CN206394358U - The deformable Stump-jump wheel of robot is sniped applied to aiming - Google Patents
The deformable Stump-jump wheel of robot is sniped applied to aiming Download PDFInfo
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- CN206394358U CN206394358U CN201621223002.8U CN201621223002U CN206394358U CN 206394358 U CN206394358 U CN 206394358U CN 201621223002 U CN201621223002 U CN 201621223002U CN 206394358 U CN206394358 U CN 206394358U
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Abstract
It is applied to aim at the deformable Stump-jump wheel for sniping robot the utility model discloses a kind of, it mainly changes the profile posture of wheel with suitable for different working environments by the routing motion between each gear train.When in relatively flat workspace, cause wheel spoke to be held round in contraction state wheel with gear train, be conducive to robot to advance at a relatively high speed, and play the role of damping, buffering to robot body；At the more workspace of barrier, by the motion of gear train the scalable spoke of wheel is flexed outward with radial, by wheel by circular deformation be pocket-wheel, easily cross the barriers such as projection, step, gully.Deformable Stump-jump wheel of the present utility model has can flexible transformation wheel profile posture, the characteristics of active obstacle, Fast marching, its is rational in infrastructure higher reliability, aiming is sniped the higher traveling stability of robot, rapidity, and be applicable the surface conditions of complexity.
Description
Technical field
It is applied to aim at the deformable Stump-jump wheel for sniping robot the present invention relates to a kind of, can be in complicated surface conditions
Lower carry out operation, light obstacle detouring is advanced, and belongs to technical field of mechanical design.
Background technology
For world today's situation and modernization military equipment target, aiming is sniped robot application and taken action in militarization
As trend.Aiming snipes robot and operation is mainly carried out in complex environment, there is the high requirement of comparison to running gear.It is complicated
Environment is not only comprising flat road surface but also comprising barriers such as projection, gully, steps, when this requires that running wheel is on smooth-riding surface
It can rapidly move, and rugged barrier can also be effectively passed over.At present, typical circular wheel can realize rapid shifting
It is dynamic, but when running into barrier, have obvious defect, it is impossible to clear the jumps and complete task.Some multi-corner star-shape framves and one-way wheel
Although with reference to Stump-jump wheel can realize obstacle detouring act, the barrier that can be crossed is excessively single, and efficiency during throwing over barrier
Relatively low, when in flat road surface, gait of march is again not as circular wheel greatly reduces operating efficiency.
The content of the invention
The purpose of this utility model be provide one kind can be rapidly completed in the case of complex road surface obstacle detouring action and
Have in flat road surface higher row enter speed and damping performance based on the deformable obstacles-surmounting wheel under two kinds of working conditions.
In order to solve the above-mentioned technical problem, the utility model is applied to aim at the deformable Stump-jump wheel offer for sniping robot
A kind of combination train wheel apparatus, realizes that wheel is changed between circular and star two kinds of working conditions, including：Drive train, transmission
Planetary gear train, deflecting train, scalable spoke, fixed spoke, solid rubber tire, train support.
To achieve the above object, the utility model uses following technical scheme：
Described drive train includes motor, motor fixing seat, travelling gear.Motor is consolidated by motor fixing seat
Due on the axletree in train support, motor fixing seat is connected by screw bolts with axletree.Travelling gear is fixed on driving electricity
On the output shaft of machine, connected using sleeve and jackscrew, it is ensured that gear and motor output shaft are synchronized with the movement.In Wheel deflection conversion
When, driving force is inputted each train by travelling gear and completes Wheel deflection convert task by motor action.
Described transmission planetary train, including bidentate sun gear, planetary gear, cone tooth deflecting gear ring, planetary gear fixed mount.It is double
Tooth sun gear is arranged on the axletree in train support by bearing, and three planetary gears are engaged with bidentate sun gear and uniformly divided
Cloth is by planetary gear fixed mount fixed position.Planetary gear fixed mount is fixed together by interference fit, bolt connection and axletree.
