CN207274800U - The full landform robot running gear of double-crawler type - Google Patents
The full landform robot running gear of double-crawler type Download PDFInfo
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- CN207274800U CN207274800U CN201721138292.0U CN201721138292U CN207274800U CN 207274800 U CN207274800 U CN 207274800U CN 201721138292 U CN201721138292 U CN 201721138292U CN 207274800 U CN207274800 U CN 207274800U
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- athey wheel
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Abstract
The utility model discloses a kind of full landform robot running gear of double-crawler type, including main driving mechanism, driven drive mechanisms and deformation driving mechanism, wherein described deformation driving mechanism includes steering engine, long crank, short crank and lift arm, steering engine is fixed in rack by steering engine stent, one end of long crank and the output axis connection of steering engine, the upper end of its other end and short crank are hinged, the lower end of short crank is fixed on lift arm, and the both ends of lift arm are horizontally arranged between two walking mechanisms by fixing device respectively.The robot running gear that the utility model is set overcomes that existing single crawler type walking mechanism mobility is poor, the shortcomings that being not easy to turn and deforming, so that the robot running gear of this structure can smoothly pass through in the complicated landforms such as sandstone, meadow, ladder, hole, narrow bridge, plateau, it is simple in structure, walk light, obstacle detouring and climbing performance are strong the characteristics of.
Description
Technical field
It the utility model is related to a kind of robot parts, and in particular to a kind of full landform robot ambulation machine of double-crawler type
Structure, belongs to robot building industry technical field
Background technology
With the development of science and technology, robot is gradually used in every field.Such as Engineering Robot is applied in disaster
Search and rescue, patrol scouting, anti-terrorism stability maintenance, rescue of battlefield and logistics support etc. in work, huge effect can be played.City at present
On field, the walking mechanism of Engineering Robot uses wheeled or crawler type more.Crawler type walking mechanism obstacle climbing ability is strong, but crawler type
Walking mechanism there are build is heavy, walking speed is slow, be not easy to turn, mobility is poor the defects of.Another kind is wheel type traveling mechanism,
Generally mainly it is made of four traveling wheels, has the characteristics that light weight, speed is fast, maneuverability, but in face of step, stair, ditch
When complicated landform, its obstacle performance is poor, stability is poor for gully and abrupt slope.In order to allow robot walking mechanism be provided simultaneously with it is wheeled
And the advantages of crawler type walking mechanism, to improve the scope of application of robot running gear, occur in the prior art various new
The robot running gear of type structure.
Such as the Chinese invention patent of Application No. 201510448366.X discloses a kind of wheel-track combined inspection machine
People's walking mechanism, it is to be also equipped with swing arm pedrail mechanism and traveling wheel mechanism in main body pedrail mechanism front portion；Wherein swing arm is carried out
With mechanism by the arm shaft on main body pedrail mechanism frame body and swing arm motor and installed in the left and right of arm shaft both ends
Crawler belt arm forms, and swing arm motor drives arm shaft to rotate by swing arm retarder, and arm shaft drives the bottom on left and right crawler belt arm
It is dynamic；Traveling wheel mechanism, including the universal wheel on main body pedrail mechanism bottom center line and left and right traveling wheel, form three
The walking manner of wheel.The robot running gear of this kind of structure can both realize that crawler belt moved, and can also realize wheeled shifting
It is dynamic, and two kinds of motion modes are not interfere with each other, and have the advantage that certain flexibility is big, obstacle performance is strong.It is by setting
Arm shaft drives left and right crawler belt arm to swing up and down, since the composition structure of left and right crawler belt arm has swing arm fixed plate, swing arm to carry out
The components such as band driven wheel, swing arm crawler driving whell, swing arm crawler belt, track drive motor are formed, its distressed structure is complex；This
Outer swing arm to left and right crawler belt when in use in addition to carrying out load-bearing, it is also necessary to robot components is carried out with load-bearing, weight is big, to pendulum
The driving device of arm axle is more demanding, and the left and right crawler belt in the case where being short of power in lifting process easily occurs rocking or hardly possible
To ensure the Synchronous lifting of left and right crawler belt, deformation.
Utility model content
For above-mentioned deficiency, technical problem to be solved in the utility model be to provide a kind of simple in structure, obstacle detouring and
Climb the strong full landform robot running gear of double-crawler type of performance.
