand that people gos deep into carrying out detecting in disaster scene, the purpose of this utility model is to provide a kind of flame-proof type barrier-surpassing robot.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises optical fiber cabin, trident wheel traveling gear, sensor and the control system flame proof car body be hinged, energy resource system flame proof car body, wherein optical fiber cabin and sensor are arranged on control system flame proof car body respectively, described sensor is connected with the control system in control system flame proof car body, and detectable signal is exported by the optical fiber in described optical fiber cabin; Described control system flame proof car body and energy resource system flame proof car body are separately installed with at least one group of trident wheel traveling gear, and two the trident wheel traveling gear symmetries often organized are installed on the both sides of control system flame proof car body or energy resource system flame proof car body; Described trident wheel traveling gear comprises motor, retarder, input shaft, trident gear and BOGEY WHEEL, this motor and retarder are arranged on the inside and outside both sides of control system flame proof car body or energy resource system flame proof car body respectively, described motor is connected with one end of input shaft by retarder, and the other end and the trident gear of this input shaft are rotationally connected; The part interlock that described input shaft is positioned at trident gear has sun wheel, the periphery of this sun wheel is along the circumferential direction evenly equipped with multiple idle pulley be rotationally connected with on casing, and be along the circumferential direction evenly equipped with the gearbox output shaft identical with BOGEY WHEEL quantity in each described idle pulley periphery, each described gearbox output shaft is rotationally connected with on casing respectively, one end interlock has satellite gear, the other end is passed by described casing, interlock has described BOGEY WHEEL, described input shaft is engaged successively by sun wheel, idle pulley and satellite gear, drives each described BOGEY WHEEL to rotate.
Wherein: the other end of described input shaft inserts in casing, and is connected with body pivot by bearing, and described sun wheel is connected with this input axle key; Each described idle pulley is all set on an anchor shaft, and each described anchor shaft is fixed on described casing, and described idle pulley is rotationally connected by bearing and anchor shaft; Each described gear output shaft is connected with body pivot by bearing, and described satellite gear and BOGEY WHEEL are connected with this gear output shaft key respectively; The longitudinal center line of described input shaft, each described anchor shaft and each described gearbox output shaft is parallel to each other;
Described BOGEY WHEEL is three, and the line between three BOGEY WHEEL centers of circle is equilateral triangle, and wherein two BOGEY WHEELs are positioned at below, and another BOGEY WHEEL is positioned at top; When the input and output reduction ratio of described trident gear is less than 1, revolve round the sun around described input shaft after each described BOGEY WHEEL meets barrier; The rear and front end of described control system flame proof car body is respectively provided with one group of trident wheel traveling gear, and front end and the control system flame proof car body of described energy resource system flame proof car body are hinged, and rear end is provided with one group of trident wheel traveling gear; The reducer output shaft of described retarder is connected with one end of input shaft by coupler.
Advantage of the present utility model and good effect are:
1. flame proof formal Specification.The design of the utility model flame proof car body is carried out according to the requirement of strict Coal Electricity gas equipment explosion-proof criteria the harshest in current various flame proof standard, due to the explosion-proof criteria comparatively ordinary appliances complexity of colliery energy resource system, energy resource system and control system are separated, adopt two to save the flame proof car body be hinged, realize separately independently flame proof form.
2. traveling gear adopts trident wheel walking travel mechanism.Trident of the present utility model wheel walking travel mechanism is three groups, each three of left and right, is arranged symmetrically with, this trident wheel traveling gear can realize active self-rotating, meet obstacle after automatic revolution, can leaping over obstacles effectively, adapt to complex-terrain ability strong.
3. power is large.Maximum voltage due to the mining lithium cell used by coal mine explosion-proof standard is 48V, by the restriction of voltage, so cannot adopt high-tension high-power motor; The utility model adopts multiple trident to take turns traveling gear, often organizes motor and drives a traveling gear.Thus improve the gross horsepower of robot; Identical velocity interpolation moves forward and backward, and differential realizes turning.
