CN205150015U - Flexible wheel -track coupling drive mechanism - Google Patents
Flexible wheel -track coupling drive mechanism Download PDFInfo
- Publication number
- CN205150015U CN205150015U CN201520982789.5U CN201520982789U CN205150015U CN 205150015 U CN205150015 U CN 205150015U CN 201520982789 U CN201520982789 U CN 201520982789U CN 205150015 U CN205150015 U CN 205150015U
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- CN
- China
- Prior art keywords
- swing arm
- strutting arrangement
- deformable
- bracing
- sides
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model relates to an actuating mechanism of robot, specifically speaking are flexible wheel -track coupling drive mechanism, including strutting arrangement, drive arrangement, swing arm device and flexible track, drive arrangement includes driving motor, transmission and torus, and driving motor installs on strutting arrangement, and strutting arrangement's both sides are all rotated and are installed the torus, and the torus passes through transmission and links to each other with driving motor, all is equipped with the teeth of a cogwheel with the meshing of flexible track on the outer periphery of torus, swing arm device includes swing arm motor, lead screw, slider, connecting rod, swing arm and swing arm wheel, and the swing arm motor is installed on strutting arrangement, and the output is connected with the lead screw, and slider threaded connection is on the lead screw, and the both sides of slider all are equipped with the swing arm, and the one end of swing arm articulates on strutting arrangement, and the swing arm wheel with flexible track butt is installed to the other end, and the swing arm is all articulated through connecting rod and slider. The utility model has the characteristics of simple structure, compactness, modularization, easily the installation is small, light in weight.
Description
Technical field
The utility model relates to robot driving mechanism, specifically a kind of deformable Lun Lv couple drive mechanism.
Background technology
The generation of the contingency such as earthquake, tsunami usually can cause building collapsing to produce ruins, and the search and rescue survivor be embedded under ruins is a very urgent task.In order to improve search efficiency, greatly develop search and rescue robot technology.Disorderly and unsystematic due to ruins environment, require that search and rescue robot has good obstacle climbing ability, crawler type search and rescue robot is the robot that a kind of obstacle climbing ability is very strong, but crawler belt can increase the volume of robot, can affect the gait of march of robot simultaneously.In the environment of narrow and small ruins, its underaction that seems.
Utility model content
In order to the complex situations solving different ruins environment need robot more flexible, freedom of movement, the purpose of this utility model is to provide a kind of deformable Lun Lv couple drive mechanism, for the driving of robot.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises bracing or strutting arrangement, actuating device, swinging arm device and deformable crawler belt, wherein actuating device comprises drive motor, driving device and torus, described drive motor is arranged on bracing or strutting arrangement, the both sides of this bracing or strutting arrangement are all rotatablely equipped with described torus, the described torus of both sides is connected with drive motor by driving device, by described drive motor driven rotary, the outer circumference surface of each described torus is equipped with the gear teeth, described deformable crawler belt and this tooth mesh, drive deformable crawler belt by described torus; Described swinging arm device comprises swing arm motor, leading screw, slide block, connecting rod, swing arm and swing arm wheel, this swing arm motor is arranged on described bracing or strutting arrangement, mouth is connected with leading screw, described slide block is threadedly connected on leading screw, the both sides of described slide block are equipped with swing arm, one end of the described swing arm of every side is hinged on bracing or strutting arrangement, the other end is provided with the swing arm abutted with described deformable crawler belt and takes turns, the described swing arm of every side all by connecting rod and slide block hinged, and drive the distortion of described deformable crawler belt with moving up and down of described slide block.
