CN206049842U - The attachment structure that achievable frame is quickly changed with moving device - Google Patents
The attachment structure that achievable frame is quickly changed with moving device Download PDFInfo
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- CN206049842U CN206049842U CN201620959978.5U CN201620959978U CN206049842U CN 206049842 U CN206049842 U CN 206049842U CN 201620959978 U CN201620959978 U CN 201620959978U CN 206049842 U CN206049842 U CN 206049842U
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Abstract
This utility model provides the attachment structure that a kind of achievable frame is quickly changed with moving device, wherein, main body axle is provided with the frame；The moving device includes vehicle wheel frame, the driving wheel being arranged on the vehicle wheel frame, the driving wheel driving wheel actuator for rotating, the driven pulley for being arranged on the vehicle wheel frame and being rotated by driving wheel drive and the positioner for being removably mounted on the end of the main body axle, the positioner is installed on vehicle wheel frame.It is compared with the prior art, the attachment structure that the achievable frame that this utility model is provided quickly is changed with moving device, moving device is capable of achieving the quickly company of tearing open and frame between by positioner, so as to the needs according to landform are changed with the moving device for being adapted structure.
Description
Technical field
This utility model is related to the attachment structure that a kind of achievable frame is quickly changed with moving device.
Background technology
In recent years, frequently occur with natural disaster and man power disaster, great casualties and property are caused to this country
Loss；After disaster occurs, due to disaster field situation it is complicated, with various unknown danger, such as radiation, biochemical danger, high temperature,
High humidity etc., when these disaster accidents are disposed before these danger are not verified, and easily produces secondary injury to rescue personnel, therefore
How to scout and verify the field condition after disaster occurs, become an important topic of mobile robot application.
Have benefited from the progress of control technology and sensor technology, explosive-removal robot is widely used, and effectively subtracts
Personnel's personal injury when harmful influence is disposed is lacked.As explosive-removal robot use environment is uncertain, landform is various, therefore the row of requirement
Quick-fried robot should have stronger handling capacity and climbing obstacle climbing ability.
At present, traditional such explosive-removal robot, mainly includes fuselage and is connected to fuselage both sides by wheel and/or crawler belt
The moving device that wheel is constituted, the driver element of moving device are mounted in car body, and fuselage is driven by drive mechanism and advanced
Device is moved, therefore, moving device and fuselage can not quick companys of tearing open, be not easy to maintenance.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of achievable frame quickly to change with moving device
Attachment structure, it is intended to solve in prior art, exist between moving device and frame can not the quick company of tearing open defect.
The attachment structure that a kind of achievable frame that this utility model is provided quickly is changed with moving device, wherein, it is described
Main body axle is provided with frame；The moving device includes vehicle wheel frame, the driving wheel being arranged on the vehicle wheel frame, makes the drive
The driving wheel actuator of wheel rotation, it is arranged on the vehicle wheel frame and the driven pulley for rotating is driven and for dismountable by driving wheel
Be fixed on positioner on the end of the main body axle, the positioner is installed on vehicle wheel frame.
Further, the positioner is located between the driving wheel and the driven pulley.
Further, the positioner include outer sleeve, the outer cone circle being arranged in the outer sleeve, be arranged on it is described
Inner cone bullet circle and the locking mechanism being arranged between the outer cone circle and the inner cone bullet circle in outer cone circle, inner cone bullet circle tool
There is the insertion space inserted for the main body shaft end；Between the locking mechanism includes that back-up ring and the back-up ring are coaxially disposed simultaneously
Every arrange compacting ring and for drive the compacting ring and the back-up ring relative movement and when the two moves towards it is internal
The outer surface of cone bullet circle applies radial pressure makes inner cone bullet circle be pressed on the multiple securing members on main body shaft end.
Further, the outer sleeve includes the wall portion of annular and removes propping up for the outer sleeve for limiting the back-up ring
Support part, the supporting part projection is on the inwall of the wall portion.
Further, axis spaced set of multiple securing members around compacting ring.
Further, the securing member is bolt.
Further, the driving wheel actuator is wheel hub motor, and the wheel hub motor includes being fixed on the vehicle wheel frame
Inner stator and outer rotor, the driving wheel include the periphery for being sheathed on the outer rotor and with outer rotor fix wheel rim；Respectively
The moving device also includes the driving chain being connected between the driving wheel and the driven pulley.
Further, the driving wheel actuator is wheel hub motor, and the wheel hub motor includes being fixed on the vehicle wheel frame
Inner stator and outer rotor, the driving wheel include the periphery for being sheathed on the outer rotor and with outer rotor fix wheel rim；Institute
Stating moving device also includes on the wheel rim for being mounted in the driving wheel and the driven pulley and by the drive wheel what is rotated
Crawler belt.
Further, the driving wheel actuator is direct current generator, and the direct current generator is with being connected with the driving wheel
Output shaft, the moving device are also included around being mounted on the driving wheel and the driven pulley and rotated by the drive wheel
Crawler belt.
It is compared with the prior art, the connection knot that the achievable frame that this utility model is provided quickly is changed with moving device
Structure, moving device are capable of achieving the quickly company of tearing open and frame between by positioner, have so as to be changed according to the needs of landform
It is adapted the moving device of structure.
Description of the drawings
Fig. 1 is the schematic perspective view of the mobile robot that this utility model embodiment one is provided；
Fig. 2 is the decomposing schematic representation of the mobile robot that this utility model embodiment one is provided；
Fig. 3 is the cross-sectional schematic in I-I faces in Fig. 1；
Fig. 4 is the schematic perspective view of the moving device that this utility model embodiment one is provided；
Schematic perspective view when Fig. 5 is the moving device omission upper track of the offer of this utility model embodiment one；
Fig. 6 is the cross-sectional schematic in II-II faces in Fig. 4；
Fig. 7 is the cross-sectional schematic of the positioner that this utility model embodiment one is provided；
Fig. 8 is the decomposing schematic representation of the positioner that this utility model embodiment one is provided；
Fig. 9 is the schematic perspective view of the mobile robot that this utility model embodiment two is provided；
Figure 10 is the schematic perspective view of the moving device that this utility model embodiment two is provided；
Figure 11 is the schematic perspective view of the moving device that this utility model embodiment three is provided；
Figure 12 is the schematic top plan view of the mobile robot that this utility model example IV is provided；
Figure 13 is the schematic top plan view of the mobile robot that this utility model embodiment five is provided.
Main element symbol description
100：Mobile robot
10：Frame 11：Accommodation space
12：Rotating shaft support plate
20：Main body axle 21：First main body axle
22：Second main body axle 201：Axletree
202：Connecting shaft 203：Pipe connecting piece
30：Moving device 31：First moving device
32：Second moving device 33：The third line enters device
34：Fourth line enters device 301：Vehicle wheel frame
302：Driving wheel 3021：Wheel rim
3022：Gear sheet
303：Driving wheel actuator
3031：Inner stator 3032：Outer rotor
3033：Output shaft 3034：First drive
3035：Second drive
304：Driven pulley 3041：Main part
3042：Connecting portion
305：Crawler belt
306：Track takeup 3061：Fixed block
3062：Slide block 3063：Slider-actuated part
3064：Guide chute
307：Guide wheel assembly 3071：Mounting seat
3072：Guide wheel
308：Driving chain
40：Pendulous device 41：First pendulous device
42：Second pendulous device 401：Push rod
402：Push rod actuator 403：Rocking arm
404：First bevel gear 405：Second bevel gear
406：Bevel drives 407：Transmission worm gear
408：Geared worm 409：Worm drive
50：Control device
60：Positioner
61：Outer sleeve 611：Wall portion
612：Supporting part
62：Outer cone circle 621：First is oriented to cooperation inclined-plane
622：3rd is oriented to cooperation inclined-plane
63：Inner cone bullet circle 631：Insertion space
632：Second is oriented to cooperation inclined-plane 633：4th is oriented to cooperation inclined-plane
64：Locking mechanism
641：Back-up ring 641a：3rd end
641b：4th end 6411：3rd guiding surface
6412：4th guiding surface
642：Compacting ring 642a：First end
642b：Second end 6421：First guiding surface
6422：Second guiding surface
65：Securing member
D1：First direction D2：Second direction
Specific embodiment
In order that technical problem to be solved in the utility model, technical scheme and beneficial effect become more apparent, with
Lower combination drawings and Examples, are further elaborated to this utility model.It should be appreciated that described embodiment is this
A part of embodiment of utility model, rather than the embodiment of whole.Based on described embodiment of the present utility model, ability
The every other embodiment obtained on the premise of without the need for creative work by domain those of ordinary skill, belongs to this utility model
The scope of protection.
For sake of convenience, hereinafter alleged " front " " afterwards " " left side " " right side " " on " D score and accompanying drawing itself it is forward and backward, left,
Right, upper and lower is to consistent, but does not play restriction effect to structure of the present utility model.
Unless otherwise defined, technical term used herein or scientific terminology are should be in this utility model art
The ordinary meaning understood by personage with general technical ability.Make in this utility model patent application specification and claims
" first ", " second " and similar word are not offered as any order, quantity or importance, and are used only to distinguish
Different ingredients.Equally, the similar word such as " one " or " " does not indicate that quantity is limited yet, but represents and exist at least
One.
Realization of the present utility model is described in detail below in conjunction with concrete accompanying drawing.
Embodiment one
If Fig. 1 is to shown, the mobile robot 100 that the present embodiment is provided, including frame 10, main body axle 20, with can not phase
Moving device 30 that the mode that main body axle 20 is rotated be connected with main body axle 20, the pendulous device 40 of 20 rotation of driving main body axle,
Control device 50 and battery component, main body axle 20, control device 50 and battery component are arranged in frame 10 and by frame 10
Support, control device 50 is used to controlling moving device 30 moving and control moving device 30 to be put with respect to frame 10 around main body axle 20
Dynamic, battery component is powered to above-mentioned moving device 30, pendulous device 40 and control device 50.It is noted that by
In control device 50 and battery component be core component, it is and fragile, thus will above-mentioned battery component and control device 50 it is single
Solely as a module encapsulation, integral sealing is in frame 10, and possesses water-proof function, when control section is damaged, can
Whole module is changed, maintenance time is reduced and is safeguarded formality.
Referring to Fig. 2, frame 10, used as load bearing unit, which includes an accommodation space 11 and a pair of rotating shaft support plates 12, above-mentioned
The battery component and control device 50 of integral packaging is removably mounted in accommodation space 11.Main body axle 20, with rotationally
Mode is bearing on the rotating shaft support plate 12 of frame 10.In the present embodiment, two rotating shaft support plates 12 D1 in the first direction
(the D1 directions in diagram) extends, and the interval setting in second direction D2 (the D2 directions in diagram).The quantity of main body axle 20
For but be not limited to two, respectively on front side of frame 10 the first main body axle 21 of (front side of diagram) and be arranged on rear side
The second main body axle 22 of (rear side of diagram), the first and second main body axles 21,22 are connected to rotating shaft by a bearing block respectively
On fagging 12, the axis of the first and second main body axles 21,22 extends along the direction parallel to second direction D2.
Referring to Fig. 2 and 3, the first and second main body axles 21,22 adopt hollow structure, and include two axletrees
201 and the connecting shaft 202 that is connected between two axletrees 201, hollow axletree 201 is arranged on rotating shaft by a bearing block
In gripper shoe 12, one end of axletree 201 is used to connect moving device 30, and the other end passes through pipe connecting piece 203 and hollow connection
Axle 202 is fixedly connected, so it is easy to understand that can be placed with cable in the inside of the first and second main body axles 21,22, dress of advancing
Put 30 be attached on main body axle 20 after, be connected with battery component and control device 50 by cable.
Certainly, axletree 201 and connecting shaft 202 can also be integrally formed.
Referring to Fig. 1 to 3, pendulous device 40, it is connected with main body axle 20 and make main body axle 20 to rotate around the axis of main body axle 20,
Two pendulous devices 40 are corresponded with two main body axles 20 respectively.In the present embodiment, the quantity of pendulous device 40 is but not
Two are confined to, the first pendulous device 41 being respectively connected with the first main body axle 21 and be connected with the second main body axle 22 second
Pendulous device 42.It should be noted that the first and second pendulous devices 41,42 are located in the opposite sides of frame 10 respectively, the
The structure of one pendulous device 41 and the second pendulous device 42 is essentially identical, below brief description by taking the first pendulous device 41 as an example
The structure of one pendulous device 41 and the second pendulous device 42.
First pendulous device 41 includes push rod 401, push rod actuator 402 and Rocker arm 4 03, push rod actuator 402 be but
Cylinder or electric cylinder are not limited to, wherein, 402 one end of push rod actuator of the first pendulous device 41 is hinged on rotating shaft support plate 12
Outside, push rod 401 is arranged on push rod actuator 402, and under the driving of push rod actuator 402, push rod 401 can be along push rod
Move relative to push rod actuator 402 on 401 length direction, one end and the push rod 401 of Rocker arm 4 03 are hinged, the other end is with can not
The mode rotated relative to the axletree 201 of the first main body axle 21 is fixedly connected with the axletree 201.It is understood that passing through
Stretching for the control push rod of control device 50 actuator 402, makes push rod 401 pull Rocker arm 4 03 to rotate, and drives the first and second masters
Body axle 21,22 is rotated around the axis of main body axle 20, so as to realize driving the 30 relative frame of moving device with the connection of main body axle 20
10 swing.Specifically, by the swing of 30 relative frame 10 of moving device, the road clearance of frame 10 can be changed, this is made
The mobile robot 100 of embodiment possesses obstacle detouring and gradeability.
Referring to 3 to 5, moving device 30, as the driver element of mobile robot 100, is configured in the end of main body axle 20,
And drive frame 10 to walk.In the present embodiment, the quantity of moving device 30 is but is not limited to four, arranges in pairs,
And with two moving devices 30 on a main body axle 20, be in essentially symmetrically to arrange in the center line of frame 10.Four moving devices
30 points be the first moving device 31 (the front right moving device in diagram, be referred to as below the first moving device 31), second advance dress
Put 32 (the front left moving device in diagram, be referred to as below the second moving device 32), the third line enter the 33 (rear right in diagram of device
Moving device, be referred to as below the third line enter device 33) and fourth line enter device 34 (the rear right moving device 30 in diagram, below
It is referred to as fourth line and enters device 34), wherein, the first and second moving devices 31,32 are respectively with can not relative 21 turns of first main body axle
Dynamic mode is connected to the end of the first main body axle 21, and the third and fourth moving device 33,34 is respectively with can not relative second master
The mode that body axle 22 is rotated is connected to the end of the second main body axle 22.First, second, third and fourth moving device 31,32,
33rd, 34 structure can with it is identical (as adopt structure shown in Fig. 3-5, or adopt structure shown in Figure 10) or it is similar (for example its
In structure shown in one or several employing Fig. 3-5 and it is in addition several or one adopt structure shown in Figure 10), advance with first below
The structure of brief description first, second, third and fourth moving device 31,32,33,34 as a example by device 31.
Referring to Fig. 4 to 6, the moving device 30 that the present embodiment is provided is track structure, and there is stronger ground to pass through for which
Property, can travel on the road surface such as sand ground in sandstone.Specifically, the first moving device 31 includes the car being connected with the first main body axle 21
Wheel carrier 301, the driving wheel 302 being arranged on vehicle wheel frame 301 in rotationally mode, driving wheel 302 is made around the driving wheel 302
The driving wheel actuator 303 of center rotating, it is arranged on vehicle wheel frame 301 in rotationally mode and rotation is driven by driving wheel 302
Driven pulley 304 and crawler belt 305, driven pulley 304 is arranged side by side in the direction parallel to first direction D1 with driving wheel 302.
Crawler belt 305 can be flexible pedrail, and the flexible pedrail is but is not limited to belt, after crawler belt 305 is installed around, its inner surface respectively with
The outer surface engagement of driving wheel 302 and driven pulley 304, and rotation is driven by driving wheel 302.It is noted that will drive
Unit-modularized design, when driving wheel actuator 303 breaks down, is individually replaced module (changing moving device 30), reduces
The time that whole machine is spent needed for safeguarding, simplify the maintenance work of robot.
Wherein, vehicle wheel frame 301 is used to install above-mentioned part and be supported above-mentioned part, and vehicle wheel frame 301 is with can not
The mode rotated relative to main body axle 20 is connected with the first main body axle 21, and vehicle wheel frame 301 is located at the junction of the first main body axle 21
Between the driving wheel 302 and driven pulley 304 of the vehicle wheel frame 301, it is to be understood that in the case where pendulous device 40 drives, vehicle wheel frame
301 rotate relative to frame 10 around junction, to change the way of contact of moving device 30 and ground.
As it can be seen in figures 5 and 6, the driving wheel actuator 303 that the present embodiment is provided is wheel hub motor, wheel hub motor includes being fixed on
Inner stator 3031 and outer rotor 3032 on vehicle wheel frame 301, driving wheel 302 include the periphery for being sheathed on outer rotor 3032 and with it is outer
The wheel rim 3021 that rotor 3032 is fixed, wheel rim 3021 and the wheel hub motor of the driving wheel 302 collectively form the drive of moving device 30
Dynamic component.Driven pulley 304 includes main part 3041 and is connected to two connecting portions 3042 of 3041 opposite sides of main part, connects
Portion 3042 is arranged on vehicle wheel frame 301 by bearing block.Crawler belt 305 is around the wheel rim 3021 and driven pulley 304 for being mounted in driving wheel 302
On, construction tooth is formed with the outer surface of wheel rim 3021, the construction tooth can be with the complementary structure being formed on 305 inner surface of crawler belt
Make engagement.It should be noted that adopt In-wheel motor driving, wheel hub motor and 302 integrated design of driving wheel, relative to tradition
Robot motor is installed in car body, then using the form of drive mechanism driving moment again, this structure can reduce car
Space required for motor is installed in vivo, and reduce the drive mechanism and spare and accessory parts of centre.In such manner, it is possible to preferably realize product
The miniaturization of entirety, lightweight, cost degradation production.During use, moving device 30 is installed to after frame 10, by controlling dress
Put 50 control wheel hub motor-driven caterpillar tracks 305 to advance, the structure has the good suitability, do not limited by 10 dimensional space of frame
System, is applicable to various car wheel structures.
Referring to Fig. 4 to 6, used as further optimizing, each moving device 30 also includes being tensioned for adjusting crawler belt 305
Two track takeups 306 of degree, two track takeups 306 are corresponded with two connecting portions 3042 respectively.Specifically
Ground, each track takeup 306 include fixed block 3061, slide block 3062 and slider-actuated part 3063.Each slide block 3062
On be provided with for supporting the bearing block of 304 connecting portion 3042 of driven pulley, slide block 3062 has along parallel to first direction D1
The guide chute 3064 that extends of direction, stretched in guide chute 3064 by screw, by slide block 3062 with can be parallel to the
The mode that relative wheel frame 301 slides on the direction of one direction D1 is slidably arranged on vehicle wheel frame 301, and fixed block 3061 passes through spiral shell
Nail etc. all it is existing be fixedly mounted in frame 10, slider-actuated part 3063 is but is not limited to cylinder, slider-actuated
One end of part 3063 and fixed block 3061, the other end are connected with slide block 3062.It is easily understood that passing through track takeup
306, the spacing between driving wheel 302 and driven pulley 304 can be adjusted, facilitates the replacing of crawler belt 305 and the regulation of rate of tension.
Referring to Fig. 5, used as further optimizing, each moving device 30 also includes being arranged on leading on vehicle wheel frame 301
Wheel assembly 307, guide wheel assembly 307 are included the mounting seat 3071 being fixed on vehicle wheel frame 301 and are bearing in rotationally mode
Multiple guide wheels 3072 in mounting seat 3071.Specifically, guide wheel assembly 307 is located substantially at the middle part of vehicle wheel frame 301, guide wheel assembly
3072 points of multiple guide wheels in 307 are two rows, two interval settings on the direction parallel to second direction D2 of row's guide wheel 3072, often
Each guide wheel 3072 of individual row's guide wheel 3072 is arranged side by side on the direction parallel to first direction D1, the appearance of each guide wheel 3072
Face is contacted with the inner surface of crawler belt 305 and crawler belt 305 is supported.By the setting of guide wheel assembly 307, can be to crawler belt 305
It is driven, in addition, can prevent 305 local of crawler belt from deforming because stress is excessive in the moving process of running gear, increased
Mobile stationarity.It is noted that above-mentioned guide wheel 3072 can be by flexible member and 3071 elastic connection of mounting seat, bullet
Property element elastic force can enter row buffering to the stress of guide wheel 3072, so as to avoid guide wheel 3072 cause because stress is excessive damage.
Referring to Fig. 3 to 7, in order to realize the quick-replaceable to moving device 30, moving device 30 also includes and main body axle 20
The positioner 60 of connection.Positioner 60 includes outer sleeve 61, the outer cone circle 62 being arranged in outer sleeve 61, is arranged on outer cone
Inner cone bullet circle 63 and the locking mechanism 64 being arranged between outer cone circle 62 and inner cone bullet circle 63 in circle 62, inner cone bullet circle 63 have
There is the insertion space 631 inserted for 20 end of main body axle.Outer sleeve 61 is solid by all existing fixed forms such as screw, welding
Dingan County is mounted on vehicle wheel frame 301, and the position of outer sleeve 61 is preferably in the middle part of vehicle wheel frame 301,60 center of positioner and driving
The spacing for taking turns 302 centers is essentially identical with the spacing at 304 center of 60 center of positioner and driven pulley.
From figure 7 it can be seen that locking mechanism 64 includes outer peripheral face respectively with the inwall and inner cone bullet circle 63 of outer cone circle 62
The back-up ring 641 of abutting, with the compacting ring 642 that back-up ring 641 is coaxially disposed and for driving compacting ring 642 and back-up ring 641 relative
Movement simultaneously makes inner cone bullet circle 63 be pressed on master the outer surface applying radial pressure of inner cone bullet circle 63 when the two moves towards
Multiple securing members 65 on 20 end of body axle.Specifically, outer sleeve 61 includes the wall portion 611 and the inwall by wall portion 611 of annular
The supporting part 612 that one end is inwardly stretched out, supporting part 612 are used to limit the removal outer sleeve 61 of back-up ring 641.Outer cone circle 62, inner cone bullet
A breach is respectively provided with the circumference of circle 63.Securing member 65 is but is not limited to bolt, and multiple securing members 65 are around compacting ring 642
Axis spaced set, securing member 65 are threadedly coupled with compacting ring 642 and back-up ring 641 respectively, twist securing member 65, can make compression
Circle 642 and 641 relative movement of back-up ring.
As shown in fig. 7, compacting ring 642 has first end 642a near back-up ring 641 and relative with first end 642a the
Two end 642b, the outer peripheral face of compacting ring 642 is with from the second end 642b to first end 642a and the extension that slopes inwardly first is led
To inclined-plane 6421, the inwall of compacting ring 642 is with from the second end 642b to first end 642a and outward-dipping extension second is led
To inclined-plane 6422；The inwall of outer cone circle 62 coordinates inclined-plane 621 with the first guiding for abutting with the first guiding surface 6421,
The outer peripheral face of inner cone bullet circle 63 coordinates inclined-plane 632 with the second guiding for abutting with the second guiding surface 6422.Back-up ring 641
With the 3rd end 641a and the fourth end 641b relative with the 3rd end 641a near compacting ring 642, the periphery mask of back-up ring 641
Have from the 4th end 641b to the 3rd end 641a and the extension that slopes inwardly the 3rd guiding surface 6411, the inwall of back-up ring 641 has
From the 4th end 641b to the 3rd end 641a and outward-dipping extension the 4th guiding surface 6412；The inwall of outer cone circle 62 has to be used
Coordinate inclined-plane 622 in the 3rd guiding abutted with the 3rd guiding surface 6411, the outer peripheral face of inner cone bullet circle 63 is with for the
The 4th guiding that four guiding surface 6412 is abutted coordinates inclined-plane 633.It is easily understood that opposite with back-up ring 641 in compacting ring 642
When mobile, meeting external cone circle 62 produces radially outer oppressive force, while radially inner oppressive force is produced to inner cone bullet circle 63,
So as to put into the compression of 20 end of main body axle in insertion space 631；When compacting ring 642 is moved backward with back-up ring 641, make
Compression used in 20 end of main body axle is eliminated, and main body axle 20 is separated with positioner 60, so, is capable of achieving the fast of positioner 60
Speed is changed, and is easy to the maintenance to whole machine.
Used as further optimizing, the mobile robot 100 of the present embodiment also includes relative for detecting moving device 30
The angular transducer (not shown) of 10 rotational angle of frame, in the present embodiment, angular transducer is but is not limited to two, two
Individual angular transducer can be separately positioned in pendulous device 40, and angular transducer is connected and communicates with control device 50, so as to
The angle swung when control device 50 resets to moving device 30 is controlled.
The present embodiment also provides a kind of mode of progression of above-mentioned mobile robot 100, comprises the following steps：
A) provide a mobile robot 100；
B) controlled before front pendulous device 40 makes the first moving device 31 and the second moving device 32 by control device 50
End is swung up, to increase the road clearance of frame 10；
C) after the front end of the first moving device 31 and the second moving device 32 is higher than barrier, controlled by control device 50
The third line processed enters device 33 and fourth line is entered the driving wheel actuator 303 of device 34 and makes frame 10 advance to the direction of barrier, OK
While entering, after control, pendulous device 40 makes that the third line enters device 33 and fourth line is entered the front end of device 34 and is swung up；
D) when the first moving device 31 and the second moving device 32 are moved to above barrier, control the first moving device
31 and second the front end of moving device 32 reset to lower swing, and enter device 33 in the third line and fourth line is entered device 34 and is moved to
When above barrier, control the third line enters device 33 and fourth line enters the front end of device 34 to lower swing reset；
E) after the front end of the first moving device 31 and the second moving device 32 clears the jumps, the control of control device 50 the
The front end of one moving device 31 and the second moving device 32 is to lower swing, and enters device 33 in the third line and fourth line enters device 34
Front end clear the jumps after, the control the third line of control device 50 enters device 33 and fourth line enters the front end of device 34 to the bottom
It is dynamic；And
F) the third line enter device 33 and fourth line enter device 34 rear end leave barrier after, control each dress of advancing respectively
Put 30 swings reset.
Embodiment two
9 and 10 only just elaborate with difference in previous embodiment below in conjunction with the accompanying drawings.
Referring to Fig. 9 and 10, the moving device 30 that the present embodiment is provided is dicycly structure, with turn over function, is capable of achieving
The function of similar swing arm, makes robot have the functions such as stair climbing, obstacle detouring.The moving device 30 includes what is be connected with main body axle 20
Vehicle wheel frame 301, the driving wheel 302 being arranged on vehicle wheel frame 301 in rotationally mode, driving wheel 302 is made around the driving wheel 302
Center rotating driving wheel actuator 303, be arranged on vehicle wheel frame 301 in rotationally mode and by driving wheel 302 drive turn
Dynamic driven pulley 304 and the driving chain 308 being connected between driving wheel 302 and driven pulley 304, driven pulley 304 and driving
Wheel 302 is arranged side by side in the direction parallel to first direction D1, and driving wheel 302 drives 304 turns of driven pulley by driving chain 308
It is dynamic.It is noted that positioner 60 is provided with vehicle wheel frame 301, the positioner 60 is located substantially in vehicle wheel frame 301
Portion, by positioner 60, realizes the quickly company of tearing open between moving device 30 and frame 10, can be according to actual requirement, by two-wheel
The moving device 30 of formula structure is switched over the moving device 30 of track structure.
As shown in Figure 10, in the present embodiment, driving wheel actuator 303 is wheel hub motor, and wheel hub motor includes being fixed on car
Inner stator 3031 and outer rotor 3032 on wheel carrier 301, driving wheel 302 are included the periphery for being sheathed on outer rotor 3032 and are turned with outer
The wheel rim 3021 that son 3032 is fixed, wheel rim 3021 and the wheel hub motor of the driving wheel 302 collectively form the driving of moving device 30
Part.Driven pulley 304 includes main part 3041 and is connected to two connecting portions 3042 of 3041 opposite sides of main part, connecting portion
3042 are arranged on vehicle wheel frame 301 by bearing block, can also be covered respectively in the periphery of main part 3041 and 3021 periphery of wheel rim
It is provided with tire.It should be noted that adopt In-wheel motor driving, wheel hub motor and 302 integrated design of driving wheel, relative to biography
The robot of system installs motor in car body, and then using the form of drive mechanism driving moment again, this structure can be reduced
Space required for motor is installed in car body, and reduce the drive mechanism and spare and accessory parts of centre.In such manner, it is possible to preferably realize producing
The overall miniaturization of product, lightweight, cost degradation production.During use, moving device 30 is installed to after frame 10, by control dress
Put 50 to be controlled, In-wheel motor driving advances, the structure has the good suitability, do not limited by 10 dimensional space of frame,
It is applicable to various car wheel structures.
Embodiment three
11 only just elaborate with difference in previous embodiment below in conjunction with the accompanying drawings.
The moving device 30 that the present embodiment is provided is track structure, and specifically, the first moving device 31 includes and first
The vehicle wheel frame 301 of the connection of main body axle 21, the driving wheel 302 being arranged on vehicle wheel frame 301 in rotationally mode, make driving wheel
302 be arranged on vehicle wheel frame 301 around the driving wheel actuator 303 of the center rotating of the driving wheel 302, in rotationally mode and by
Driving wheel 302 drives the driven pulley 304 and crawler belt 305 for rotating, and driven pulley 304 is with driving wheel 302 parallel to first direction
The direction of D1 is arranged side by side.Crawler belt 305 can be flexible pedrail 305, and the flexible pedrail 305 is but is not limited to belt, crawler belt
After 305 install around, its inner surface is engaged with the outer surface of driving wheel 302 and driven pulley 304 respectively, and is driven by driving wheel 302
Rotate.It is noted that by driver element modularized design, when driving wheel actuator 303 breaks down, being individually replaced module
(changing moving device 30), reduces the time spent needed for whole machine is safeguarded, simplifies the maintenance work of robot.
As shown in figure 11, in the present embodiment, driving wheel actuator 303 is direct current generator, and direct current generator is installed in vehicle wheel frame
On 301 and positioned at the side of driving wheel 302, direct current generator is with the output shaft 3033 being connected with driving wheel 302.Specifically, drive
Driving wheel 302 includes a gear sheet 3022, and construction tooth is formed with the outer surface of gear sheet 3022, and the construction tooth can be with formation
Complementary structure engagement on 305 inner surface of crawler belt, direct current generator are connected with the gear sheet 3022 of driving wheel 302 by transmission component
Connect, driven pulley 304 is essentially identical with the shape of gear sheet 3022, driven pulley 304 is also gear-like.Transmission component is included with can not
Relative to output shaft 3033 rotate mode be set in the first drive 3034 on output shaft 3033 and with the first drive 3034
Second drive 3035 of engagement, the second drive 3035 are fixedly connected on the center of gear sheet 3022, the first drive 3034
Axis be vertical setting with the axis of the second drive 3035.
Example IV
12 only just elaborate with difference in previous embodiment below in conjunction with the accompanying drawings.
The present embodiment provides another kind and can realize that the pendulous device 40 of the 30 relative swing of frame 10 of moving device is tied
Structure, in the present embodiment, pendulous device 40 is included can not be set on main body axle 20 in the way of the rotation of main body axle 20
First bevel gear 404, the second bevel gear 405 engaged with first bevel gear 404 and the cone tooth for making the rotation of second bevel gear 405
Wheel driving moving part 406, bevel drives 406 are but are not limited to motor, so it is easy to understand that bored by the control of control device 50
Gear drive 406 rotates second bevel gear, so as to drive the main body axle 20 being connected with first bevel gear 404 to rotate, realizes
The swing for swinging by 30 relative frame 10 of moving device with the 30 relative frame 10 of moving device of the connection of main body axle 20 is driven,
The road clearance of frame 10 can be changed, make the mobile robot 100 of the present embodiment possess obstacle detouring and gradeability.
Embodiment five
13 only just elaborate with difference in previous embodiment below in conjunction with the accompanying drawings.
The present embodiment provides another pendulous device 40 that can realize that 30 relative frame 10 of moving device swings and ties
Structure, in the present embodiment, in the present embodiment, pendulous device 40 is included can not be set in the way of the rotation of main body axle 20
Transmission worm gear 407 on main body axle 20, with the geared worm 408 that engage of transmission worm gear 407 and make the rotation of geared worm 408
Worm drive 409, worm drive 409 are but are not limited to motor, so it is easy to understand that control snail by control device 50
Bar actuator 409 rotates geared worm 408, so as to the main body axle 20 for driving and being driven the connection of worm gear 407 is rotated, realizes driving
With the swing for swinging by 30 relative frame 10 of moving device of the 30 relative frame 10 of moving device of the connection of main body axle 20, can change
Become the road clearance of frame 10, make the mobile robot 100 of the present embodiment possess obstacle detouring and gradeability.
Preferred embodiment of the present utility model is these are only, it is not to limit this utility model, all in this practicality
Any modification, equivalent or improvement for being made within new spirit and principle etc., should be included in guarantor of the present utility model
Within the scope of shield.