4. the utility model car body takes the design form of flame proof, has performance that is dust-proof, that paddle simultaneously.
5. by trident, the retarder of taking turns in traveling gear is arranged on flame proof car body outside to the utility model, motor is then arranged on flame proof vehicle body, such flame proof vehicle body is only limitted to install appliance component, it is outside that pure mechanical transmission structure is all positioned at flame proof car body, effectively save the volume of flame proof car body, alleviate weight significantly.
Accompanying drawing explanation
Fig. 1 is integral installation distribution structure schematic diagram of the present utility model;
Fig. 2 is the scheme of installation of the utility model trident wheel traveling gear;
Fig. 3 is the transmission schematic diagram of the utility model trident gear;
Wherein: 1 is control system flame proof car body, and 2 is optical fiber cabin, and 3 is energy resource system flame proof car body, 4 is trident wheel traveling gear, and 5 is sensor, and 6 is trident gear, 7 is BOGEY WHEEL, and 8 is input shaft, and 9 is reducer output shaft, 10 is coupler, and 11 is retarder, and 12 is motor, 13 is sun wheel, and 14 is anchor shaft, and 15 is idle pulley, 16 is gearbox output shaft, and 17 is satellite gear, and 18 is casing.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1, the utility model comprises control system flame proof car body 1, optical fiber cabin 2, energy resource system flame proof car body 3, trident wheel traveling gear 4 and sensor 5, wherein optical fiber cabin 2 is arranged on the top of control system flame proof car body 1, independent of outside control system flame proof car body 1; Sensor 5 is arranged on the front end of control system flame proof car body 1, and sensor 5 is connected with the control system (control system of the present utility model is prior art) in control system flame proof car body 1, and detectable signal is exported by the optical fiber in optical fiber cabin 2.Control system flame proof car body 1 and energy resource system flame proof car body 3 are hinged, control system flame proof car body 1 and energy resource system flame proof car body 3 are separately installed with at least one group of trident wheel traveling gear 4, and two trident wheel traveling gear 4 symmetries often organized are installed on the left and right sides of control system flame proof car body 1 or energy resource system flame proof car body 3; The trident wheel traveling gear 4 totally three groups of the present embodiment, the rear and front end of control system flame proof car body 1 is respectively provided with one group of trident wheel traveling gear 4, front end and the control system flame proof car body 1 of energy resource system flame proof car body 3 are hinged, and rear end is provided with one group of trident wheel traveling gear 4.
As shown in Figure 2, trident wheel traveling gear 4 comprises motor 12, retarder 11, coupler 10, input shaft 8, trident gear 6 and BOGEY WHEEL 7, motor 12 in each trident wheel traveling gear 4 is all fixed on the bottom surface of control system flame proof car body 1 or energy resource system flame proof car body 3 inside, retarder 11 is fixed on the lower surface of control system flame proof car body 1 or outside, energy resource system flame proof car body 3 bottom surface, and be connected with the mouth of motor 12, retarder 11 reducer output shaft 9 be connected by coupler 10 one end with input shaft 8, the other end and the trident gear 6 of input shaft 8 are rotationally connected, trident gear 6 is along the circumferential direction evenly equipped with multiple BOGEY WHEEL 7, the BOGEY WHEEL 7 of the present embodiment is three.
