CN205203162U - Star is barrier wheel more based on planet wheel - Google Patents
Star is barrier wheel more based on planet wheel Download PDFInfo
- Publication number
- CN205203162U CN205203162U CN201520828175.1U CN201520828175U CN205203162U CN 205203162 U CN205203162 U CN 205203162U CN 201520828175 U CN201520828175 U CN 201520828175U CN 205203162 U CN205203162 U CN 205203162U
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Abstract
An object of the utility model is to provide a star is barrier wheel more based on planet wheel, DC servo motor is connected with the drive shaft through the shaft coupling is direct, the direct drive drive shaft, through gear drive with power transmission to the shafting of installing the drive wheel, under the drive effect of drive wheel, it can move at the enterprising course in road surface to hinder the platform more. Simultaneously star is barrier wheel more based on planet wheel is under the unloaded condition, and under the drive effect of motor, the whole wheel of barrier more has certain upset ability, be applied to hinder moving platform more after, a plurality of this more the cooperation of barrier wheel use, when meetting the barrier, in the drive of barrier wheel more and rather than cooperation more under the thrust or tensile force of barrier wheel, the barrier wheel can overturn more, realizes hindering more the function. The utility model discloses have certain road surface handling capacity, the barrier wheel still has around transmission shaft pivoted ability more simultaneously, and helping more, the upset of barrier wheel hinders the function more.
Description
Technical field
The utility model relates to a kind of robot, specifically the barrier getting over mechanism of robot.
Background technology
At present about the research of the mobile platforms such as barrier-surpassing robot, building search and rescue robot, mainly contain two kinds: crawler-mounted traveling gear, adopt the Climbing building device of three horn rings.Two kinds adapt to the mobile platform of complex-terrains and all have its respective feature, and crawler-mounted traveling gear has good road surface carrying capacity but alerting ability is poor, adopts the Climbing building device of three horn rings to use more for convenience, but can not realize autonomous driving.Obstacle detouring, the road surface carrying capacity of climbing the mobile platforms such as building and obstacle detouring level determine its working environment to a certain extent, therefore have certain meaning to the research of Stump-jump wheel.
The disclosed a kind of stair active obstacle wheel of Chinese patent (CN103770823A), the unlatching of direct current variable frequency motor is controlled by function unit, intelligently to drive each drive wheel to carry out alternate rotation in good time, whole stair are made to subsidize Stump-jump wheel autonomous; When running into obstacle, stretching out of electromagnetism push rod is carried out until continue to extend until taken turns by whole stair active obstacle and regularly carry out conter clockwise and overturn to clear the jumps with earth surface by function unit control relay, this stair active obstacle wheel operationally, control process is complicated, adds the complexity of whole barrier getting over mechanism.
Summary of the invention
The purpose of this utility model is to provide can advance and have a kind of star Stump-jump wheel based on satellite gear of upset ability on road surface.
The purpose of this utility model is achieved in that
A kind of star Stump-jump wheel based on satellite gear of the utility model, is characterized in that: comprise the first-three obstacle detouring unit, first obstacle detouring unit comprises the first-the second train support frame, first-three couples drive wheel, first-six transmission gear, the inwall of the first train support frame and the internal face opposite of the second train support frame are arranged, between the inwall and the second train support frame of the first train support frame, ecto-entad installs the first transmission shaft successively, first bolt, second driving shaft, second bolt, 3rd transmission shaft, 4th transmission shaft, described first transmission shaft, first bolt, second driving shaft, second bolt, 3rd transmission shaft and the 4th transmission shaft coordinate with the first train support frame and the second train support frame respectively by deep groove ball bearing, pair of driving wheels is arranged on the first transmission shaft, second pair of drive wheel is arranged on second driving shaft, 3rd pair of drive wheel is arranged on the 4th transmission shaft, first transmission gear is arranged on the first transmission shaft between pair of driving wheels, second transmission gear is installed on the first bolt, 3rd transmission gear is arranged on the second driving shaft between second pair of drive wheel, 4th transmission gear is arranged on the second bolt, 5th transmission gear is arranged on the 3rd transmission shaft, 6th transmission gear is arranged on the 4th transmission shaft, first-six transmission gear is meshed successively, second obstacle detouring unit, the 3rd obstacle detouring unit and shared five transmission gear identical with the structure of the first obstacle detouring unit, and the axis of the first-three obstacle detouring unit is separated by 120 degree between two.
