CN205273649U - Pedrail robot - Google Patents
Pedrail robot Download PDFInfo
- Publication number
- CN205273649U CN205273649U CN201520828403.5U CN201520828403U CN205273649U CN 205273649 U CN205273649 U CN 205273649U CN 201520828403 U CN201520828403 U CN 201520828403U CN 205273649 U CN205273649 U CN 205273649U
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- CN
- China
- Prior art keywords
- connecting rod
- caterpillar robot
- wheel
- driven pulley
- rod
- Prior art date
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Abstract
The utility model discloses a pedrail robot relates to the robotechnology field. The utility model discloses a pedrail robot, including track and athey wheel, the athey wheel includes the action wheel and follows the driving wheel, the action wheel is connected with actuating mechanism, pedrail robot still includes five linkages, five linkage settings are in the action wheel with driven taking turns to is worked as when pedrail robot crosses the obstacle, five linkages are adjusted into four -bar linkage, through four -bar linkage will from the driving wheel promotion, cross the barrier. The utility model provides a pedrail robot, simple structure can adjust self structure according to ground environment for can adapt to different ground environment.
Description
Technical field
This utility model relates to robotics, particularly relates to a kind of caterpillar robot.
Background technology
Mobile apparatus people is had a great impact by ground environment, constrains mobile apparatus man-based development to a great extent. Therefore improving robot is one of sixty-four dollar question in robot present stage evolution to the adaptive ability of ground environment. Passive self adaptation, refers to that robot can when drive lacking, it is possible to fully rely on self structure and complete obstacle detouring, and this is in some special application scenarios, as: occasion has extremely important application bottom space, disaster area, mine etc. Passive self adaptation reduces the motor number of whole robot, reduces the degree of freedom that the requirement controlling system does not but reduce robot.
Utility model content
The purpose of this utility model is in that to propose a kind of caterpillar robot, it is possible to the ground environment that passive self adaptation is different, controls system and simple in construction.
For reaching this purpose, this utility model by the following technical solutions:
A kind of caterpillar robot, including crawler belt and Athey wheel, described Athey wheel includes drivewheel and driven pulley, described drivewheel is connected with driving mechanism, and described caterpillar robot also includes five-rod, and described five-rod is arranged on described drivewheel and described driven pulley, when described caterpillar robot crossing over blockage, described five-rod is adjusted to four-bar mechanism, is promoted by described driven pulley by described four-bar mechanism, crossing over blockage.
Further technical scheme, described driving mechanism drives described drivewheel by the output shaft on described driving mechanism, described five-rod includes first connecting rod, second connecting rod and third connecting rod, described first connecting rod is arranged on described output shaft, described second connecting rod is arranged on the position of the central shaft deviateing described driven pulley on described driven pulley, and described first connecting rod and second connecting rod are flexibly connected with the two ends of described third connecting rod respectively.
Further technical scheme, the junction of described second connecting rod and third connecting rod is provided with self-locking device, makes cannot mutually rotate between described second connecting rod and third connecting rod by described self-locking device.
Further technical scheme, described self-locking device include bulk from lock body, described on lock body, it is provided with groove, one sidewall of described groove offers blind hole, it is provided with spring in described blind hole, described spring is connected to crushing block near one end of described groove, described crushing block can pass in and out described blind hole, described self-locking device is fixed on described second connecting rod or described third connecting rod, described second connecting rod and third connecting rod can be concurrently placed in described groove, and are subject to the extruding of described crushing block.
Further technical scheme, described self-locking device is fixed on described third connecting rod, and described second connecting rod offers squeezing groove, and described crushing block can be expressed in described squeezing groove by spring, described second connecting rod and third connecting rod is extruded simultaneously.
Further technical scheme, also includes supporting wheel in described Athey wheel, the described wheel that supports is positioned at described drivewheel and the lower section of described driven pulley.
Further technical scheme, the number of described support wheel is at least 3.
Further technical scheme, described caterpillar robot also includes body, and described support wheel is both secured on described body.
Further technical scheme, described driving mechanism is arranged in described body.
Further technical scheme, described driving mechanism includes motor and decelerator, and described decelerator includes the first gear and the second gear, and described first gear is located on the motor shaft of described motor, and described second gear is located on described output shaft.
The beneficial effects of the utility model:
The caterpillar robot that the utility model proposes, including five-rod, when across obstacle, described five-rod becomes four-bar mechanism, and is locked by self-locking device, make four-bar mechanism stable, simultaneously the driven pulley in robot can be promoted by four-bar mechanism under the effect of motor so that robot can across obstacle, in like manner can also realize climbing, realize the adaptation to Different Ground environment, and control system and simple in construction.
Accompanying drawing explanation
Fig. 1 is the structural representation of the caterpillar robot that this utility model provides;
Fig. 2 is the partial enlarged drawing at A place in Fig. 1;
Fig. 3 is the structural representation of the self-locking structure that this utility model provides;
Fig. 4 is the sectional view in B-B face in Fig. 3;
Fig. 5 is the structural representation of the driving mechanism that this utility model provides.