As shown in Figure 3, the other end of input shaft 8 is penetrated by casing 18 central authorities of trident gear 6, and is arranged on casing 18 by bearing, can be rotated by opposite case 18.The part that input shaft 8 is positioned at trident gear 6 is arranged with the sun wheel 13 be connected with input shaft 8 key, with input shaft 8 interlock.Along the circumferential direction be evenly equipped with multiple idle pulley 15 (the present embodiment is three) in the periphery of sun wheel 13, each idle pulley 15 all with sun wheel 13 engaged transmission, and each idle pulley 15 is all set on an anchor shaft 14.Every root anchor shaft 14 is all fixed on casing 18, and idle pulley 15 is rotationally connected by bearing and anchor shaft 14.The gearbox output shaft 16 identical with BOGEY WHEEL 7 quantity is along the circumferential direction evenly equipped with in each idle pulley 15 periphery, the gearbox output shaft 16 of the present embodiment is three, every root gearbox output shaft 16 is all arranged on casing 18 by bearing, one end is positioned at trident gear 6, and being arranged with the satellite gear 17 with idle pulley 15 engaged transmission, this satellite gear 17 is connected with one end key of gearbox output shaft 16; The other end of gearbox output shaft 16 is passed by casing 18, is connected with BOGEY WHEEL 18 key.The longitudinal center line of input shaft 8, each anchor shaft 14 and each gearbox output shaft 16 is parallel to each other.
BOGEY WHEEL 7 is three, and the line between three BOGEY WHEEL 7 centers of circle is equilateral triangle, and wherein two BOGEY WHEELs 7 are positioned at below, and another BOGEY WHEEL 7 is positioned at top.
Principle of work of the present utility model is:
Motor 12 in each trident wheel traveling gear 4 is powered by energy resource system, sun wheel 13 is driven to rotate by retarder 11, input shaft 8, sun wheel 13, idle pulley 15, satellite gear 17 are meshed successively, and then export the synchronous rotation in the same way of 16 drives, three BOGEY WHEELs 7 by gear case, implement the walking of barrier-surpassing robot.Because each trident wheel traveling gear 4 possesses independently motor 12, identical rotating speed realizes advancing or retreating, and differential realizes turning.
When the input and output reduction ratio of trident gear 6 is less than 1, after ensureing that trident wheel traveling gear 4 meets obstacle like this, three BOGEY WHEELs 7, around input shaft 8 automatic revolution, ensure barrier-surpassing robot successfully crossing over blockage.
Have 18 BOGEY WHEELs 7 in the utility model six trident wheel traveling geaies 4, the tire of BOGEY WHEEL 7 is commercial products, purchases in the Yellow River, Xianyang rubber for tire Co., Ltd filled polyurethane, becomes mining tyres, specification 2.50-4.
The utility model has the explosion-proof function of isolation, can go deep into explosive gas atmosphere and detect, can isolate the subsequent explosion self caused; The complex-terrain after calamity can be adapted to, abilities such as there is obstacle detouring, cross over irrigation canals and ditches, climb, paddle simultaneously.
Claims (7)
1. a flame-proof type barrier-surpassing robot, it is characterized in that: comprise optical fiber cabin (2), trident wheel traveling gear (4), sensor (5) and the control system flame proof car body (1) be hinged, energy resource system flame proof car body (3), wherein optical fiber cabin (2) and sensor (5) are arranged on control system flame proof car body (1) respectively, described sensor (5) is connected with the control system in control system flame proof car body (1), and detectable signal is exported by the optical fiber in described optical fiber cabin (2), described control system flame proof car body (1) and energy resource system flame proof car body (3) are separately installed with at least one group of trident wheel traveling gear (4), and two trident wheel traveling gear (4) symmetries often organized are installed on the both sides of control system flame proof car body (1) or energy resource system flame proof car body (3), described trident wheel traveling gear (4) comprises motor (12), retarder (11), input shaft (8), trident gear (6) and BOGEY WHEEL (7), this motor (12) and retarder (11) are arranged on the inside and outside both sides of control system flame proof car body (1) or energy resource system flame proof car body (3) respectively, described motor (12) is connected by retarder (11) one end with input shaft (8), and the other end and the trident gear (6) of this input shaft (8) are rotationally connected, the part interlock that described input shaft (8) is positioned at trident gear (6) has sun wheel (13), the periphery of this sun wheel (13) is along the circumferential direction evenly equipped with multiple idle pulley (15) be rotationally connected with on casing (18), and be along the circumferential direction evenly equipped with the gearbox output shaft (16) identical with BOGEY WHEEL (7) quantity in each described idle pulley (15) periphery, each described gearbox output shaft (16) is rotationally connected with on casing (18) respectively, one end interlock has satellite gear (17), the other end is passed by described casing (18), interlock has described BOGEY WHEEL (7), described input shaft (8) is by sun wheel (13), idle pulley (15) and satellite gear (17) engage successively, each described BOGEY WHEEL (7) is driven to rotate.