To achieve the above object, the utility model is achieved through the following technical solutions：
The full landform robot running gear of double-crawler type, including main driving mechanism, driven drive mechanisms and for control from
The deformation driving mechanism of dynamic driving mechanism deformation,
The main driving mechanism includes rack and the main walking mechanism of two groups of parallel settings, two groups of main walking mechanism difference
Be symmetrically mounted on the both sides of rack, every group of main walking mechanism include the first fixed link and with the main driving Athey wheel of straight line installation,
Servo-actuated Athey wheel, has wrapped a main crawler belt on main driving Athey wheel and servo-actuated Athey wheel, one end of first fixed link with
The shaft connection of main driving Athey wheel, the center axis connection of its other end and servo-actuated Athey wheel, main drive connect on Athey wheel
It is connected to driving device；
The driven drive mechanisms are installed on the front end of main driving mechanism, mainly by the walking mechanism of two groups of parallel settings
Composition, every group of walking mechanism include the second fixed link and the driven driving Athey wheel installed with straight line, driven servo-actuated Athey wheel,
A driven crawler belt, one end and the driven drive of second fixed link have been wrapped on driven driving Athey wheel and driven servo-actuated Athey wheel
The shaft connection of dynamic Athey wheel, the center axis connection of its other end and driven servo-actuated Athey wheel, the driven driving Athey wheel with
Servo-actuated Athey wheel is adjacent and is connected with a driving device.
In such scheme, specifically, the deformation driving mechanism can include steering engine, long crank, short crank and lift arm,
The steering engine is fixed in rack by steering engine stent, one end of the long crank and the output axis connection of steering engine, its other end
It is hinged with the upper end of short crank, the lower end of the short crank is fixed on lift arm, and the both ends of the lift arm pass through respectively
Fixing device is horizontally arranged between two walking mechanisms.
In such scheme, the fixing device can include connecting rod and the fixed link of setting parallel with driven crawler belt,
One end of the connecting rod is fixed in the second fixed link, one end of its other end and fixed link connects, the fixed link it is another
The center axis connection that one end passes through bearing and driven servo-actuated Athey wheel.
In such scheme, two driven servo-actuated Athey wheel rocking in deformation process in order to prevent, the fixing device
It may also include driven servo-actuated Athey wheel and consolidate bar, the both ends that the driven servo-actuated Athey wheel consolidates bar are consolidated by bolt assembly respectively
It is scheduled in fixed link.
In such scheme, the servo-actuated Athey wheel can be specifically connected by T-shaped stent with rack, the T-shaped stent it is upper
End is fixed in rack by bolt assembly, its lower end is fixed in the sidepiece of servo-actuated Athey wheel.
In such scheme, in order to simplify structure and mitigate the weight of whole mechanism, each driving device may include L bracket and
DC speed-reducing, one end of the L bracket is fixed in rack by bolt assembly, its other end and DC speed-reducing
Housing it is affixed, the output shaft of the DC speed-reducing passes through the shaft of mandrel connector and main driving Athey wheel or driven driving
The shaft connection of Athey wheel.
The beneficial effects of the utility model are：
The robot running gear that the utility model is set is mainly by main driving mechanism, driven drive mechanisms and for controlling
The deformation driving mechanism composition of driven drive mechanisms deformation, overcomes that existing single crawler type walking mechanism mobility is poor, is not easy turn
The shortcomings that curved and deformation so that the robot running gear of this structure can be in sandstone, meadow, ladder, hole, narrow bridge, plateau etc.
Smoothly pass through in complicated landform, it is simple in structure, walk light, obstacle detouring and climbing performance it is strong the characteristics of.
Brief description of the drawings
Fig. 1 is the structure diagram of the full landform robot running gear of this double-crawler type.
Figure label is：1st, rack；2nd, L bracket；3rd, driving device；4th, mandrel connector；5th, main driving Athey wheel；6th,
One fixed link；7th, it is servo-actuated Athey wheel；8th, T-shaped stent；9th, main crawler belt；10th, driven driving Athey wheel；11st, the second fixed link；12、
Driven servo-actuated Athey wheel；13rd, driven crawler belt, 14, connecting rod；15th, fixed link；16th, driven servo-actuated Athey wheel consolidates bar；17th, lift
Rise arm；18th, short crank；19th, long crank；20th, steering engine；21st, steering engine stent.
Embodiment
As shown in Figure 1, the full landform robot running gear of double-crawler type, including main driving mechanism, driven drive mechanisms and
For the deformation driving mechanism for controlling driven drive mechanisms to deform.