The utility model can also comprise:
1, the shaft part that the first transmission shaft coordinates with pair of driving wheels and the first transmission gear is square shaft, and the shaft part that second driving shaft coordinates with second pair of drive wheel and the 3rd transmission gear is square shaft.
2, the deep groove ball bearing that the first bolt is mated adopts free-running fit, and the deep groove ball bearing that the second bolt is mated adopts free-running fit.
3, described 4th transmission shaft is hollow structure, run through in 4th transmission shaft and bolt of rear end plate is set, the two ends of bolt of rear end plate lay respectively at the first train support frame outer exterior wall and the second train support frame outer exterior wall, and the first train support frame and the second train support frame are fixed by spacing fastening shaft sleeve by bolt of rear end plate.
Advantage of the present utility model is:
1, the utility model is the star Stump-jump wheel based on satellite gear, and Stump-jump wheel has certain road surface carrying capacity under the driving effect of DC servo motor, and Stump-jump wheel also has the ability around drive axis simultaneously, contributes to the upset obstacle crossing function of Stump-jump wheel;
2, in the utility model not with two groups of drive wheels of earth surface, and can anti-raw relative motion during bar contact, be equivalent to the function with ground contacting drive wheel, Stump-jump wheel can not be made to block on obstacle, improve the obstacle climbing ability of Stump-jump wheel.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the A-A view of Fig. 1;
Fig. 3 is live axle system a, the transmission shafting b partial view of Stump-jump wheel;
Fig. 4 is main drive shaft system e, the transmission shafting d partial view of Stump-jump wheel.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the utility model is described in more detail:
Composition graphs 1 ~ 4, a kind of star Stump-jump wheel based on satellite gear (hereinafter referred to as " Stump-jump wheel "), Fig. 1 is its front view, place plane and horizontal plane, carry out individual drive by DC servo motor, through gearing shaft system, transmission of power is to live axle system a the most at last.This star Stump-jump wheel based on satellite gear has certain upset ability under zero load, in load conditions, realizes obstacle crossing function by carrying out upset under being mated the thrust of the Stump-jump wheel of installation or pulling force effect.
The utility model based on the star Stump-jump wheel of satellite gear A-A view as shown in Figure 2, it is the component units module of Stump-jump wheel, and whole Stump-jump wheel is mutually 120 ° by three such unit modules and forms, and its design sketch is as shown in Figure 1.The unit module of Stump-jump wheel is primarily of module compositions such as train support frame 4, live axle system a, transmission shafting b, live axle system c, transmission shafting f, main drive shaft system e and live axle system d.
Wherein live axle system a forms with the module of live axle system c is the same, but its function is different, the function of live axle system a is enterprising row cutting walking in smooth-riding surface, and the function of live axle system c is when this Stump-jump wheel is at obstacle detouring, drive wheel 2 ceaselessly rotates, can relative motion be there is with during bar contact, anti-Stump-jump wheel here when throwing over barrier and bar contact block.The function of live axle system d is identical with the function of live axle system c, when running into obstacle, drive wheel 3 also can with obstacle generation relative motion, but its composition is distinguished to some extent.Transmission shafting b is identical with the composition of transmission shafting f and function is also identical, but transmission shafting b and the transmission shafting f installation site on Stump-jump wheel is different.
The utility model provides a kind of star Stump-jump wheel based on satellite gear, has both had the locomotor activity on smooth-riding surface, has again the upset obstacle climbing ability under complex environment.