Wherein: described driving device comprises input gear, transmission gear A, Large Gear Shaft During, transmission gear B, transmission gear C, pinion shaft and output gear, this input gear is connected to the mouth of described drive motor, Large Gear Shaft During is rotatably installed on described bracing or strutting arrangement, and two ends are connected to described transmission gear B and in this Large Gear Shaft During, are provided with the transmission gear A with described input gear engaged transmission; The both sides of described bracing or strutting arrangement are equipped with the pinion shaft be arranged on bracing or strutting arrangement, the described pinion shaft of every side is all rotatablely equipped with the transmission gear C with described transmission gear B engaged transmission, the described torus of every side is all provided with the output gear with described transmission gear C engaged transmission; The described swing arm of every side is all provided with auxiliary wheel;
Described bracing or strutting arrangement is provided with leading screw base, described screw turns is arranged on this leading screw base, and top is connected by the mouth of coupler with described swing arm motor; One end of the described connecting rod of every side is all articulated with on slide block, and the described swing arm of the other end and every side is hinged;
Described deformable crawler belt comprises scalable rubber plate, interior grouser, outer grouser, spring and spring mountings, this interior grouser and outer grouser are individually fixed in the inside and outside both sides of scalable rubber plate, each described interior grouser is equipped with spring mountings, be connected by described spring between adjacent two spring mountings, and then each described interior grouser is linked together; Described swing arm wheel is provided with groove, and described deformable crawler belt to be placed in by spring mountings between taking turns with swing arm and to lead coordinating in this groove;
Described bracing or strutting arrangement comprises stay bearing plate A, intermediate support beam, stay bearing plate B, supporting wheel hub and pivot shaft, every side of this intermediate support beam is equipped with stay bearing plate A, stay bearing plate B and supporting wheel hub, one end of described stay bearing plate A and one end of stay bearing plate B of both sides are linked together by described intermediate support beam, the other end of the other end of the described stay bearing plate A of both sides and the described stay bearing plate B of both sides links together respectively by pivot shaft, and the described supporting wheel hub of both sides is separately fixed on the stay bearing plate B of every side.
Advantage of the present utility model and good effect are:
1. the utility model is on the basis of in-wheel driving, and by swinging arm device, drive crawler belt distortion, the angle that front and back form setting carrys out obstacle detouring, convenient.
2. the utility model drive wheel mechanism directly can become triangle, on the ground that ruins are soft, increases the stability of robot carrier.
3. during the utility model drive wheel mechanism in-wheel driving robot carrier, gait of march is fast, turns to flexibly.
4. the utility model drive wheel mechanism is as an independently motion module, can realize multiple wired in parallel work, solves the problem that single module propulsive effort is little.
5. simple, compact, the modularization of the utility model drive wheel mechanism structure, be easy to install, volume is little, lightweight.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model;
Fig. 2 is inner structure schematic diagram of the present utility model;
Fig. 3 is the perspective view of bracing or strutting arrangement of the present utility model and swinging arm device;
Fig. 4 is the inner structure schematic diagram of the utility model actuating device;
Fig. 5 is the inner structure schematic diagram of the utility model actuating device and bracing or strutting arrangement;
Fig. 6 is the inner structure schematic diagram of the utility model swinging arm device and bracing or strutting arrangement;
Fig. 7 is the structural representation of the utility model swinging arm device and bracing or strutting arrangement;
Fig. 8 is that the utility model driver train becomes leg-of-mutton structural representation;
Fig. 9 is the structural representation of the utility model deformable crawler belt;
Wherein: 1 is bracing or strutting arrangement, 2 is actuating device, 3 is swinging arm device, 4 is deformable crawler belt, 5 for driving base, 6 is drive motor, 7 is input gear, 8 is transmission gear A, 9 is gear wheel shaft, 10 is transmission gear B, 11 is transmission gear C, 12 is pinion shaft, 13 is output gear, 14 is torus, 15 is the gear teeth, 16 is stay bearing plate A, 17 is intermediate support beam, 18 is stay bearing plate B, 19 is supporting wheel hub, 20 is pivot shaft, 21 is swing arm base, 22 is swing arm motor, 23 is coupler, 24 is leading screw, 25 is slide block, 26 is leading screw base, 27 is connecting rod, 28 is swing arm, 29 is swing arm wheel, 30 is auxiliary wheel, 31 is scalable rubber plate, 32 is interior grouser, 33 is outer grouser, 34 is spring, 35 is spring mountings.
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 bracing or strutting arrangement 1, actuating device 2, swinging arm device 3 and deformable crawler belt 4, wherein actuating device 2 and swinging arm device 3 are arranged on bracing or strutting arrangement 1 respectively, and deformable crawler belt 4 is arranged on the gear teeth 15 of actuating device 2, along with the gear teeth 15 rotate.