The main driving mechanism includes rack 1 and the main walking mechanism of two groups of parallel settings, two groups of main walking mechanisms point
The both sides of rack 1 are not symmetrically mounted on.Every group of main walking mechanism includes the first fixed link 6 and the main driving crawler belt with straight line installation
Wheel 5, servo-actuated Athey wheel 7, and wrapped a main crawler belt 9 on main driving Athey wheel 5 and servo-actuated Athey wheel 7.In the present embodiment, institute
Servo-actuated Athey wheel 7 is stated to be connected with rack 1 particular by T-shaped stent 8.That is the upper end of T-shaped stent 8 is fixed on by bolt assembly
In rack 1, its lower end be fixed in the sidepiece of servo-actuated Athey wheel 7.One end of first fixed link 6 and main driving Athey wheel 5
Shaft connection, the center axis connection of its other end and servo-actuated Athey wheel 7, main drive are connected with driving device on Athey wheel 5
3。
The driven drive mechanisms are installed on the front end of main driving mechanism.Mainly by the walking mechanism of two groups of parallel settings
Composition, every group of walking mechanism include the second fixed link 11 and with the driven driving Athey wheel 10 of straight line installation, driven servo-actuated crawler belts
Wheel 12.A driven crawler belt 13 has been wrapped on driven driving Athey wheel 10 and driven servo-actuated Athey wheel 12.Second fixed link
11 one end is connected with the shaft of driven driving Athey wheel 10, the center axis connection of its other end and driven servo-actuated Athey wheel 12.
The driven driving Athey wheel 10 is adjacent with servo-actuated Athey wheel 7 and is connected with a driving device 3.
In the present embodiment, each driving device 3 includes L bracket 2 and DC speed-reducing.One end of the L bracket 2 leads to
Cross bolt assembly be fixed in rack 1, the housing of its other end and DC speed-reducing it is affixed.The DC speed-reducing it is defeated
Shaft is connected by mandrel connector 4 with the shaft of main driving Athey wheel 5 or the shaft of driven driving Athey wheel 10.Certainly, adopted
Driving device 3 also selects variable-frequency motor or other kinds of driving device 3.
The deformation driving mechanism includes steering engine 20, long crank 19, short crank 18 and lift arm 17.The steering engine 20 passes through
Steering engine stent 21 is fixed in rack 1.One end of the long crank 19 and the output axis connection of steering engine 20, its other end and short song
The upper end of handle 18 is hinged.The lower end of the short crank 18 is fixed on lift arm 17, and the both ends of the lift arm 17 lead to respectively
Fixing device is crossed to be horizontally arranged between two walking mechanisms.Further, the fixing device include connecting rod 14, it is driven with
Dynamic Athey wheel consolidates fixed link 15 of the bar 16 with driven 13 parallel setting of crawler belt.One end of the connecting rod 14 is fixed in second
In fixed link 11, its other end be connected with one end of fixed link 15, the other end of the fixed link 15 by bearing with it is driven with
The center axis connection of dynamic Athey wheel 12, that is, the connecting rod 14 after installing form a L-shaped structure with fixed link 15, and installation is simple.Institute
State driven servo-actuated Athey wheel and consolidate the both ends of bar 16 and be fixed on respectively by bolt assembly in fixed link 15.
The utility model is when in use：
1) when in level walking, it is powered, drives to the DC speed-reducing on main driving mechanism and driven drive mechanisms
Main driving Athey wheel 5 and driven driving crawler belt rotate, and by controlling the rotating of DC speed-reducing, make robot running gear
Realize the actions such as advance, retrogressing, left-hand rotation and right-hand rotation；
2) when by sandstone, meadow, ladder, hole, narrow bridge, plateau when complicated landform, or advance and be obstructed, or need
When climbing, on the basis of step 1), the rotation of control steering engine 20, lift arm 17 is lifted by long crank 19 and short crank 18
Rise, so that driven servo-actuated Athey wheel 12 and the overall up lifting of driven crawler belt 13, realize deformation, continue current with realization and climb
Climb.
It these are only the embodiment of explanation the utility model, be not intended to limit the present invention, for this area
For technical staff, where within the spirit and principles of the present invention, any modification, equivalent replacement, improvement and so on,
It should be included within the scope of protection of this utility model.
