CN206327460U - A kind of robot transmission crawler belt of omnidirectional moving - Google Patents

A kind of robot transmission crawler belt of omnidirectional moving Download PDF

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Publication number
CN206327460U
CN206327460U CN201621333040.9U CN201621333040U CN206327460U CN 206327460 U CN206327460 U CN 206327460U CN 201621333040 U CN201621333040 U CN 201621333040U CN 206327460 U CN206327460 U CN 206327460U
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China
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roller
crawler belt
plate
fixed
inner plate
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CN201621333040.9U
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Chinese (zh)
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管俊
袁凯
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Hagongda Robot Group Shanghai Co Ltd
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Hagongda Robot Group Shanghai Co Ltd
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Abstract

A kind of robot transmission crawler belt of omnidirectional moving, including multiple outer link components (1) and multiple roll wheel assemblies (3);The outer link component (1) includes two outer plates (102), two bearing pins (101);The roll wheel assembly (3) includes a roller (303), the roller (303) is arranged on a roller shaft (304), and the roller (303) can rotate around the roller shaft (304) itself;The roller shaft (304) is fixed on roller fixed mount (305);The roller fixed mount (305) is fixed on inner plate (309);Two bearing pins (101) of any outer link component (1) are connected with the inner plate (309) of two neighboring roll wheel assembly (3) respectively;Sharp angle between the roller shaft (304) and the bearing pin (101) is 40~50 °.Omnidirectional moving can be realized by installing the mobile robot of driven pedrail of the present utility model;It can also be walked on the road surface of out-of-flatness, carry out obstacle detouring, can adapt to different orographic conditions.

Description

A kind of robot transmission crawler belt of omnidirectional moving
Technical field
The utility model is related to robot field, more particularly to a kind of transmission of omnidirectional moving applied in robot is carried out Band.
Background technology
Existing mobile robot can adapt to different landform and flexibly be turned to improve obstacle climbing ability Curved, many mobile robots all carry out walking transmission using crawler belt, but the speed of this caterpillar mobile robot can not be improved, Noise in running is larger.Moreover, the radius of turn of existing caterpillar mobile robot is very big, underaction, it is impossible to Disposably it can only many times be walked by narrow place, therefore during walking along crawler haulage direction;Due to Crawler belt can not carry out omni-directional movement, existing caterpillar mobile robot can not be realized the motion of multiple directions, Zhi Nengjin The unidirectional motion of row.
In addition, the crawler haulage speed of existing caterpillar mobile robot can not be too fast, therefore the speed of travel is received Limitation.And utilize the ecad of the mobile robot road pavement of common omni-directional wheel making poor, can only be on smooth clean road surface Upper walking, it is impossible to carry out obstacle detouring, this is limited by very large the application of robot.
Utility model content
The purpose of this utility model is that there is provided a kind of driven pedrail of omnidirectional moving in order to solve the deficiencies in the prior art.
The purpose of this utility model is achieved through the following technical solutions:
A kind of robot transmission crawler belt of omnidirectional moving, including multiple outer link components and multiple roll wheel assemblies;
The outer link component includes two bearing pins that two outer plates, two ends are separately fixed on two outer plates;
The roll wheel assembly includes a roller, and the roller is arranged on a roller shaft, and the roller can be around the roller Axle itself rotates;The two ends of the roller shaft are separately fixed on a roller fixed mount;Each roller fixed mount is fixed on On one inner plate;
Inner plate of two bearing pins of any outer link component respectively with two neighboring roll wheel assembly is connected;The rolling Sharp angle between wheel shaft and the bearing pin is 40~50 °.
Further, the roller fixed mount include integrally formed upper mounted plate and bottom plate, fixed plate and Bottom plate is mutually perpendicular to, and one first mounting hole is provided with fixed plate.
Further, the roller is the cylindrical of inner hollow, the acute angle angle between the roller shaft and the bearing pin Spend for 45 °.
Further, one bearing is respectively installed at the two ends of each roller, each roller shaft is passed through inside roller, roller two ends Bearing and two roller fixed mounts on the first mounting hole, the two ends of the roller shaft are fixed on by the roller by nut On fixed mount.
Further, the inner plate include upper inner plate and lower inner plate, the upper inner plate and lower inner plate one into Type and it is mutually perpendicular to;The lower inner plate is " ∞ " type, and two the second mounting holes are provided with the lower inner plate.
Further, the bottom plate of each roller fixed mount is fixed on the upper interior chain of an inner plate by conical head rivet On plate.
Further, the roll wheel assembly also includes two rollers and two sleeves, and the roller and sleeve are inner hollow Cylindrical;Each sleeve is arranged on described in one inside roller, and the roller and the sleeve gap coordinate.
Further, the outer plate is " ∞ " type, and two the 3rd mounting holes are provided with each outer plate, described The two ends of bearing pin are separately mounted in the 3rd mounting hole of an outer plate, and the bearing pin and the 3rd mounting hole are interference fitted;It is described Two bearing pins in outer link component be arranged in parallel.
Further, the roller and sleeve are located in the middle of the lower inner plate of two inner plates;The one of the outer link component Bearing pin is installed through being located at the second of the same side with above-mentioned sleeve on the sleeve inner of side of a roll wheel assembly, two inner plates Hole;Another bearing pin of the outer link component through on the sleeve inner of side of adjacent roller assemblies, two inner plates with it is upper State the second mounting hole that sleeve is located at the same side;Bearing pin and the sleeve gap coordinates.
Further, also including drive sprocket, conical tooth, the conical tooth and outer link group are provided with the drive sprocket Space between part, roll wheel assembly cooperates.
A kind of robot transmission crawler belt for omnidirectional moving that the utility model is provided may be mounted at the bottom of mobile robot On disk, roller of the utility model in roll wheel assembly can around its own axle rotate, by the outer link component of interconnection, Roll wheel assembly formation driven pedrail, driven pedrail can be integrally displaced sideways.It can be installed on the chassis of mobile robot multiple The driven pedrail that the utility model is provided, driven pedrail could be arranged to different directions, form a variety of different driven pedrails Combination.
In summary, the combination formed by multiple driven pedrails, the transmission for installing omnidirectional moving of the present utility model is carried out The mobile robot of band can realize the multi-motion modes such as forward, traversing, diagonal, rotation and combinations thereof, you can carry out omnidirectional's fortune It is dynamic.Installing the mobile robot of the driven pedrail of omnidirectional moving of the present utility model can also walk on the road surface of out-of-flatness, Obstacle detouring is carried out, different orographic conditions are can adapt to.Because the utility model employs crawler haulage, therefore without the concern for subtracting Shock stability, than existing omnidirectional's wheel mobile robot good damping effect.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the robot transmission crawler belt of omnidirectional moving of the utility model;
Fig. 2 is a kind of front view of the robot transmission crawler belt of omnidirectional moving of the utility model;
Fig. 3 is a kind of roll wheel assembly explosive view of the robot transmission crawler belt of omnidirectional moving of the utility model;
Fig. 4 is a kind of structural representation of the outer link component of the robot transmission crawler belt of omnidirectional moving of the utility model;
Fig. 5 is a kind of structural representation of the roller fixed mount of the robot transmission crawler belt of omnidirectional moving of the utility model;
Fig. 6 is a kind of structural representation of the inner plate of the robot transmission crawler belt of omnidirectional moving of the utility model.
Embodiment
It is understandable to enable above-mentioned purpose of the present utility model, feature and advantage to become apparent, below in conjunction with the accompanying drawings to this The embodiment of utility model is described in detail.
The utility model provides a kind of robot transmission crawler belt of omnidirectional moving, refers to Fig. 1, Fig. 2, including multiple outer Link assemblies 1, multiple roll wheel assemblies 3 and drive sprocket 2.
Fig. 3 is referred to, the roll wheel assembly 3 includes a roller 303, roller fixed mount 305, inner plate 309, the roller 303 be the cylindrical of inner hollow.The roller 303 is arranged on a roller shaft 304, and the roller 303 can be around the rolling Wheel shaft 304 itself rotates;The two ends of the roller shaft 304 are separately fixed on a roller fixed mount 305;Each roller is consolidated Determine frame 305 to be fixed on an inner plate 309.
Fig. 5 is referred to, the roller fixed mount 305 includes integrally formed upper mounted plate 401 and bottom plate 402, institute State upper mounted plate 401 and bottom plate 402 is mutually perpendicular to, one first mounting hole is provided with fixed plate 401.
One bearing 302 is respectively installed at the two ends of each roller 303, each roller shaft 304 is passed through inside roller 303, rolling The first mounting hole on the bearing 302 and two roller fixed mounts 305 at 303 two ends is taken turns, by nut 301 by the roller shaft 304 two ends are separately fixed on a roller fixed mount 305.
Fig. 6 is referred to, the inner plate 309 includes upper inner plate 403 and lower inner plate 404, the upper He of inner plate 403 Lower inner plate 404 is integrally formed and is mutually perpendicular to;Two the second mounting holes 405 are provided with the lower inner plate 404.It is described Lower inner plate 404 is preferably shaped to " ∞ " type, and lower inner plate 404 can also be designed to the other shapes beyond " ∞ " type.
The bottom plate 402 of each roller fixed mount 305 is fixed on an inner plate 309 by conical head rivet 306 On upper inner plate 403.
Further, Fig. 3 is referred to, the roll wheel assembly 3 also includes two rollers 307 and two sleeves 308, the roller 307 and sleeve 308 be inner hollow cylindrical;Each sleeve 308 is arranged on described in one inside roller 307, described Roller 307 and the gap of the sleeve 308 coordinate.The roller 307 and sleeve 308 are located at the lower inner plate of two inner plates 309 In the middle of 404.
Fig. 4 is referred to, the outer link component 1 is separately fixed at two outer plates including two outer plates 102, two ends Two bearing pins 101 on 102.Two the 3rd mounting holes, the two of the bearing pin 101 are provided with each outer plate 102 End is separately mounted in the 3rd mounting hole of an outer plate 102, the mounting hole of bearing pin 101 and the 3rd interference fit;It is described outer Two bearing pins 101 in link assemblies 1 be arranged in parallel.The outer plate 102 is preferably shaped to " ∞ " type, also can be by outer plate 102 are designed to the other shapes beyond " ∞ " type.
The phase of inner plate 309 of two bearing pins 101 of any outer link component 1 respectively with two neighboring roll wheel assembly 3 Connection, forms driven pedrail.Specifically connected mode is:One of bearing pin 101 of the outer link component 1 passes through a roller group It is located at second mounting hole 405 of the same side inside the sleeve 308 of the side of part 3, on two inner plates 309 with above-mentioned sleeve 308, The two ends of the bearing pin 101 are separately fixed on the same side of two outer plates 102;Another bearing pin 101 of the outer link component 1 It is located at the same side with above-mentioned sleeve 308 inside through the sleeve 308 of the side of adjacent roller assemblies 3, on two inner plates 309 Second mounting hole 405, the two ends of the bearing pin 101 are separately fixed on the opposite side of two outer plates 102.
Above-mentioned connected mode, wherein, bearing pin 101 and sleeve 308 gap coordinates.
Fig. 1 is referred to, it is non-parallel between the roller shaft 304 and bearing pin 101, between the roller shaft 304 and bearing pin 101 Sharp angle be preferably 40~50 °, most preferably 45 °.
The respective quantity of the outer link component 1 and roll wheel assembly 3 can be changed according to actual conditions, form different The driven pedrail of length.
Refer to and conical tooth is provided with Fig. 1, the drive sprocket 2, the conical tooth and outer link component 1, roller group Space between part 3 cooperates.Drive sprocket 3 is connected with motor, and the power of the motor passes through drive chain Wheel 3 is delivered on driven pedrail, so as to drive mobile robot to walk.
The quantity of the drive sprocket 2 can be two or more, according to the length scale of driven pedrail to driving The quantity of sprocket wheel 2 is adjusted.When the length of driven pedrail is larger, two drive sprockets 2 effectively can not drive driven pedrail, Driven pedrail is then driven using the drive sprocket 2 of three or more than three.
A kind of robot transmission crawler belt for omnidirectional moving that the utility model is provided may be mounted at the bottom of mobile robot On disk, roller 201 of the utility model in roll wheel assembly 3 can be rotated around the axle of its own, pass through the outer link of interconnection Component 1, the formation driven pedrail of roll wheel assembly 2, driven pedrail can be integrally displaced sideways.
The driven pedrail that multiple the utility model are provided can be installed on the chassis of mobile robot, driven pedrail can be set Different directions are set to, the combination of a variety of different driven pedrails is formed.The combination formed by multiple driven pedrails, installs this The mobile robot of the driven pedrail of the omnidirectional moving of utility model can realize that forward, traversing, diagonal, rotation and combinations thereof etc. are more Plant motion mode, you can carry out omnidirectional moving.The mobile robot of driven pedrail of omnidirectional moving of the present utility model is installed also It can be walked on the road surface of out-of-flatness, carry out obstacle detouring, can adapt to different orographic conditions.Because the utility model is employed Crawler haulage, therefore without the concern for damping performance, than existing omnidirectional's wheel mobile robot good damping effect.
Embodiment described above is merely to illustrate technological thought of the present utility model and feature, and its object is to make ability Technical staff in domain can understand content of the present utility model and implement according to this, it is impossible to only limit this practicality with the present embodiment New the scope of the claims, i.e., equal change or modification that all spirit according to disclosed in the utility model is made, still falls in this practicality In new the scope of the claims.

Claims (10)

1. the robot transmission crawler belt of a kind of omnidirectional moving, it is characterised in that including multiple outer link components (1) and multiple rollers Component (3);
The outer link component (1) includes two that two outer plates (102), two ends are separately fixed on two outer plates (102) Individual bearing pin (101);
The roll wheel assembly (3) includes a roller (303), and the roller (303) is arranged on a roller shaft (304), the rolling Wheel (303) can rotate around the roller shaft (304) itself;The two ends of the roller shaft (304) are separately fixed at a roller and fixed On frame (305);Each roller fixed mount (305) is fixed on an inner plate (309);
The inner plate of two bearing pins (101) of any outer link component (1) respectively with two neighboring roll wheel assembly (3) (309) connect;Sharp angle between the roller shaft (304) and the bearing pin (101) is 40~50 °.
2. the robot transmission crawler belt of a kind of omnidirectional moving according to claim 1, it is characterised in that the roller is fixed Frame (305) includes integrally formed upper mounted plate (401) and bottom plate (402), fixed plate (401) and bottom plate (402) it is mutually perpendicular to, one first mounting hole is provided with fixed plate (401).
3. a kind of robot transmission crawler belt of omnidirectional moving according to claim 2, it is characterised in that the roller (303) it is the cylindrical of inner hollow, the sharp angle between the roller shaft (304) and the bearing pin (101) is 45 °.
4. the robot transmission crawler belt of a kind of omnidirectional moving according to claim 3, it is characterised in that in each roller (303) bearing (302) is respectively installed at two ends, and each roller shaft (304) passes through roller (303) inside, roller (303) two ends Bearing (302) and two roller fixed mounts (305) on the first mounting hole, by nut (301) by the roller shaft (304) Two ends be fixed on the roller fixed mount (305).
5. a kind of robot transmission crawler belt of omnidirectional moving according to claim 2, it is characterised in that the inner plate (309) include upper inner plate (403) and lower inner plate (404), the upper inner plate (403) and lower inner plate (404) it is integral into Type and it is mutually perpendicular to;The lower inner plate (404) is " ∞ " type, and two second peaces are provided with the lower inner plate (404) Fill hole (405).
6. a kind of robot transmission crawler belt of omnidirectional moving according to claim 5, it is characterised in that each roller The bottom plate (402) of fixed mount (305) is fixed on the upper inner plate (403) of an inner plate (309) by conical head rivet (306) On.
7. a kind of robot transmission crawler belt of omnidirectional moving according to claim 5, it is characterised in that the roll wheel assembly (3) two rollers (307) and two sleeves (308), the roller (307) and the circle that sleeve (308) is inner hollow are also included Cylinder shape;Each sleeve (308) is arranged on roller described in one (307) inside, the roller (307) and the sleeve (308) gap coordinates.
8. a kind of robot transmission crawler belt of omnidirectional moving according to claim 7, it is characterised in that the outer plate (102) it is " ∞ " type, two the 3rd mounting holes, the two ends of the bearing pin (101) is provided with each outer plate (102) In the 3rd mounting hole for being separately mounted to an outer plate (102), the bearing pin (101) is interference fitted with the 3rd mounting hole;It is described Two bearing pins (101) in outer link component (1) be arranged in parallel.
9. a kind of robot transmission crawler belt of omnidirectional moving according to claim 8, it is characterised in that the roller (307) it is located at sleeve (308) in the middle of the lower inner plate (404) of two inner plates (309);The one of the outer link component (1) Bearing pin (101) through the side of a roll wheel assembly (3) sleeve (308) is internal, on two inner plates (309) with above-mentioned sleeve (308) it is located at second mounting hole (405) of the same side;Another bearing pin (101) of the outer link component (1) passes through adjacent rollers Inside the sleeve (308) of the side of component (3), it is located at the second of the same side on two inner plates (309) with above-mentioned sleeve (308) Mounting hole (405);The bearing pin (101) and sleeve (308) gap coordinate.
10. the robot transmission crawler belt of a kind of omnidirectional moving according to claim 1, it is characterised in that also including driving Be provided with conical tooth on sprocket wheel (2), the drive sprocket (2), the conical tooth and outer link component (1), roll wheel assembly (3) it Between space cooperate.
CN201621333040.9U 2016-12-06 2016-12-06 A kind of robot transmission crawler belt of omnidirectional moving Active CN206327460U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621333040.9U CN206327460U (en) 2016-12-06 2016-12-06 A kind of robot transmission crawler belt of omnidirectional moving

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621333040.9U CN206327460U (en) 2016-12-06 2016-12-06 A kind of robot transmission crawler belt of omnidirectional moving

Publications (1)

Publication Number Publication Date
CN206327460U true CN206327460U (en) 2017-07-14

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621333040.9U Active CN206327460U (en) 2016-12-06 2016-12-06 A kind of robot transmission crawler belt of omnidirectional moving

Country Status (1)

Country Link
CN (1) CN206327460U (en)

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