CN205059775U - Crawler frame people running gear - Google Patents
Crawler frame people running gear Download PDFInfo
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- CN205059775U CN205059775U CN201520640295.9U CN201520640295U CN205059775U CN 205059775 U CN205059775 U CN 205059775U CN 201520640295 U CN201520640295 U CN 201520640295U CN 205059775 U CN205059775 U CN 205059775U
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- wheel
- track
- crawler belt
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Abstract
The utility model relates to a crawler frame people running gear adopts synchronous track design, anteriorly be two drive wheels and track meshing, and the rear portion be two weight of bearing the weight of robot upper portion from driving wheel and track meshing and front driving wheel and bearing wheel mechanism jointly. Drive wheel and have certain width and the recess degree of depth from driving wheel middle part, the outer fringe on the both sides of wheel be the structure of synchronous tooth, has the arch of certain thickness to prevent that track and band pulley from coming off in the middle of the track, plays the effect of direction simultaneously, and the track both sides have synchronous tooth to mesh with worker's drive wheel with from the driving wheel. There are two take -up pulley mechanisms on track upper portion, keeps the rate of tension of track, and there is the bearing wheel of some the lower part the track in the middle of, and take -up pulley and bearing wheel are two rows, rolls smoothly in the track in order to make take -up pulley and bearing wheel, has two guide slots at track both sides area tooth within a definite time with middle arch. The walking of robots such as mainly used is explosion -proof, transportation, service, hinder, climb the completion of actions such as stair more.
Description
Technical field
The utility model is a kind of design plan of caterpillar type robot walking mechanism, is mainly used in completing of the action such as walking, obstacle detouring, stair climbing of the robots such as explosion-proof, transport, service.
Background technology
Along with the development of information techenology, Eltec, Robotics is also greatly developed, and industrial robot, job that requires special skills robot, service robot, microrobot etc. are widely used in all fields and develop.Mobile robot technology is the important branch in Robotics, and research starts from the eighties of last century sixties.Ground mobile robot in the environment unconfined motion needs one has the mobile platform of excellent properties, the kinematic mechanism of robot is then an important component part of robot moving platform, and it directly has influence on the stability of robot motion, alerting ability and operability.Therefore, the kinematic mechanism of choose reasonable and design robot is the importance that mobile robot designs.The kinematic mechanism of general ground mobile robot mainly contains three kinds: wheeled locomotion mechanism, crawler-type mobile mechanism and Tui Zu formula travel mechanism.Although Tui Zu formula travel mechanism compatible with environment is strong, complex structure, cost is higher, compares wheeled locomotion mechanism, crawler type kinematic mechanism is applicable to more complex environment, such as stair climbing, cross country power etc., than Tui Zushi mechanism, have structure simple, fireballing feature, application widely.
Summary of the invention
The utility model is a kind of traveling gear of caterpillar robot, adopts synchronous crawler haulage technology, and is furnished with stretching device and supporting part, can walk under various complex environment.
The technical scheme that the utility model adopts is: the present invention adopts synchronous crawler belt to design, front portion is that two drive wheels engage with crawler belt, drive crawler belt to complete front and back, turn to movement through speed reducer for servo motor structure, rear portion is that two flower wheels engage the weight jointly carrying robot upper part with front driving wheel and BOGEY WHEEL mechanism with crawler belt.That have one fixed width in the middle part of drive wheel and flower wheel with groove that the is degree of depth, the outer rim on the both sides of wheel is the structure of synchronous gear, have certain thickness projection to prevent crawler belt and belt wheel from coming off in the middle of crawler belt, play the effect of guiding, crawler belt both sides have synchronous gear to engage with work drive wheel and flower wheel simultaneously.Two tension pulley mechanisms are arranged at crawler belt top, keep the degree of tension of crawler belt, have the BOGEY WHEEL of some in crawler belt middle lower portion, tension wheel and BOGEY WHEEL are two rows, in order to make tension wheel and BOGEY WHEEL roll smoothly in crawler belt, between crawler belt two sideband tooth and intermediate projections, there are two guide grooves.
The utility model has the advantages that and can make mobile robot's reliable operation on the road surface of Various Complex, and can free motion in (as the scene of a fire, combustible and explosive area) in hazardous environment.
Accompanying drawing explanation
Fig. 1 is the lateral plan of traveling gear, and Fig. 2 is the axonometric drawing of traveling gear, 1. drive wheel 2. crawler belt 3. BOGEY WHEEL mechanism 4. tension pulley mechanism 5. flower wheel 6. robot chassis in figure.