Wherein, 1, crawler belt; 2, Athey wheel; 21, drivewheel; 22, driven pulley; 23, wheel is supported; 3, driving mechanism; 31, motor; 32, motor shaft; 33, output shaft; 34, the first gear; 35, the second gear; 4, first connecting rod; 5, second connecting rod; 51, squeezing groove; 6, third connecting rod; 7, self-locking device; 71, from lock body; 72, groove; 73, blind hole; 74, spring; 75, crushing block; 8, body.
Detailed description of the invention
The technical solution of the utility model is further illustrated below in conjunction with accompanying drawing and by detailed description of the invention.
Embodiment 1
As shown in Figure 1, a kind of caterpillar robot, including crawler belt 1 and Athey wheel 2, Athey wheel 2 includes drivewheel 21 and driven pulley 22, and drivewheel 21 is connected with driving mechanism 3, caterpillar robot also includes five-rod, five-rod is arranged on drivewheel 21 and driven pulley 22, and when caterpillar robot crossing over blockage, five-rod is adjusted to four-bar mechanism, by four-bar mechanism, driven pulley 22 is promoted, throwing over barrier.
Driving mechanism 3 is by output shaft 33 drivewheel 21 on driving mechanism 3, specifically, as shown in Figure 1, five-rod includes first connecting rod 4, second connecting rod 5 and third connecting rod 6, first connecting rod 4 is arranged on output shaft, second connecting rod 5 is arranged on driven pulley 22 to deviate the position of central shaft of driven pulley 22, and first connecting rod 4 and second connecting rod 5 are flexibly connected with the two ends of third connecting rod 6 respectively. Distance dependent between the bar length of five-rod and drivewheel 21, driven pulley 22, bar length is constant, and the length of crawler belt 1 is constant, it is ensured that the tension force of crawler belt 1 and pretightning force.
As in figure 2 it is shown, the junction of second connecting rod 5 and third connecting rod 6 is provided with self-locking device 7, second connecting rod 5 and third connecting rod 6 is made not to relatively rotate by self-locking device 7 so that five-rod is adjusted to four-bar mechanism. As shown in Figures 3 and 4, self-locking device 7 include bulk from lock body 71, groove 72 it is provided with on lock body 71, offering blind hole 73 on one sidewall of groove 72, be provided with spring 74 in blind hole 73, spring 74 is connected to crushing block 75 near one end of groove 72, crushing block 75 can pass in and out blind hole 73, self-locking device 7 is fixed on second connecting rod 5 or third connecting rod 6, and second connecting rod 5 and third connecting rod 6 can be concurrently placed in groove 72, and the extruding of the block 75 that is squeezed. Above-mentioned spring 74 can also select the flexible member that other are suitable, it is possible to crushing block is extruded, it is prevented that second connecting rod and third connecting rod rotate mutually.
Self-locking device 7 is fixed on third connecting rod 6; second connecting rod 5 offers squeezing groove 51; crushing block 75 can be expressed in squeezing groove 51 by spring 74; second connecting rod 5 and third connecting rod 6 are extruded; preventing from relatively rotating between second connecting rod 5 and third connecting rod 6, self-locking device 7 may be also secured on second connecting rod 5, then corresponding squeezing groove 51 is arranged on third connecting rod 6; no matter which root connecting rod self-locking device 7 is fixed on, belongs to protection domain of the present utility model.
Athey wheel 2 also includes support wheel 23, support wheel 23 and be positioned at the lower section of drivewheel 21 and driven pulley 22, the number supporting wheel 23 is at least 3, in order to enable the contact area increasing robot with ground as far as possible, it is ensured that operating steadily of robot; Caterpillar robot also includes body 8, supports wheel 23 and is both secured on body 8, body 8 is played a supporting role.
As it is shown in figure 5, driving mechanism 3 is arranged in body 8, it is ensured that driving mechanism 3 will not be subject to destruction and the interference in the external world. Driving mechanism 3 includes motor 31 and decelerator, decelerator includes the first gear 34 and the second gear 35, and the first gear 34 is located on the motor shaft 32 of motor 31, and the second gear 35 is located on output shaft 33, drive drivewheel 21 by output shaft 33, and then the overall robot of realization moves forward.
When this caterpillar robot does not run into bigger barrier, when running normally, owing to being five-rod between drivewheel 21 and driven pulley 22, it is possible to move flexibly so that more smooth and easy in robot running; When this caterpillar robot runs into bigger barrier, first controlling motor 31 makes drivewheel 21 reverse, first connecting rod 4 is made to drive second connecting rod 5, third connecting rod 6 and driven pulley 22 to move, effect due to self-locking device 7, make will not rotate against between second connecting rod 5 and third connecting rod 6, form four-bar mechanism, while forming four-bar mechanism, owing to motor 31 reverses, driven pulley 22 lifts under the effect of drivewheel 21 and crawler belt 1, after motor 31 runs well, this robot then can clear the jumps or climb.
Embodiment 2
The present embodiment and the structure basic simlarity of caterpillar robot in embodiment 1, including crawler belt 1 and Athey wheel 2, Athey wheel 2 includes drivewheel 21 and driven pulley 22, drivewheel 21 is connected with driving mechanism 3, and caterpillar robot also includes five-rod, and five-rod is arranged on drivewheel 21 and driven pulley 22, when caterpillar robot crossing over blockage, five-rod is adjusted to four-bar mechanism, is promoted by driven pulley 22 by four-bar mechanism, throwing over barrier.
It is different in that, structure and the bar length of each bar of described five-rod are not limit, and the structure of driving mechanism 3 is not limit, and the number of Athey wheel 2 is not limit, can can become four-bar mechanism by five-rod when running into obstacle, and driven pulley 22 crossing over blockage can be promoted.
Obviously, above-described embodiment of the present utility model is merely to know and this utility model example is described, and is not the restriction to embodiment of the present utility model. For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description. Here without also cannot all of embodiment be given exhaustive. All any amendment, equivalent replacement and improvement etc. made within spirit of the present utility model and principle, should be included within this utility model scope of the claims.
Claims (10)
1. a caterpillar robot, it is characterized in that, including crawler belt (1) and Athey wheel (2), described Athey wheel (2) includes drivewheel (21) and driven pulley (22), described drivewheel (21) is connected with driving mechanism (3), described caterpillar robot also includes five-rod, described five-rod is arranged on described drivewheel (21) and described driven pulley (22), when described caterpillar robot crossing over blockage, described five-rod is adjusted to four-bar mechanism, by described four-bar mechanism, described driven pulley (22) is promoted, crossing over blockage.
2. caterpillar robot according to claim 1, it is characterized in that, described driving mechanism (3) drives described drivewheel (21) by the output shaft (33) on described driving mechanism (3), described five-rod includes first connecting rod (4), second connecting rod (5) and third connecting rod (6), described first connecting rod (4) is arranged on described output shaft (33), described second connecting rod (5) is arranged on the position of the upper central shaft deviateing described driven pulley (22) of described driven pulley (22), described first connecting rod (4) and second connecting rod (5) are flexibly connected with the two ends of described third connecting rod (6) respectively.
3. caterpillar robot according to claim 2, it is characterized in that, the junction of described second connecting rod (5) and third connecting rod (6) is provided with self-locking device (7), makes cannot mutually rotate between described second connecting rod (5) and third connecting rod (6) by described self-locking device (7).
4. caterpillar robot according to claim 3, it is characterized in that, described self-locking device (7) include bulk from lock body (71), described on lock body (71), it is provided with groove (72), one sidewall of described groove (72) offers blind hole (73), spring (74) it is provided with in described blind hole (73), described spring (74) is connected to crushing block (75) near one end of described groove (72), described crushing block (75) can pass in and out described blind hole (73), described self-locking device (7) is fixed on described second connecting rod (5) or described third connecting rod (6), described second connecting rod (5) and third connecting rod (6) can be concurrently placed in described groove (72), and it is subject to the extruding of described crushing block (75).
5. caterpillar robot according to claim 4, it is characterized in that, described self-locking device (7) is fixed on described third connecting rod (6), described second connecting rod (5) offers squeezing groove (51), described crushing block (75) can be expressed in described squeezing groove (51) by spring (74), described second connecting rod (5) and third connecting rod (6) is extruded simultaneously.
6. caterpillar robot according to claim 1, it is characterized in that, also including supporting wheel (23) in described Athey wheel (2), the described wheel (23) that supports is positioned at described drivewheel (21) and the lower section of described driven pulley (22).
7. caterpillar robot according to claim 6, it is characterised in that the number of described support wheel (23) is at least 3.
8. caterpillar robot according to claim 7, it is characterised in that described caterpillar robot also includes body (8), and the described wheel (23) that supports is both secured on described body (8).
9. caterpillar robot according to claim 8, it is characterised in that described driving mechanism (3) is arranged in described body (8).
10. according to the arbitrary described caterpillar robot of claim 2-5, it is characterized in that, described driving mechanism (3) includes motor (31) and decelerator, described decelerator includes the first gear (34) and the second gear (35), described first gear (34) is located on the motor shaft (31) of described motor (31), and described second gear (35) is located on described output shaft (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520828403.5U CN205273649U (en) | 2015-10-23 | 2015-10-23 | Pedrail robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520828403.5U CN205273649U (en) | 2015-10-23 | 2015-10-23 | Pedrail robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205273649U true CN205273649U (en) | 2016-06-01 |
Family
ID=56058250
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520828403.5U Expired - Fee Related CN205273649U (en) | 2015-10-23 | 2015-10-23 | Pedrail robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205273649U (en) |
-
2015
- 2015-10-23 CN CN201520828403.5U patent/CN205273649U/en not_active Expired - Fee Related
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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: 20160601 Termination date: 20181023 |