2. by flame-proof type barrier-surpassing robot according to claim 1, it is characterized in that: the other end of described input shaft (8) inserts in casing (18), and be rotationally connected by bearing and casing (18), described sun wheel (13) is connected with this input shaft (8) key; Each described idle pulley (15) is all set on an anchor shaft (14), each described anchor shaft (14) is fixed on described casing (18), and described idle pulley (15) is rotationally connected by bearing and anchor shaft (14); Each described gear output shaft (16) is rotationally connected by bearing and casing (18), and described satellite gear (17) and BOGEY WHEEL (7) are connected with this gear output shaft (16) key respectively.
3., by flame-proof type barrier-surpassing robot according to claim 2, it is characterized in that: the longitudinal center line of described input shaft (8), each described anchor shaft (14) and each described gearbox output shaft (16) is parallel to each other.
4. by the flame-proof type barrier-surpassing robot described in claim 1 or 2, it is characterized in that: described BOGEY WHEEL (7) is three, line between three BOGEY WHEEL (7) centers of circle is equilateral triangle, wherein two BOGEY WHEELs (7) are positioned at below, and another BOGEY WHEEL (7) is positioned at top.
5. by the flame-proof type barrier-surpassing robot described in claim 1 or 2, it is characterized in that: when the input and output reduction ratio of described trident gear (6) is less than 1, each described BOGEY WHEEL (7) is revolved round the sun around described input shaft (8) after meeting barrier.
6. by the flame-proof type barrier-surpassing robot described in claim 1 or 2, it is characterized in that: the rear and front end of described control system flame proof car body (1) is respectively provided with one group of trident wheel traveling gear (4), front end and the control system flame proof car body (1) of described energy resource system flame proof car body (3) are hinged, and rear end is provided with one group of trident wheel traveling gear (4).
7., by the flame-proof type barrier-surpassing robot described in claim 1 or 2, it is characterized in that: the reducer output shaft (9) of described retarder (11) is connected by coupler (10) one end with input shaft (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520713325.4U CN204937301U (en) | 2015-09-15 | 2015-09-15 | A kind of flame-proof type barrier-surpassing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520713325.4U CN204937301U (en) | 2015-09-15 | 2015-09-15 | A kind of flame-proof type barrier-surpassing robot |
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| Publication Number | Publication Date |
|---|---|
| CN204937301U true CN204937301U (en) | 2016-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520713325.4U Expired - Fee Related CN204937301U (en) | 2015-09-15 | 2015-09-15 | A kind of flame-proof type barrier-surpassing robot |
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| Country | Link |
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| CN (1) | CN204937301U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105864383A (en) * | 2016-05-06 | 2016-08-17 | 吉林大学 | Self-adaptive obstacle crossing mechanism |
| CN106515898A (en) * | 2015-09-15 | 2017-03-22 | 中国科学院沈阳自动化研究所 | Flame-proof type obstacle-crossing robot |
-
2015
- 2015-09-15 CN CN201520713325.4U patent/CN204937301U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106515898A (en) * | 2015-09-15 | 2017-03-22 | 中国科学院沈阳自动化研究所 | Flame-proof type obstacle-crossing robot |
| CN105864383A (en) * | 2016-05-06 | 2016-08-17 | 吉林大学 | Self-adaptive obstacle crossing mechanism |
| CN105864383B (en) * | 2016-05-06 | 2017-07-14 | 吉林大学 | A kind of self adaptation barrier getting over mechanism |
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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: 20180915 |