As Fig. 2, Fig. 3, Fig. 5, shown in Fig. 6 and Fig. 7, bracing or strutting arrangement 1 comprises stay bearing plate A16, intermediate support beam 17, stay bearing plate B18, supporting wheel hub 19 and pivot shaft 20, wherein stay bearing plate A16, stay bearing plate B18, supporting wheel hub 19 and pivot shaft 20 are two, every side of intermediate support beam 17 is equipped with stay bearing plate A16, stay bearing plate B18 and supporting wheel hub 19, one end of the stay bearing plate A16 of both sides and one end of stay bearing plate B18 are linked together by intermediate support beam 17, the other end of the other end of the stay bearing plate A16 of both sides and the stay bearing plate B18 of both sides links together respectively by pivot shaft 20, the supporting wheel hub 19 of both sides is separately fixed on the stay bearing plate B18 of every side.
As shown in Figure 4, Figure 5, actuating device 2 comprises driving base 5, drive motor 6, driving device, torus 14 and the gear teeth 15, this driving device comprises input gear 7, transmission gear A8, Large Gear Shaft During 9, transmission gear B10, transmission gear C11, pinion shaft 12 and output gear 1), wherein transmission gear B10, transmission gear C11, pinion shaft 12, output gear 13, torus 14 and the gear teeth 15 are two, lay respectively at the both sides of bracing or strutting arrangement 1.Drive base 5 to be fixed on the stay bearing plate A16 of bracing or strutting arrangement 1, drive motor 6 is arranged on this driving base 5.The mouth of drive motor 6 is connected with input gear 7, Large Gear Shaft During 9 is rotatably installed on two stay bearing plate A16 of bracing or strutting arrangement 1, in Large Gear Shaft During 9, key is connected with the transmission gear A8 with input gear 7 engaged transmission, and connects a transmission gear B10 at each key in the two ends of Large Gear Shaft During 9.Large Gear Shaft During 9 is as the pivot shaft of in bracing or strutting arrangement 1, and namely the stay bearing plate A16 other end of both sides is linked together by this Large Gear Shaft During 9.Each pinion shaft 12 is all fixed on every collateral fagging A16 and stay bearing plate B18, each pinion shaft 12 is all rotatablely equipped with the transmission gear C11 with transmission gear B10 engaged transmission.The supporting wheel hub 19 of both sides is all rotatablely equipped with torus 14, and the inner side of each torus 14 is all connected with the output gear 13 with transmission gear C11 engaged transmission.The outer circumference surface of each torus 14 is all fixed with the gear teeth 15, and deformable crawler belt 4 engages with these gear teeth 15, drives deformable crawler belt 4 by torus 14.Because swinging arm device 3 is installed in deformable wheel body inside, drive wheel adopts split design, and namely adopt two gear teeth 15 to drive deformable crawler belt 4, namely two gear teeth 15 produce propulsive effort simultaneously simultaneously, devise a kind of single shaft gear type transferring structure form, provide propulsive effort by actuating device 2; Be arranged on and drive the drive motor 6 on base 5 to drive input gear 7 to rotate, the transmission gear A8 be engaged with is driven to move, the transmission gear B10 of both sides is delivered to by Large Gear Shaft During 9, each transmission gear C11 through being engaged with arrives the output gear 13 of both sides, output gear 13, torus 14, the gear teeth 15 are integrated, the gear teeth 15 of both sides drive deformable crawler belt 4 to rotate simultaneously, produce propulsive effort.
As shown in Fig. 3, Fig. 6 ~ 8, swinging arm device 3 comprises swing arm base 21, swing arm motor 22, coupler 23, leading screw 24, slide block 25, leading screw base 26, connecting rod 27, swing arm 28, swing arm wheel 29 and auxiliary wheel 30, and wherein leading screw base 26, connecting rod 27, swing arm 28, swing arm wheel 29, auxiliary wheel 30 are two.Swing arm base 21 is arranged on the intermediate support beam 17 of bracing or strutting arrangement 1, and swing arm motor 22 is fixed on this swing arm base 21; The mouth of swing arm motor 22 is connected with one end of coupler 23, the other end of coupler 23 connects leading screw 24, two leading screw bases 26 are fixed on the stay bearing plate B18 of bracing or strutting arrangement 1, and leading screw 24 is rotatably installed on two leading screw bases 26, and leading screw 24 is provided with slide block 25.Every side of slide block 25 is equipped with connecting rod 27 and swing arm 28, one end of both sides connecting rod 27 is hinged with slide block 25 respectively, the other end of both sides connecting rod 27 is hinged with two swing arms 28 respectively, one end of every side-sway arm 28 is hinged on the pivot shaft 20 of bracing or strutting arrangement 1, the other end is provided with the swing arm abutted with deformable crawler belt 4 and takes turns 29, and the swing arm 28 of every side is all provided with auxiliary wheel 30.Deformation of the present utility model is realized by the motion of swinging arm device 3, the swing arm 28 of both sides drives for same swing arm motor 22, this structure simplifies symmetry, easily realize in narrow and small driving wheel body content, save space, and Dual-motors Driving easily causes controlling complicated and fugitiveness, seems even more important for modular drive wheel mechanism.The swing arm motor 22 be arranged on swing arm base 21 drives leading screw 24 to rotate by coupler 23, leading screw 24 rotarily drives slide block about 25 straight-line motion on it, the swing arm 28 that connecting rod 27 promotes both sides under the effect of slide block 25 launches or regains, the swing arm wheel 29 being fixed on swing arm 28 end launches or regains deformable crawler belt 4, reach the object of drive wheel body deformability, auxiliary wheel 30 can be played a supporting role under obstacle detouring condition.