Claims (6)
1. the full landform robot running gear of double-crawler type, including main driving mechanism, driven drive mechanisms and driven for controlling
The deformation driving mechanism of driving mechanism deformation, it is characterised in that：
The main driving mechanism includes rack (1) and the main walking mechanism of two groups of parallel settings, two groups of main walking mechanism difference
The both sides of rack (1) are symmetrically mounted on, every group of main walking mechanism includes the first fixed link (6) and the main driving with straight line installation is carried out
Belt wheel (5), servo-actuated Athey wheel (7), a main crawler belt (9), institute have been wrapped on main driving Athey wheel (5) and servo-actuated Athey wheel (7)
The one end for stating the first fixed link (6) is connected with the shaft of main driving Athey wheel (5), in its other end and servo-actuated Athey wheel (7)
Mandrel connects, and driving device (3) is connected with the main driving Athey wheel (5)；
The driven drive mechanisms are installed on the front end of main driving mechanism, mainly by the walking mechanism group of two groups of parallel settings
Into every group of walking mechanism includes the second fixed link (11) and with the driven driving Athey wheel (10) of straight line installation, driven servo-actuated shoe
Belt wheel (12), a driven crawler belt (13) has been wrapped on driven driving Athey wheel (10) and driven servo-actuated Athey wheel (12), described
One end of second fixed link (11) be connected with the shaft of driven driving Athey wheel (10), its other end and driven servo-actuated Athey wheel
(12) center axis connection, the driven driving Athey wheel (10) is adjacent with servo-actuated Athey wheel (7) and is connected with a driving device
(3)。
2. the full landform robot running gear of double-crawler type according to claim 1, it is characterised in that：The deformation driving
Mechanism includes steering engine (20), long crank (19), short crank (18) and lift arm (17), and the steering engine (20) passes through steering engine stent
(21) it is fixed in rack (1), one end of the long crank (19) and the output axis connection of steering engine (20), its other end and short song
The upper end of handle (18) is hinged, and the lower end of the short crank (18) is fixed on lift arm (17), and the two of the lift arm (17)
End is horizontally arranged between two walking mechanisms by fixing device respectively.
3. the full landform robot running gear of double-crawler type according to claim 2, it is characterised in that：The fixing device
Fixed link (15) including connecting rod (14) and setting parallel with driven crawler belt (13), one end of the connecting rod (14) are affixed
In the second fixed link (11), its other end be connected with one end of fixed link (15), the other end of the fixed link (15) passes through
Bearing and the center axis connection of driven servo-actuated Athey wheel (12).
4. the full landform robot running gear of double-crawler type according to claim 2, it is characterised in that：The fixing device
Further include driven servo-actuated Athey wheel and consolidate bar (16), the both ends that the driven servo-actuated Athey wheel consolidates bar (16) pass through bolt respectively
Component is fixed in fixed link (15).
5. the full landform robot running gear of double-crawler type according to claim 1 or 2, it is characterised in that：It is described servo-actuated
Athey wheel (7) is connected by T-shaped stent (8) with rack (1), and the upper end of the T-shaped stent (8) is fixed on machine by bolt assembly
On frame (1), its lower end be fixed in the sidepieces of servo-actuated Athey wheel (7).
6. the full landform robot running gear of double-crawler type according to claim 1, it is characterised in that：Each driving device
(3) L bracket (2) and DC speed-reducing are included, one end of the L bracket (2) is fixed on rack (1) by bolt assembly
Upper, its other end and the housing of DC speed-reducing are affixed, the output shaft of the DC speed-reducing by mandrel connector (4) with
The shaft of main driving Athey wheel (5) or the shaft connection of driven driving Athey wheel (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721138292.0U CN207274800U (en) | 2017-09-06 | 2017-09-06 | The full landform robot running gear of double-crawler type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721138292.0U CN207274800U (en) | 2017-09-06 | 2017-09-06 | The full landform robot running gear of double-crawler type |
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| Publication Number | Publication Date |
|---|---|
| CN207274800U true CN207274800U (en) | 2018-04-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721138292.0U Expired - Fee Related CN207274800U (en) | 2017-09-06 | 2017-09-06 | The full landform robot running gear of double-crawler type |
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| Country | Link |
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| CN (1) | CN207274800U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380280A (en) * | 2017-09-06 | 2017-11-24 | 钦州学院 | The full landform robot running gear of double-crawler type |
| CN110304141A (en) * | 2019-03-28 | 2019-10-08 | 常州机电职业技术学院 | A kind of full ground anthropomorphic robot |
| CN114888787A (en) * | 2022-04-19 | 2022-08-12 | 河海大学 | Tunnel dam detection and repair underwater robot |
-
2017
- 2017-09-06 CN CN201721138292.0U patent/CN207274800U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380280A (en) * | 2017-09-06 | 2017-11-24 | 钦州学院 | The full landform robot running gear of double-crawler type |
| CN110304141A (en) * | 2019-03-28 | 2019-10-08 | 常州机电职业技术学院 | A kind of full ground anthropomorphic robot |
| CN114888787A (en) * | 2022-04-19 | 2022-08-12 | 河海大学 | Tunnel dam detection and repair underwater robot |
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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: 20180427 Termination date: 20210906 |
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| CF01 | Termination of patent right due to non-payment of annual fee |