As shown in Figure 3, live axle system a forms primarily of the transmission shaft 12 of train support frame 4, transmission gear 5, pad 31, pad 32, positioning shaft sleeve 33, deep groove ball bearing 11, the band shaft shoulder.Transmission shaft 12 wherein with the shaft shoulder is square shaft with the shaft part that coordinates of transmission gear 5 and drive wheel 1, ensure that do not have relative motion between transmission gear 5 and drive wheel 1.The shaft shoulder on transmission shaft 12 with the shaft shoulder plays positioning action to transmission gear 5 and drive wheel 1, and abutment sleeve 10 is the location to drive wheel 1 simultaneously, avoids drive wheel 1, in rotation process, axial motion occurs.
As shown in Figure 3, live axle system b forms primarily of transmission gear 5, transmission gear 10, deep groove ball bearing 11, thrust baring 13, location fastening shaft sleeve 14, bolt 15, spacing collar 16, spring washer 17, nut 18.Wherein its transmission shaft effect is bolt 15, bolt 15 runs through whole live axle system b, bolt 15 and deep groove ball bearing 11 free-running fit, ensure freely rotating of axle system, the spacing collar 16 pairs of transmission gears 5 be enclosed within bolt 15 carry out spacing, ensure that the position of transmission gear 15 in transmission shafting.Fastening shaft sleeve 14 1 aspect, location is used for carrying out spacing to thrust baring 13, is used on the one hand coordinating with bolt 15, is fixed, prevents whole train to be scattered to train support frame 4.
As shown in Figure 4, drive train e forms primarily of train support frame 4, transmission gear 6, limited support sleeve 19, the transmission shaft 20 of the band shaft shoulder, deep groove ball bearing 21.Treat that the transmission shaft 20 of the shaft shoulder can carry out axial location to transmission gear 6, limited support sleeve 19 prevents transmission gear 6 from axial motion occurring, and provides the pitch smaller that the outside bearing force of certain axis prevents between train support frame 4 simultaneously.Transmission gear 6 center is that square hole coordinates with the square shaft of the transmission shaft 20 of the band shaft shoulder, and when being with the transmission shaft 20 of the shaft shoulder to rotate, band nutating gear 6 rotates simultaneously and carries out transferring power.
As shown in Figure 4, drive train d forms primarily of train support frame 4, transmission gear 7, deep groove ball bearing 22, bolt 23, pad 24, spacing fastening shaft sleeve 25, spacing collar 26, pad 27, Hollow Transmission Shafts 28, spring washer 29, nut 30.Transmission gear 7 carries out axial location by the shaft shoulder in Hollow Transmission Shafts 28, drive wheel 3 carries out axial limiting by spacing collar 26, the centre hole of Hollow Transmission Shafts 28 is for placing bolt 23, the effect of bolt 23 is mainly fixed train support frame 4, ensures to immobilize in the train support frame 4 relative position formula of both sides.
This is based on the star Stump-jump wheel of satellite gear, under the driving effect of DC servo motor, rotational power is delivered on transmission gear 6 by main drive shaft system e, as shown in Figure 2, to Stump-jump wheel viewed from the right side of Stump-jump wheel, when supposing that transmission gear 6 rotates clockwise, transmission gear 6 can drive the transmission gear 8 that engages with it and transmission gear 7 to rotate counterclockwise, transmission gear 7 can drive the drive wheel 3 on transmission shafting d same with it to rotate counterclockwise, and improves obstacle climbing ability.When transmission gear 8 rotates counterclockwise, the transmission gear 9 engaged with it rotates clockwise, and transmission gear 9 drives the drive wheel 2 on axle drive shaft system c same with it to rotate clockwise, and improves obstacle climbing ability.The transmission gear 10 engaged with transmission gear 9 rotates counterclockwise, transmission gear 5 engages with transmission gear 10, transmission gear 5 rotates clockwise, drive the drive wheel 1 on same axle drive shaft system a to rotate clockwise and then drive whole train to move, smooth-riding surface makes Stump-jump wheel have good road surface carrying capacity.When running into obstacle, drive wheel 1 on Stump-jump wheel and bar contact, upset obstacle detouring is carried out under the thrust of Stump-jump wheel or pulling force effect that the driving effect and coordinating of drive wheel 1 is installed, drive wheel 2 simultaneously on live axle system c, d, drive wheel 3 rotate under the driving of axle drive shaft, relative motion is there is when itself and bar contact, prevent from blocking between Stump-jump wheel and obstacle, finally realize obstacle crossing function.