Claims (9)
1. the attachment structure that a kind of achievable frame is quickly changed with moving device, it is characterised in that be provided with the frame
Main body axle；The moving device includes vehicle wheel frame, the driving wheel being arranged on the vehicle wheel frame, makes the dynamic of the driving wheel rotation
Wheel driving moving part, it is arranged on the vehicle wheel frame and the driven pulley for rotating and described for being removably mounted to is driven by driving wheel
Positioner on the end of main body axle, the positioner are installed on the vehicle wheel frame.
2. the attachment structure that achievable frame according to claim 1 is quickly changed with moving device, it is characterised in that institute
State positioner to be located between the driving wheel and the driven pulley.
3. the attachment structure that achievable frame according to claim 1 is quickly changed with moving device, it is characterised in that institute
Stating positioner includes outer sleeve, the outer cone circle being arranged in the outer sleeve, the inner cone bullet circle being arranged in the outer cone circle
And the locking mechanism being arranged between the outer cone circle and the inner cone bullet circle, the inner cone bullet circle is with for the main body axle
The insertion space that end is inserted；The locking mechanism includes：
Back-up ring；
Compacting ring, is coaxially disposed with the back-up ring and interval setting；And
Multiple securing members, for driving the compacting ring and the back-up ring relative movement and when the two moves towards to described interior
The outer surface of cone bullet circle applies radial pressure makes inner cone bullet circle be pressed on main body shaft end.
4. the attachment structure that achievable frame according to claim 3 is quickly changed with moving device, it is characterised in that institute
Stating outer sleeve includes the wall portion of annular and the supporting part of the outer sleeve is removed for limiting the back-up ring, the supporting part projection
On the inwall of the wall portion.
5. the attachment structure that achievable frame according to claim 3 is quickly changed with moving device, it is characterised in that many
Axis spaced set of the individual securing member around compacting ring.
6. the attachment structure that achievable frame according to claim 3 is quickly changed with moving device, it is characterised in that institute
Securing member is stated for bolt.
7. the attachment structure that achievable frame according to any one of claim 1 to 6 is quickly changed with moving device, its
It is characterised by, the driving wheel actuator is wheel hub motor, and the wheel hub motor includes the inner stator being fixed on the vehicle wheel frame
And outer rotor, the wheel rim that the driving wheel is included the periphery for being sheathed on the outer rotor and fixed with outer rotor；Each traveling
Device also includes the driving chain being connected between the driving wheel and the driven pulley.
8. the attachment structure that achievable frame according to any one of claim 1 to 6 is quickly changed with moving device, its
It is characterised by, the driving wheel actuator is wheel hub motor, and the wheel hub motor includes the inner stator being fixed on the vehicle wheel frame
And outer rotor, the wheel rim that the driving wheel is included the periphery for being sheathed on the outer rotor and fixed with outer rotor；The dress of advancing
Put the crawler belt for also including on the wheel rim for being mounted in the driving wheel and the driven pulley and by the drive wheel rotating.
9. the attachment structure that achievable frame according to any one of claim 1 to 6 is quickly changed with moving device, its
It is characterised by, the driving wheel actuator is direct current generator, and the direct current generator is with the output shaft being connected with the driving wheel, institute
Stating moving device is also included around being mounted in the crawler belt that rotates on the driving wheel and the driven pulley and by the drive wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620959978.5U CN206049842U (en) | 2016-08-26 | 2016-08-26 | The attachment structure that achievable frame is quickly changed with moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620959978.5U CN206049842U (en) | 2016-08-26 | 2016-08-26 | The attachment structure that achievable frame is quickly changed with moving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206049842U true CN206049842U (en) | 2017-03-29 |
Family
ID=58382054
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620959978.5U Expired - Fee Related CN206049842U (en) | 2016-08-26 | 2016-08-26 | The attachment structure that achievable frame is quickly changed with moving device |
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| Country | Link |
|---|---|
| CN (1) | CN206049842U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364502A (en) * | 2017-07-25 | 2017-11-21 | 上海坤电气工程有限公司 | Caterpillar mobile robot |
| CN111055673A (en) * | 2019-12-30 | 2020-04-24 | 北京晶品特装科技有限责任公司 | Lightweight driving device for robot platform |
-
2016
- 2016-08-26 CN CN201620959978.5U patent/CN206049842U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364502A (en) * | 2017-07-25 | 2017-11-21 | 上海坤电气工程有限公司 | Caterpillar mobile robot |
| CN107364502B (en) * | 2017-07-25 | 2020-05-22 | 上海一坤电气工程有限公司 | Crawler-type mobile robot |
| CN111055673A (en) * | 2019-12-30 | 2020-04-24 | 北京晶品特装科技有限责任公司 | Lightweight driving device for robot platform |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 518000 TCL Science Park F2 601, 1001 Zhongshan Garden Road, Shuguang Community, Xili Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Anze Intelligent Robot Co.,Ltd. Address before: 518000 Room 1107, Block A, Tianli Central Plaza, Haide Sandao, Yuehai Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN ANZER INTELLIGENT ENGINEERING CO.,LTD. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170329 |