Bore tooth deflecting gear ring relies on the wheel hub end housing in train support to position by plane bearing, and its inner ring straight-tooth is nibbled with three planetary gears
Close, its outer ring cone tooth is engaged with deflecting train, completes the transmission of power.Transmission planetary train of the present utility model, using row
Star-wheel fixed mount is fixed, bidentate sun gear input power, and the mode of cone tooth deflecting gear ring output power completes the transmission of power, this
The advantage of mode is that reducing rotating speed improves moment of torsion, and completing deformation conversion for Stump-jump wheel provides reliable guarantee.
Described deflecting train, including thread spindle, deflecting bevel gear.Deflecting bevel gear and the cone tooth in transmission planetary train
The outer ring cone tooth of deflecting gear ring is meshed, installed in thread spindle lower end.Thread spindle one end passes through deep groove ball bearing and train support
On wheel hub pedestal coordinate, the other end is engaged with scalable spoke.
Described scalable spoke, including screw thread shaft housing, telescopic shaft.Telescopic shaft is L-shape, and lower end side is and deflecting wheel
The nut shaft of threaded shaft fits in system.Telescopic shaft is arranged on the inside of screw thread shaft housing, and top is provided with entity short arc rubber
Tire, lower end is by nut shaft and the threaded shaft fits in deflecting train.Screw thread shaft housing lower end is fixed on one with train support
Rise, the thread spindle that upper end is fixed in deflecting train with deep groove ball bearing, it is ensured that thread spindle can be with ease rotation in shell.
Described fixation spoke, one end is provided with entity long arc rubber tyre, and one end is fixed together with wheel hub pedestal.It is right
When wheel is in circular state, play a part of support and damping.
Described solid rubber tire includes the different rubber tyre of two kinds of sizes, respectively entity long arc rubber tyre and
Entity short arc rubber tyre.When aiming snipes robot in flat workspace operation, wheel is held round working condition, this
When, entity long arc rubber tyre cooperates with entity short arc rubber tyre, forms the circular tire consistent with circular wheel；When
Aiming snipes robot in the operation of barrier workspace, and wheel is transformed to star working condition, and now scalable spoke stretches,
Only entity short arc rubber tyre contacts ground, and car body clears the jumps by entity short arc tire.
Described train support, including axletree, wheel hub pedestal, wheel hub end housing.Axletree side passes through with wheel hub pedestal
Six are bolted to together, and the wheel drive motors of opposite side and car body are linked together by shaft coupling, when aiming is sniped
When robot advances, the rotation of wheel drive motors driving moment axle, and then realize the overall motion advanced.Wheel hub pedestal and wheel
Axle is fixed together, has positioning hole and the threaded shaft fits in deflecting train on its inner shaft, its outer ring has screwed hole to pass through bolt
Connect the screw thread shaft housing in scalable spoke.Wheel hub end housing is fixed together by bolt with wheel hub pedestal, has peace inside it
The groove of plane bearing is filled, and is positioned by plane bearing to the cone tooth deflecting gear ring in transmission planetary train.
The utility model proposes deformable Stump-jump wheel, have two kinds of working conditions be respectively suitable for flat workspace circle
Shape wheel condition and suitable for barrier（Including step, projection, gully etc.）The star wheel condition of workspace.
When robot is in flat workspace, the telescopic shaft of scalable spoke causes wheel to keep circle in contraction state
Shape working condition, now, entity long arc rubber tyre coordinate jointly with entity short arc rubber tyre, are formed consistent with circular wheel
Circular tire, cooperating contact ground, and play good cushioning effect.Scalable spoke and fixed spoke coordinate jointly, right
Car body is played a supporting role jointly.Under circular wheel working condition, robot can at full speed advance, and improve operation effect
Rate.
When robot is in barrier workspace, the telescopic shaft of scalable spoke causes wheel to convert in extended configuration
For star working condition, now, the entity short arc rubber tyre installed in telescopic shaft top contacts ground, and scalable spoke
Car body is played a supporting role.When running into raised, small-sized gully barrier, star wheel can utilize two scalable spokes
Between spacing directly across barrier.When running into step, large-scale projection, gully barrier, first step star wheel is first
Barrier is stepped up using the scalable spoke being under extended configuration apart from barrier recently；Second step star wheel with barrier
The entity short arc rubber tyre of the scalable spoke front end of thing contact is hindered to be rotated for the point of rotation so that adjoining is scalable
Spoke is marched toward the subsequent point of barrier；3rd step star wheel is with the reality of the newest scalable spoke front end with bar contact
Body short arc rubber tyre is that the point of rotation is rotated so that next adjoining scalable spoke is marched toward the subsequent point of barrier,
Constantly circulation is carried out untill across barrier successively.
Brief description of the drawings
Fig. 1 is that the utility model is applied to aim at the general structure schematic diagram for sniping robot.
Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, snipe robot across obstacle appearance applied to aiming for the utility model
State figure.
Fig. 8 is the structural representation that the deformable Stump-jump wheel of the utility model is in circular work state.
Fig. 9 is the structural representation that the deformable Stump-jump wheel of the utility model is in star working condition.
Figure 10 is specific each modular construction schematic diagram of the present utility model.
Figure 11 is drive train concrete structure schematic diagram of the present utility model.
Figure 12 is transmission planetary train concrete structure schematic diagram of the present utility model.
Figure 13 is deflecting train concrete structure schematic diagram of the present utility model.
Figure 14 is scalable spoke concrete structure schematic diagram of the present utility model.
Figure 15 is solid rubber tire of the present utility model and train support concrete structure schematic diagram.
Embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples.The utility model accompanying drawing is simplified three-dimensional
Schematic diagram, only illustrates basic system of the present utility model in this way, therefore it only shows the structure relevant with the utility model
Into.
Fig. 1 show deformable Stump-jump wheel and snipes robot applied to aiming, makes the smooth across obstacle of robot, realizes
The traveling action of forward-reverse, and coordinate the steering gear in robot itself steering and steering drive axle completion Turning travel
Action, improve to aim at and snipe the applicability, reliability, operating efficiency of robot.
Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 show aiming and snipe robot by means of deformable Stump-jump wheel leaping over obstacles
Thing posture figure.
Fig. 8 is the structural representation that deformable Stump-jump wheel is in circular work state, and Fig. 9 is the deformable obstacle detouring of the utility model
Structural representation of the wheel in star working condition.
As shown in Figure 10, deformable Stump-jump wheel of the present utility model, including drive train 100, transmission planetary train 200,
Deflecting train 300, scalable spoke 400, fixed spoke 500, solid rubber tire 600, train support 700.
As shown in figure 11, described drive train 100 includes motor 101, motor fixing seat 102, travelling gear
103.Motor 101 is fixed on the axletree 701 of train support 700 by motor fixing seat 102, motor fixing seat 102 with
Axletree 701 is connected by screw bolts.Travelling gear 103 is fixed on the output shaft of motor 101, is connected using sleeve and jackscrew
Connect, it is ensured that gear and motor output shaft are synchronized with the movement.
As shown in figure 12, described transmission planetary train 200 includes bidentate sun gear 201, planetary gear 202, cone tooth deflecting
Gear ring 203, planetary gear fixed mount 204.Bidentate sun gear 201 is arranged on by bearing on the axletree 701 of train support 700,
Three planetary gears 202 are engaged with bidentate sun gear 201 and are uniformly distributed by the fixed position of planetary gear fixed mount 204.Planetary gear is consolidated
Determine frame 204 to be fixed together by interference fit, bolt connection and axletree.Bore tooth deflecting gear ring 203 by plane bearing according to
Wheel hub end housing 703 in roller system support 700 is positioned, and its inner ring straight-tooth is engaged with three planetary gears 202, and its outer ring cone tooth is with becoming
Deflecting bevel gear 302 into train 300 is engaged.
As shown in figure 13, described deflecting train 300 includes thread spindle 301, deflecting bevel gear 302.Deflecting bevel gear 302
It is meshed with the outer ring cone tooth of the cone tooth deflecting gear ring 203 in transmission planetary train 200, thread spindle is arranged on by pin connection
301 lower ends.The one end of thread spindle 301 is coordinated by deep groove ball bearing with the wheel hub pedestal 702 on train support 700, the other end with
Scalable spoke 400 is engaged.