The disclosed a kind of stair active obstacle wheel of Chinese patent (CN103770823A), the unlatching of direct current variable frequency motor is controlled by function unit, intelligently to drive each drive wheel to carry out alternate rotation in good time, whole stair are made to subsidize Stump-jump wheel autonomous; When running into obstacle, stretching out of electromagnetism push rod is carried out until continue to extend until taken turns by whole stair active obstacle and regularly carry out conter clockwise and overturn to clear the jumps with earth surface by function unit control relay, this stair active obstacle wheel operationally, control process is complicated, adds the complexity of whole barrier getting over mechanism.
The technical solution of the utility model is: carry out individual drive by DC servo motor, and through gearing shaft system, transmission of power is to live axle system a the most at last.This star Stump-jump wheel based on satellite gear has certain upset ability under zero load, in load conditions, realizes obstacle crossing function by carrying out upset under being mated the thrust of the Stump-jump wheel of installation or pulling force effect.
The utility model based on the star Stump-jump wheel of satellite gear A-A view as shown in Figure 2, it is the component units module of Stump-jump wheel, and whole Stump-jump wheel is mutually 120 ° by three such unit modules and forms, and its design sketch is as shown in Figure 1.The unit module of Stump-jump wheel is primarily of module compositions such as train support frame 4, live axle system a, transmission shafting b, live axle system c, transmission shafting f, main drive shaft system e and live axle system d.
Wherein live axle system a forms with the module of live axle system c is the same, but its function is different, the function of live axle system a is enterprising row cutting walking in smooth-riding surface, and the function of live axle system c is when this Stump-jump wheel is at obstacle detouring, drive wheel 2 ceaselessly rotates, can relative motion be there is with during bar contact, anti-Stump-jump wheel here when throwing over barrier and bar contact block.The function of live axle system d is identical with the function of live axle system c, when running into obstacle, drive wheel 3 also can with obstacle generation relative motion, but its composition is distinguished to some extent.Transmission shafting b is identical with the composition of transmission shafting f and function is also identical, but transmission shafting b and the transmission shafting f installation site on Stump-jump wheel is different.
The utility model provides a kind of star Stump-jump wheel based on satellite gear, has both had the locomotor activity on smooth-riding surface, has again the upset obstacle climbing ability under complex environment.
As shown in Figure 3, live axle system a forms primarily of the transmission shaft 12 of train support frame 4, transmission gear 5, pad 31, pad 32, positioning shaft sleeve 33, deep groove ball bearing 11, the band shaft shoulder.Transmission shaft 12 wherein with the shaft shoulder is square shaft with the shaft part that coordinates of transmission gear 5 and drive wheel 1, ensure that do not have relative motion between transmission gear 5 and drive wheel 1.The shaft shoulder on transmission shaft 12 with the shaft shoulder plays positioning action to transmission gear 5 and drive wheel 1, and abutment sleeve 10 is the location to drive wheel 1 simultaneously, avoids drive wheel 1, in rotation process, axial motion occurs.