Detailed description of the invention
The utility model aluminum alloy or magnesium alloy materials are made, drive wheel key is contained on the front drive shafts of robot chassis, flower wheel is arranged in the rear axle of robot chassis and freely rotates, crawler belt needs to adopt the compacting of the rubber of General Purpose Rubber or fire protection flame retarding to form according to using area difference, respectively there are synchronous gear and the drive wheel of one fixed width in inside, both sides, the external tooth of flower wheel is meshed, the projection of one fixed width is had to prevent crawler belt from coming off in the middle of in crawler belt, for avoiding drive wheel, protruding to interfere in the middle part of flower wheel with in the middle part of crawler belt, at drive wheel, the protruding slightly wide groove with crawler belt is opened in the middle part of flower wheel.Tension pulley mechanism bolt is arranged on two upper lateral parts on robot chassis, adopts coil spring elastic force to promote tension wheel tensioned tracks.BOGEY WHEEL mechanism bolt is arranged on the middle and lower part, both sides on robot chassis, makes BOGEY WHEEL and flower wheel and front driving wheel jointly carry the weight of robot.Tension wheel and BOGEY WHEEL bearing are arranged on bearing frame and locate with jump ring, for making tension wheel and BOGEY WHEEL roll smoothly in crawler belt, have two level and smooth guide grooves that can hold tension wheel and BOGEY WHEEL between crawler belt two sideband tooth and intermediate projections.Crawler belt is enclosed within outside drive wheel, flower wheel, has the projection of certain intervals outside crawler belt, to increase the friction force with ground.
Claims (1)
1. a caterpillar type robot walking mechanism, it is characterized in that: process drive wheel and flower wheel with magnesium alloy or aluminum alloy, that have one fixed width in the middle part of drive wheel and flower wheel with groove that the is degree of depth, the outer rim on the both sides of wheel is the structure of synchronous gear, certain thickness projection is had to prevent crawler belt and belt wheel from coming off in the middle of crawler belt, play the effect of guiding simultaneously, crawler belt both sides have synchronous gear to engage with drive wheel and flower wheel, two tension wheels are arranged at crawler belt top, keep the degree of tension of crawler belt, the BOGEY WHEEL of some is had in crawler belt middle lower portion, tension wheel and BOGEY WHEEL are two rows, roll smoothly in crawler belt to make tension wheel and BOGEY WHEEL, two guide barrel constructions are had between crawler belt two sideband tooth and intermediate projections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520640295.9U CN205059775U (en) | 2015-08-24 | 2015-08-24 | Crawler frame people running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520640295.9U CN205059775U (en) | 2015-08-24 | 2015-08-24 | Crawler frame people running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205059775U true CN205059775U (en) | 2016-03-02 |
Family
ID=55386364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520640295.9U Expired - Fee Related CN205059775U (en) | 2015-08-24 | 2015-08-24 | Crawler frame people running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205059775U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860340A (en) * | 2017-05-10 | 2018-11-23 | 中国石油大学(北京) | Wheel-track combined omni-directional mobile robots |
| CN109349068A (en) * | 2018-12-10 | 2019-02-19 | 张强 | A kind of water-saving afforestation sprinkling irrigation equipment |
| CN109878584A (en) * | 2019-02-19 | 2019-06-14 | 华东师范大学 | A kind of Athey wheel group of robot car |
| CN111150335A (en) * | 2020-01-20 | 2020-05-15 | 昆明理工大学 | Household cleaning robot |
| CN113928432A (en) * | 2021-11-15 | 2022-01-14 | 广东博智林机器人有限公司 | Track transmission structure, track chassis and floating robot |
-
2015
- 2015-08-24 CN CN201520640295.9U patent/CN205059775U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860340A (en) * | 2017-05-10 | 2018-11-23 | 中国石油大学(北京) | Wheel-track combined omni-directional mobile robots |
| CN109349068A (en) * | 2018-12-10 | 2019-02-19 | 张强 | A kind of water-saving afforestation sprinkling irrigation equipment |
| CN109878584A (en) * | 2019-02-19 | 2019-06-14 | 华东师范大学 | A kind of Athey wheel group of robot car |
| CN111150335A (en) * | 2020-01-20 | 2020-05-15 | 昆明理工大学 | Household cleaning robot |
| CN111150335B (en) * | 2020-01-20 | 2021-06-18 | 昆明理工大学 | Household cleaning robot |
| CN113928432A (en) * | 2021-11-15 | 2022-01-14 | 广东博智林机器人有限公司 | Track transmission structure, track chassis and floating robot |
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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: 20160302 Termination date: 20160824 |