As shown in figure 14, described scalable spoke 400 includes screw thread shaft housing 401, telescopic shaft 402.Telescopic shaft 402 is in
L shapes, lower end side is the nut shaft coordinated with the thread spindle 301 in deflecting train 300.Telescopic shaft 402 is arranged on outside thread spindle
The inside of shell 401, top is provided with entity short arc rubber tyre 601, and lower end is by nut shaft and the screw thread in deflecting train 300
Axle 301 is coordinated by screw thread pair.The lower end of screw thread shaft housing 401 is fixed together with train support 700, and upper end is with deep groove ball bearing
Thread spindle 301 in fixed deflecting train 300, it is ensured that thread spindle 301 can be with ease rotation in shell.
As shown in figure 15, described solid rubber tire 600 includes the different rubber tyre of two kinds of sizes, respectively entity
Short arc rubber tyre 601 and entity long arc rubber tyre 602.Described train support 700, including axletree 701, wheel hub pedestal
702nd, wheel hub end housing 703.The side of axletree 701 and wheel hub pedestal 702 by six be bolted to together with, opposite side and car body
Wheel drive motors linked together by shaft coupling.Together with wheel hub pedestal 702 is fixed with axletree 701, on its inner shaft
There is positioning hole to coordinate with the thread spindle 301 in deflecting train 300, its outer ring has screwed hole to be bolted scalable spoke
Screw thread shaft housing 401 in 400.Wheel hub end housing 703 is fixed together by bolt with wheel hub pedestal 702, has installation inside it
The groove of plane bearing, and positioned by plane bearing to the cone tooth deflecting gear ring 203 in transmission planetary train 200.
When robot is sniped in the aiming for being provided with deformable Stump-jump wheel runs into barrier, the driving in deformable Stump-jump wheel
Motor 101 starts action, and band nutating gear 103 rotates.Travelling gear 103 is by the gear with the side of bidentate sun gear 201
Meshing relation, drive bidentate sun gear 201 to move, and then planetary gear is driven by the gear of the opposite side of bidentate sun gear 201
202 rotate.Planetary gear 202 imparts power to cone tooth deflecting gear ring 203, cone tooth deflecting gear ring 203 by with deflecting bevel gear
302 engagement, power direction is changed into along fixed direction of the spoke 500 to external radiation.The rotational band of deflecting bevel gear 302
Dynamic thread spindle 301 rotates, by the effect of screw thread pair, and thread spindle 301 transports the straight line that telescopic shaft 402 is changed into rotary motion
Dynamic, telescopic shaft completes stretching routine.Deformable Stump-jump wheel is deformed into pocket-wheel.
Embodiment described above only expresses embodiment of the present utility model, and it describes more specific detailed, but
The limitation to the utility model the scope of the claims can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the concept of the premise utility, several modifications and improvements can also be made, these belong to this practicality
New protection domain.
Claims (4)
1. the deformable Stump-jump wheel of robot is sniped applied to aiming, it is characterised in that including drive train, transmission planet-gear
System, deflecting train, scalable spoke, fixed spoke, solid rubber tire, train support；
Described drive train includes motor, motor fixing seat, travelling gear；Motor is fixed on by motor fixing seat
On train support, when Wheel deflection is changed, driving force is inputted each train complete by motor action by travelling gear
Into convert task；
When aiming snipes robot by flat workspace barriers to entry thing workspace, motor is by travelling gear by power
Input after transmission planetary train, increase moment of torsion, power is changed into the direction along the radial external radiation of wheel by deflecting train；
Deflecting train will drive scalable spoke to act, and complete the stretching routine of spoke, Wheel deflection is pocket-wheel；Machine is sniped in aiming
People is by the entity short arc rubber tyre contact ground that scalable spoke front end is fixed on pocket-wheel, while obstacle detouring is completed
Also there is certain cushioning effect.
2. according to claim 1 be applied to aim at the deformable Stump-jump wheel for sniping robot, it is characterized in that transmission planetary
Train, including bidentate sun gear, planetary gear, cone tooth deflecting gear ring, planetary gear fixed mount；Sun gear is arranged on wheel by bearing
On axle, three planetary gears are engaged with sun gear and are uniformly distributed by planetary gear fixed mount fixed position；Planetary gear fixed mount passes through
Interference fit, bolt connection and axletree are fixed together；Tooth deflecting gear ring is bored to rely in train support by plane bearing
Wheel hub end housing is positioned, and its inner ring straight-tooth is engaged with three planetary gears, and its outer ring cone tooth is engaged with deflecting train, completes power
Transmission；When deformation wheel is deformed, power is exported and gives bidentate sun gear by motor by the travelling gear in drive train, double
Tooth sun gear drives three equally distributed planetary gear actions, and then with the rotation of mantle tooth deflecting gear ring.
3. according to claim 1 be applied to aim at the deformable Stump-jump wheel for sniping robot, it is characterized in that deflecting train,
Including thread spindle, deflecting bevel gear；Deflecting bevel gear and the outer ring cone tooth of the cone tooth deflecting gear ring in transmission planetary train are mutually nibbled
Close, installed in thread spindle lower end；Thread spindle one end is coordinated by the wheel hub pedestal on deep groove ball bearing and train support, the other end
It is engaged with scalable spoke；
When deformable Stump-jump wheel is deformed, transmission planetary train imparts power to deflecting train, and deflecting bevel gear is by the side of power
To the direction changed into along the radial external radiation of fast pulley, and thread spindle is driven to rotate.
4. according to claim 1 be applied to aim at the deformable Stump-jump wheel for sniping robot, it is characterized in that scalable wheel
Spoke, including screw thread shaft housing, telescopic shaft；Telescopic shaft is L-shape, and lower end side is the nut with the threaded shaft fits in deflecting train
Axle, telescopic shaft is arranged on the inside of screw thread shaft housing, and top is provided with entity short arc rubber tyre, and lower end is by nut shaft with becoming
Threaded shaft fits into train；Screw thread shaft housing lower end is fixed together with train support, and upper end is fixed with deep groove ball bearing
Thread spindle in deflecting train, it is ensured that thread spindle can be with ease rotation in shell；
When deformable Stump-jump wheel is deformed, the thread spindle in deflecting train is coordinated by screw thread pair drives telescopic shaft to do straight line fortune
It is dynamic, complete the conversion of two kinds of working conditions of circular wheel and star wheel, and enable wheel using the auto-lock function of screw thread pair
Enough operations for reliably keeping specific working condition safe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621223002.8U CN206394358U (en) | 2016-11-15 | 2016-11-15 | The deformable Stump-jump wheel of robot is sniped applied to aiming |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621223002.8U CN206394358U (en) | 2016-11-15 | 2016-11-15 | The deformable Stump-jump wheel of robot is sniped applied to aiming |
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| Publication Number | Publication Date |
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| CN206394358U true CN206394358U (en) | 2017-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621223002.8U Expired - Fee Related CN206394358U (en) | 2016-11-15 | 2016-11-15 | The deformable Stump-jump wheel of robot is sniped applied to aiming |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107539020A (en) * | 2017-09-19 | 2018-01-05 | 郭兴营 | A kind of leg type wheel |
| CN110200556A (en) * | 2019-05-28 | 2019-09-06 | 广州科语机器人有限公司 | Obstacle detouring driving wheel and mobile device |
| CN110403776A (en) * | 2019-08-22 | 2019-11-05 | 大连理工大学 | A kind of multifunctional intellectual wheelchair |
| CN111038172A (en) * | 2020-01-02 | 2020-04-21 | 杭州电子科技大学 | Telescopic wheel train type running mechanism |
| CN111055947A (en) * | 2019-12-03 | 2020-04-24 | 上海交通大学 | Foldable wheel type deformation robot device |
| CN111231571A (en) * | 2020-01-13 | 2020-06-05 | 湖南科技大学 | Deformable obstacle crossing tire |
| CN112208264A (en) * | 2019-07-12 | 2021-01-12 | 江苏美的清洁电器股份有限公司 | Obstacle crossing wheel device and self-propelled robot |
| CN112339494A (en) * | 2020-11-09 | 2021-02-09 | 山东鼎目机器人科技有限公司 | Deformation wheel mechanism based on cam |
| CN113844556A (en) * | 2021-09-17 | 2021-12-28 | 南京嵘沓科技有限公司 | Robot directional anti-deviation mechanism and anti-deviation method based on Internet of things |
| CN115005726A (en) * | 2022-06-13 | 2022-09-06 | 深圳乐生机器人智能科技有限公司 | Obstacle crossing wheel and cleaning robot |
| CN115071329A (en) * | 2022-07-11 | 2022-09-20 | 浙江大学 | Diameter-variable wheel device for rescue mobile robot |
| CN117516638A (en) * | 2024-01-08 | 2024-02-06 | 中交二公局东萌工程有限公司 | Tunnel engineering environment detection equipment |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107539020A (en) * | 2017-09-19 | 2018-01-05 | 郭兴营 | A kind of leg type wheel |
| CN110200556B (en) * | 2019-05-28 | 2022-04-19 | 广州科语机器人有限公司 | Obstacle-crossing driving wheel and mobile equipment |
| CN110200556A (en) * | 2019-05-28 | 2019-09-06 | 广州科语机器人有限公司 | Obstacle detouring driving wheel and mobile device |
| CN112208264A (en) * | 2019-07-12 | 2021-01-12 | 江苏美的清洁电器股份有限公司 | Obstacle crossing wheel device and self-propelled robot |
| CN110403776A (en) * | 2019-08-22 | 2019-11-05 | 大连理工大学 | A kind of multifunctional intellectual wheelchair |
| CN110403776B (en) * | 2019-08-22 | 2020-06-16 | 大连理工大学 | Multifunctional intelligent wheelchair |
| CN111055947A (en) * | 2019-12-03 | 2020-04-24 | 上海交通大学 | Foldable wheel type deformation robot device |
| CN111038172A (en) * | 2020-01-02 | 2020-04-21 | 杭州电子科技大学 | Telescopic wheel train type running mechanism |
| CN111231571A (en) * | 2020-01-13 | 2020-06-05 | 湖南科技大学 | Deformable obstacle crossing tire |
| CN111231571B (en) * | 2020-01-13 | 2021-05-25 | 湖南科技大学 | Deformable obstacle crossing tire |
| CN112339494A (en) * | 2020-11-09 | 2021-02-09 | 山东鼎目机器人科技有限公司 | Deformation wheel mechanism based on cam |
| CN113844556A (en) * | 2021-09-17 | 2021-12-28 | 南京嵘沓科技有限公司 | Robot directional anti-deviation mechanism and anti-deviation method based on Internet of things |
| CN113844556B (en) * | 2021-09-17 | 2022-08-16 | 南京蹑波物联网科技有限公司 | Robot directional anti-deviation mechanism and anti-deviation method based on Internet of things |
| CN115005726A (en) * | 2022-06-13 | 2022-09-06 | 深圳乐生机器人智能科技有限公司 | Obstacle crossing wheel and cleaning robot |
| CN115005726B (en) * | 2022-06-13 | 2024-04-09 | 深圳乐生机器人智能科技有限公司 | Obstacle surmounting wheel and cleaning robot |
| CN115071329A (en) * | 2022-07-11 | 2022-09-20 | 浙江大学 | Diameter-variable wheel device for rescue mobile robot |
| CN117516638A (en) * | 2024-01-08 | 2024-02-06 | 中交二公局东萌工程有限公司 | Tunnel engineering environment detection equipment |
| CN117516638B (en) * | 2024-01-08 | 2024-03-12 | 中交二公局东萌工程有限公司 | Tunnel engineering environment detection equipment |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170811 Termination date: 20181115 |
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| CF01 | Termination of patent right due to non-payment of annual fee |