As shown in Figure 3, live axle system b forms primarily of transmission gear 5, transmission gear 10, deep groove ball bearing 11, thrust baring 13, location fastening shaft sleeve 14, bolt 15, spacing collar 16, spring washer 17, nut 18.Wherein its transmission shaft effect is bolt 15, bolt 15 runs through whole live axle system b, bolt 15 and deep groove ball bearing 11 free-running fit, ensure freely rotating of axle system, the spacing collar 16 pairs of transmission gears 5 be enclosed within bolt 15 carry out spacing, ensure that the position of transmission gear 15 in transmission shafting.Fastening shaft sleeve 14 1 aspect, location is used for carrying out spacing to thrust baring 13, is used on the one hand coordinating with bolt 15, is fixed, prevents whole train to be scattered to train support frame 4.
As shown in Figure 4, drive train e forms primarily of train support frame 4, transmission gear 6, limited support sleeve 19, the transmission shaft 20 of the band shaft shoulder, deep groove ball bearing 21.Treat that the transmission shaft 20 of the shaft shoulder can carry out axial location to transmission gear 6, limited support sleeve 19 prevents transmission gear 6 from axial motion occurring, and provides the pitch smaller that the outside bearing force of certain axis prevents between train support frame 4 simultaneously.Transmission gear 6 center is that square hole coordinates with the square shaft of the transmission shaft 20 of the band shaft shoulder, and when being with the transmission shaft 20 of the shaft shoulder to rotate, band nutating gear 6 rotates simultaneously and carries out transferring power.
As shown in Figure 4, drive train d forms primarily of train support frame 4, transmission gear 7, deep groove ball bearing 22, bolt 23, pad 24, spacing fastening shaft sleeve 25, spacing collar 26, pad 27, Hollow Transmission Shafts 28, spring washer 29, nut 30.Transmission gear 7 carries out axial location by the shaft shoulder in Hollow Transmission Shafts 28, drive wheel 3 carries out axial limiting by spacing collar 26, the centre hole of Hollow Transmission Shafts 28 is for placing bolt 23, the effect of bolt 23 is mainly fixed train support frame 4, ensures to immobilize in the train support frame 4 relative position formula of both sides.
This is based on the star Stump-jump wheel of satellite gear, under the driving effect of DC servo motor, rotational power is delivered on transmission gear 6 by main drive shaft system e, as shown in Figure 2, to Stump-jump wheel viewed from the right side of Stump-jump wheel, when supposing that transmission gear 6 rotates clockwise, transmission gear 6 can drive the transmission gear 8 that engages with it and transmission gear 7 to rotate counterclockwise, transmission gear 7 can drive the drive wheel 3 on transmission shafting d same with it to rotate counterclockwise, and improves obstacle climbing ability.When transmission gear 8 rotates counterclockwise, the transmission gear 9 engaged with it rotates clockwise, and transmission gear 9 drives the drive wheel 2 on axle drive shaft system c same with it to rotate clockwise, and improves obstacle climbing ability.The transmission gear 10 engaged with transmission gear 9 rotates counterclockwise, transmission gear 5 engages with transmission gear 10, transmission gear 5 rotates clockwise, drive the drive wheel 1 on same axle drive shaft system a to rotate clockwise and then drive whole train to move, smooth-riding surface makes Stump-jump wheel have good road surface carrying capacity.When running into obstacle, drive wheel 1 on Stump-jump wheel and bar contact, upset obstacle detouring is carried out under the thrust of Stump-jump wheel or pulling force effect that the driving effect and coordinating of drive wheel 1 is installed, drive wheel 2 simultaneously on live axle system c, d, drive wheel 3 rotate under the driving of axle drive shaft, relative motion is there is when itself and bar contact, prevent from blocking between Stump-jump wheel and obstacle, finally realize obstacle crossing function.
Claims (5)
1. based on a star Stump-jump wheel for satellite gear, it is characterized in that: comprise the first-three obstacle detouring unit, first obstacle detouring unit comprises the first-the second train support frame, first-three couples drive wheel, first-six transmission gear, the inwall of the first train support frame and the internal face opposite of the second train support frame are arranged, between the inwall and the second train support frame of the first train support frame, ecto-entad installs the first transmission shaft successively, first bolt, second driving shaft, second bolt, 3rd transmission shaft, 4th transmission shaft, described first transmission shaft, first bolt, second driving shaft, second bolt, 3rd transmission shaft and the 4th transmission shaft coordinate with the first train support frame and the second train support frame respectively by deep groove ball bearing, pair of driving wheels is arranged on the first transmission shaft, second pair of drive wheel is arranged on second driving shaft, 3rd pair of drive wheel is arranged on the 4th transmission shaft, first transmission gear is arranged on the first transmission shaft between pair of driving wheels, second transmission gear is installed on the first bolt, 3rd transmission gear is arranged on the second driving shaft between second pair of drive wheel, 4th transmission gear is arranged on the second bolt, 5th transmission gear is arranged on the 3rd transmission shaft, 6th transmission gear is arranged on the 4th transmission shaft, first-six transmission gear is meshed successively, second obstacle detouring unit, the 3rd obstacle detouring unit and shared five transmission gear identical with the structure of the first obstacle detouring unit, and the axis of the first-three obstacle detouring unit is separated by 120 degree between two.
2. a kind of star Stump-jump wheel based on satellite gear according to claim 1, it is characterized in that: the shaft part that the first transmission shaft coordinates with pair of driving wheels and the first transmission gear is square shaft, the shaft part that second driving shaft coordinates with second pair of drive wheel and the 3rd transmission gear is square shaft.
3. a kind of star Stump-jump wheel based on satellite gear according to claim 1 and 2, is characterized in that: the deep groove ball bearing that the first bolt is mated adopts free-running fit, and the deep groove ball bearing that the second bolt is mated adopts free-running fit.
4. a kind of star Stump-jump wheel based on satellite gear according to claim 1 and 2, it is characterized in that: described 4th transmission shaft is hollow structure, run through in 4th transmission shaft and bolt of rear end plate is set, the two ends of bolt of rear end plate lay respectively at the first train support frame outer exterior wall and the second train support frame outer exterior wall, and the first train support frame and the second train support frame are fixed by spacing fastening shaft sleeve by bolt of rear end plate.
5. a kind of star Stump-jump wheel based on satellite gear according to claim 3, it is characterized in that: described 4th transmission shaft is hollow structure, run through in 4th transmission shaft and bolt of rear end plate is set, the two ends of bolt of rear end plate lay respectively at the first train support frame outer exterior wall and the second train support frame outer exterior wall, and the first train support frame and the second train support frame are fixed by spacing fastening shaft sleeve by bolt of rear end plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520828175.1U CN205203162U (en) | 2015-10-23 | 2015-10-23 | Star is barrier wheel more based on planet wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520828175.1U CN205203162U (en) | 2015-10-23 | 2015-10-23 | Star is barrier wheel more based on planet wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205203162U true CN205203162U (en) | 2016-05-04 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520828175.1U Withdrawn - After Issue CN205203162U (en) | 2015-10-23 | 2015-10-23 | Star is barrier wheel more based on planet wheel |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205203162U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197119A (en) * | 2015-10-23 | 2015-12-30 | 哈尔滨工程大学 | Star-shaped obstacle crossing wheel based on planet gear |
| CN107089273A (en) * | 2017-03-16 | 2017-08-25 | 昆明理工大学 | A kind of variable bit running gear |
-
2015
- 2015-10-23 CN CN201520828175.1U patent/CN205203162U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105197119A (en) * | 2015-10-23 | 2015-12-30 | 哈尔滨工程大学 | Star-shaped obstacle crossing wheel based on planet gear |
| CN107089273A (en) * | 2017-03-16 | 2017-08-25 | 昆明理工大学 | A kind of variable bit running gear |
| CN107089273B (en) * | 2017-03-16 | 2019-04-09 | 昆明理工大学 | A kind of variable bit running gear |
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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: 20160504 Effective date of abandoning: 20170524 |
|
| AV01 | Patent right actively abandoned |