As shown in Figure 8, Figure 9, deformable crawler belt 4 comprises scalable rubber plate 31, interior grouser 32, outer grouser 33, spring 34 and spring mountings 35, inside and outside both sides on scalable rubber plate 31 are fixed with interior grouser 32 and outer grouser 33, in Timing Belt structure respectively every setting spacing, each interior grouser 32 is equipped with spring mountings 35, be connected by spring 34 between adjacent two spring mountings 35, and then each interior grouser 32 is linked together.During deformable crawler belt 4 free state, spring 34 and scalable rubber plate 31 are in original state, all length; When the swing arm 28 of swinging arm device 3 is overhanging, can stretch deformable crawler belt 4, and spring 34 and scalable rubber plate 31 are elongated, and crawler belt girth is elongated.Spring mountings 35 is at the middle part of each interior grouser 32 of deformable crawler belt 4, and swing arm wheel 29 is provided with groove, while fixing spring 34, takes turns the groove fit (being contained in groove) of 29, play the effect of guiding with swing arm.In setting spacing, grouser 32 engages with two gear teeth 15, drives deformable crawler belt 4 simultaneously.
Principle of work of the present utility model is:
Drive motor 6 works, and is rotated by the torus 14 of actuator drives both sides, and then is engaged with the interior grouser 32 on deformable crawler belt 4 by the gear teeth 15 on torus 14, drives deformable crawler belt 4.
Under the effect of swinging arm device 3, leading screw 24 is driven to rotate by swing arm motor 22, and then band movable slider 25 moves up and down, swing arm 28 is driven to open or regain, the angle making both sides swing arm 28 form setting is convenient to obstacle detouring, convenient, realize the conversion of the utility model between wheel shape and crawler belt triangle, to adapt to different terrain.When swinging arm device 3 drives swing arm 28 overhanging triangularity, actuating device 2 becomes crawler type and drives, and improves the stability of mechanism.
Drive wheel mechanism of the present utility model (i.e. two torus 14), as an independently motion module, can realize multiple wired in parallel work, and solve the problem that single module propulsive effort is little, modularization, is convenient to assembly and disassembly.
Claims (7)
1. a deformable Lun Lv couple drive mechanism, it is characterized in that: comprise bracing or strutting arrangement (1), actuating device (2), swinging arm device (3) and deformable crawler belt (4), wherein actuating device (2) comprises drive motor (6), driving device and torus (14), described drive motor (6) is arranged on bracing or strutting arrangement (1), the both sides of this bracing or strutting arrangement (1) are all rotatablely equipped with described torus (14), the described torus (14) of both sides is connected with drive motor (6) by driving device, by described drive motor (6) driven rotary, the outer circumference surface of each described torus (14) is equipped with the gear teeth (15), described deformable crawler belt (4) is engaged with these gear teeth (15), deformable crawler belt (4) is driven by described torus (14), described swinging arm device (3) comprises swing arm motor (22), leading screw (24), slide block (25), connecting rod (27), swing arm (28) and swing arm wheel (29), this swing arm motor (22) is arranged on described bracing or strutting arrangement (1), mouth is connected with leading screw (24), described slide block (25) is threadedly connected on leading screw (24), the both sides of described slide block (25) are equipped with swing arm (28), one end of the described swing arm (28) of every side is hinged on bracing or strutting arrangement (1), the other end is provided with the swing arm abutted with described deformable crawler belt (4) and takes turns (29), the described swing arm (28) of every side is all hinged by connecting rod (27) and slide block (25), and drive the distortion of described deformable crawler belt (4) with moving up and down of described slide block (25).
2. by deformable Lun Lv couple drive mechanism according to claim 1, it is characterized in that: described driving device comprises input gear (7), transmission gear A (8), Large Gear Shaft During (9), transmission gear B (10), transmission gear C (11), pinion shaft (12) and output gear (13), this input gear (7) is connected to the mouth of described drive motor (6), Large Gear Shaft During (9) is rotatably installed on described bracing or strutting arrangement (1), two ends are connected to described transmission gear B (10), and the transmission gear A (8) with described input gear (7) engaged transmission is installed in this Large Gear Shaft During (9), the both sides of described bracing or strutting arrangement (1) are equipped with the pinion shaft (12) be arranged on bracing or strutting arrangement (1), the described pinion shaft (12) of every side is all rotatablely equipped with the transmission gear C (11) with described transmission gear B (10) engaged transmission, the described torus (14) of every side is all provided with the output gear (13) with described transmission gear C (11) engaged transmission.
3. by deformable Lun Lv couple drive mechanism according to claim 1, it is characterized in that: the described swing arm (28) of every side is all provided with auxiliary wheel (30).
4. by the deformable Lun Lv couple drive mechanism described in claim 1 or 3, it is characterized in that: described bracing or strutting arrangement (1) is provided with leading screw base (26), described leading screw (24) is rotatably installed on this leading screw base (26), and top is connected by the mouth of coupler (23) with described swing arm motor (22); One end of the described connecting rod (27) of every side is all articulated with on slide block (25), and the described swing arm (28) of the other end and every side is hinged.
5. by deformable Lun Lv couple drive mechanism according to claim 1, it is characterized in that: described deformable crawler belt (4) comprises scalable rubber plate (31), interior grouser (32), outer grouser (33), spring (34) and spring mountings (35), this interior grouser (32) and outer grouser (33) are individually fixed in the inside and outside both sides of scalable rubber plate (31), each described interior grouser (32) is equipped with spring mountings (35), be connected by described spring (34) between adjacent two spring mountings (35), and then each described interior grouser (32) is linked together.
6. by deformable Lun Lv couple drive mechanism according to claim 5, it is characterized in that: described swing arm wheel (29) is provided with groove, described deformable crawler belt (4) is taken turns with swing arm and to be passed through spring mountings (35) between (29) and be placed in and lead coordinating in this groove.
7. by deformable Lun Lv couple drive mechanism according to claim 1, it is characterized in that: described bracing or strutting arrangement (1) comprises stay bearing plate A (16), intermediate support beam (17), stay bearing plate B (18), supporting wheel hub (19) and pivot shaft (20), every side of this intermediate support beam (17) is equipped with stay bearing plate A (16), stay bearing plate B (18) and supporting wheel hub (19), one end of the described stay bearing plate A (16) of both sides and one end of stay bearing plate B (18) are linked together by described intermediate support beam (17), the other end of the other end of the described stay bearing plate A (16) of both sides and the described stay bearing plate B (18) of both sides links together respectively by pivot shaft (20), the described supporting wheel hub (19) of both sides is separately fixed on the stay bearing plate B (18) of every side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520982789.5U CN205150015U (en) | 2015-11-30 | 2015-11-30 | Flexible wheel -track coupling drive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520982789.5U CN205150015U (en) | 2015-11-30 | 2015-11-30 | Flexible wheel -track coupling drive mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205150015U true CN205150015U (en) | 2016-04-13 |
Family
ID=55685735
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520982789.5U Withdrawn - After Issue CN205150015U (en) | 2015-11-30 | 2015-11-30 | Flexible wheel -track coupling drive mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205150015U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106809292A (en) * | 2015-11-30 | 2017-06-09 | 中国科学院沈阳自动化研究所 | A kind of deformable Lun Lv coupling drivings mechanism |
-
2015
- 2015-11-30 CN CN201520982789.5U patent/CN205150015U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106809292A (en) * | 2015-11-30 | 2017-06-09 | 中国科学院沈阳自动化研究所 | A kind of deformable Lun Lv coupling drivings mechanism |
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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: 20160413 Effective date of abandoning: 20190726 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20160413 Effective date of abandoning: 20190726 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |