CN207564459U - A kind of barrier-surpassing robot - Google Patents
A kind of barrier-surpassing robot Download PDFInfo
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- CN207564459U CN207564459U CN201721348411.5U CN201721348411U CN207564459U CN 207564459 U CN207564459 U CN 207564459U CN 201721348411 U CN201721348411 U CN 201721348411U CN 207564459 U CN207564459 U CN 207564459U
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- drive
- crawler body
- barrier
- intermediate arm
- crawler
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Abstract
The utility model discloses a kind of barrier-surpassing robots, include can relatively independent movement first and second crawler body, when encountering barrier or robot tumbles, mutually independent movement can be carried out by two crawler bodies arranged side by side, climb over barrier or align robot pose again；On this basis, mechanical arm is provided with according to the size of two crawler bodies and spacing, and mechanical arm is directly mounted between two crawler bodies, and no longer as the connection structure that other connection mechanical arm pedestals similar with crawler body are set in prior art, mechanical arm is hidden in by turning folding storage completely between two crawler bodies, during robot obstacle detouring, the complete folded concealed of its mechanical arm is between two crawler bodies, it avoids destroying by colliding with, it is unreasonable to solve existing extraordinary caterpillar robot structure design, the technical issues of being difficult to take into account robotic arm manipulation and obstacle detouring stability etc..
Description
Technical field
The utility model is related to caterpillar robot technical field, more specifically to a kind of barrier-surpassing robot.
Background technology
In living now, more and more occasions need extraordinary caterpillar robot coordinating operation, special in urban life
Kind caterpillar robot can be used for Urban Search and Rescue：Victim is found in ruins, path is found with most fast speed；It can also be examined
It surveys dangerous substances, exclude to be not suitable for the work such as the dangerous situation of manual work.In the case where these are unfavorable for the unsafe condition of manual work,
Extraordinary caterpillar robot plays irreplaceable role, they can search and rescue equipment than tradition and detect more deep, entrance
The unapproachable small space of the mankind has in the building for possibility of caving in, and information shooting is communicated to the mankind, convenient for people
Rapidly judged for field conditions, implement rational solution.
Such as the specialized robot of the types such as Packbot, what is developed in military domain is extremely successful, at present comparative maturity
This robot it is main：The three-freedom mechanical arm of outfit compared to ordinary robot, can capture in wider range
Article can enter the space of closing, perform dangerous task, can exclude the bomb and land mine do not ignited.
However inventor has found, these robots of design maturation occurred there is also some problems, main to show
：
Certain robots in these designs have the function of manipulator, but can not realize that robot tumbles available work(
Can, i.e., robot compares to be difficult to readjust after surprisingly toppling and work on for normal attitude；Also although some designs can be with
It realizes colourful gesture transformation, tumbles available, but article can not accurately be operated, be only capable of relatively good realization obstacle detouring
Function.
Generally speaking, it can be summarized as follows the shortcomings that existing such robot：
The chassis of robot and operation arm be two relatively independent modules, complicated, and manipulator's bearing capacity has
Limit；
There are the robot of manipulator, although most of manipulators are foldable, but folding property is limited, in actual use, also
It is that there are the problem of during robot obstacle detouring, manipulator is easily broken off；
Most of existing extraordinary caterpillar robots cannot possess manipulator simultaneously, and can make robot can be after after tumbling
It is continuous to advance.
In conclusion it is unreasonable how to efficiently solve existing extraordinary caterpillar robot structure design, it is difficult to take into account machine
The technical issues of tool arm operability and obstacle detouring stability etc., be current those skilled in the art's urgent problem.
Invention content
In view of this, the purpose of this utility model is to provide a kind of barrier-surpassing robot, the structure of the barrier-surpassing robot is set
It is unreasonable that meter can efficiently solve existing extraordinary caterpillar robot structure design, it is difficult to take into account Robot actions and obstacle detouring
The technical issues of stability etc..
In order to achieve the above object, the utility model provides following technical solution：
A kind of barrier-surpassing robot, including it is symmetrical, be arranged side by side and can self-movement the first crawler body and the second crawler belt
Chassis is provided with intermediate arm, the both sides of the intermediate arm head end between first crawler body and second crawler body
It is rotatablely connected respectively with first crawler body and the second crawler body, the intermediate arm width and first crawler body
Spacing between second crawler body matches, the height of thickness and first crawler body or the second crawler body
Match, the intermediate arm can be by rotating complete folding storage between first crawler body and the second crawler body
Space in；
The intermediate arm is hollow frame structure, and the tail end of the intermediate arm is rotatably connected to forearm, and the forearm can
By rotating complete folding storage in the hollow space of the intermediate arm frame；The forearm is hollow frame structure, described
The tail end of forearm is rotatably connected to operation arm device, and the operation arm device can be by rotating complete folding storage before described
In the hollow space of arm frame.
Preferably, in above-mentioned barrier-surpassing robot, the head end of the intermediate arm is sequentially connected with the first driving motor, and described
One driving motor be mounted on in first crawler body, the intermediate arm head end and phase in first crawler body
Adjacent side is installed with the first drive, and the output shaft of first driving motor connects with first drive transmission
It connects, is rotated by intermediate arm described in the described first transmission wheel drive around its head end.
Preferably, it in above-mentioned barrier-surpassing robot, is provided between the head end of the intermediate arm and first crawler body
First connecting shaft of the two is rotatablely connected, first drive is circumferentially fixed to be installed on first connecting shaft.
Preferably, in above-mentioned barrier-surpassing robot, the intermediate arm head end is set away from the opposite side of first drive
There is the second drive, the second drive is set to the inside of the intermediate arm frame, and second drive is passed with described first
Driving wheel coaxial line, second drive are rotatablely connected with the intermediate arm, and the forearm head end is adjacent with the second drive
Side is mounted with third drive, and the third drive is sequentially connected with second drive, passes through the third
Wheel drive forearm is driven to rotate around its head end.
Preferably, in above-mentioned barrier-surpassing robot, it is provided with the second driving motor in second crawler body, described second
Driving motor is sequentially connected with the 4th drive, described circumferentially fixed one end for being installed on the second connecting shaft of 4th drive, institute
It states the second connecting shaft to be rotatablely connected second crawler body and intermediate arm, second drive is circumferentially fixed to be installed on the
The other end of two connecting shafts.
Preferably, in above-mentioned barrier-surpassing robot, the tail end of the intermediate arm is connected with the head end of the forearm by third
Axis is rotatablely connected, and the third drive is circumferentially fixed to be installed on the third connecting shaft.
Preferably, in above-mentioned barrier-surpassing robot, the operation arm device includes manipulator's mounting bracket and is set to the behaviour
Make the bluff piece and bluff piece driving mechanism in hand mounting bracket, manipulator's mounting bracket is connect with the tail end of the forearm by the 4th
Axis is rotatablely connected；
Manipulator's mounting bracket side is co-axially mounted with the fourth connecting shaft and is fixed with first bevel gear, the forearm
On be mounted with third driving motor, the output shaft of third driving motor passes through second bevel gear and is passed with the first bevel gear
Dynamic connection.
Preferably, in above-mentioned barrier-surpassing robot, the bluff piece is rotatablely connected with manipulator's mounting bracket, the bluff piece
Tail end is mounted with transmission worm gear, and manipulator's mounting bracket is mounted with the 4th driving motor, the 4th driving electricity
Worm screw is connected on the output shaft of machine, the transmission worm gear is connect with the worm-drive, is driven by the 4th driving motor
Move the opening and closing movement of the bluff piece.
Preferably, in above-mentioned barrier-surpassing robot, first crawler body and the second crawler body include sole and
The crawler belt being installed on the sole is provided with resilient suspension apparatus between the crawler belt and sole.
Preferably, in above-mentioned barrier-surpassing robot, the resilient suspension apparatus includes multigroup suspension unit, every group of suspension unit
Include connecting, being used to support with the medial surface of the crawler belt carrier wheel of crawler belt, the carrier wheel is installed on support shaft
On, the support shaft both ends are both provided with shaft end fixing piece, and the shaft end fixing piece limiting is connected with vehicle frame installed part, the vehicle
Frame installed part is used to install with the sole and fix, and support is provided between the vehicle frame installed part and the shaft end fixing piece
Spring.
Barrier-surpassing robot provided by the utility model, including it is symmetrical, be arranged side by side and can self-movement the first track bottom
Disk and the second crawler body are provided with intermediate arm, the centre between first crawler body and second crawler body
The both sides of arm head end are rotatablely connected respectively with first crawler body and the second crawler body, the intermediate arm width with it is described
Spacing between first crawler body and second crawler body matches, thickness is carried out with first crawler body or second
Height with chassis matches, and the intermediate arm can be by rotating complete folding storage in first crawler body and second
In space between crawler body；
The intermediate arm is hollow frame structure, and the tail end of the intermediate arm is rotatably connected to forearm, and the forearm can
By rotating complete folding storage in the hollow space of the intermediate arm frame；The forearm is hollow frame structure, described
The tail end of forearm is rotatably connected to operation arm device, and the operation arm device can be by rotating complete folding storage before described
In the hollow space of arm frame.
In this technical solution provided by the utility model, barrier-surpassing robot include can relatively independent movement first
And second crawler body, when encountering barrier or robot tumbles, can by two crawler bodies arranged side by side into
The mutually independent movement of row, climbs over barrier or aligns robot pose again；On this basis, according to two crawler bodies
Size and spacing be provided with mechanical arm, and between mechanical arm is directly mounted at two crawler bodies, and no longer as existing skill
The connection structure of other connection mechanical arm pedestals similar with crawler body is set in art scheme so that mechanical arm can be by turning
It is dynamic to fold storage completely and is hidden between two crawler bodies, including the intermediate arm between two crawler bodies,
And other front-end functionality components of mechanical arm such as forearm and manipulator can folding storage inside intermediate arm, realized with this
The mechanical arm of robot is preferably protected, and during robot obstacle detouring, the complete folded concealed of mechanical arm is in two crawler bodies
Between, it avoids destroying by colliding with；Simultaneously because crawler body independently arranged side by side there are two tools to have fully ensured that robot
Obstacle performance and attitude stabilization performance, and be unlikely to be restrained by mechanical arm configuration.In conclusion the utility model provides
Barrier-surpassing robot to efficiently solve existing extraordinary caterpillar robot structure design unreasonable, it is difficult to take into account robotic arm manipulation
The technical issues of property and obstacle detouring stability etc..
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the overall structure diagram of barrier-surpassing robot that the utility model embodiment provides；
Fig. 2 is the structure diagram of the resilient suspension apparatus of barrier-surpassing robot that the utility model embodiment provides；
Fig. 3 is the structure diagram of the operation arm device for the barrier-surpassing robot that the utility model embodiment provides.
It is marked in attached drawing as follows：
First crawler body 1, crawler belt 1-1, sole 1-2, resilient suspension apparatus 1-3, carrier wheel 1-31, support shaft 1-
32nd, shaft end fixing piece 1-33, vehicle frame installed part 1-34, support spring 1-35, the first connecting shaft 1-4, the second crawler body 2,
Two connecting shaft 2-1, intermediate arm 3, outer panel 3-1, third connecting shaft 3-2, the second drive 3-3, forearm 4, the fourth connecting shaft 4-
1st, arm device 5, bluff piece 5-1, manipulator's mounting bracket 5-2, transmission worm gear 5-3, worm screw 5-4, the 4th driving motor 5-5, the are operated
Three driving motor 5-6, first bevel gear 5-7, second bevel gear 5-8.
Specific embodiment
The utility model embodiment discloses a kind of barrier-surpassing robot, is set with solving existing extraordinary caterpillar robot structure
It counts unreasonable, it is difficult to the technical issues of taking into account robotic arm manipulation and obstacle detouring stability etc..
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained shall fall within the protection scope of the present invention.
Referring to Fig. 1, Fig. 1 is the overall structure diagram of barrier-surpassing robot that the utility model embodiment provides.
The utility model embodiment provide barrier-surpassing robot, including it is symmetrical, be arranged side by side and can self-movement first
Crawler body and the second crawler body are provided with intermediate arm, institute between first crawler body and second crawler body
The both sides for stating intermediate arm head end are rotatablely connected respectively with first crawler body and the second crawler body, the intermediate arm width
Spacing between first crawler body and second crawler body matches, thickness and first crawler body or
The height of second crawler body matches, and the intermediate arm can be by rotating complete folding storage in first crawler body
In space between the second crawler body；
The intermediate arm is hollow frame structure, and the tail end of the intermediate arm is rotatably connected to forearm, and the forearm can
By rotating complete folding storage in the hollow space of the intermediate arm frame；The forearm is hollow frame structure, described
The tail end of forearm is rotatably connected to operation arm device, and the operation arm device can be by rotating complete folding storage before described
In the hollow space of arm frame.
Wherein it should be noted that due to first and second crawler body can self-movement, in the two inside points
It is not provided with two driving motors or motor group of both drivings movement, the active of the driving motor or motor group and crawler body
Wheel is sequentially connected, and crawler belt rotation, driving crawler body is driven to advance with this.
In addition, the preferred structure of intermediate arm is the basically identical outer panel of side view of a pair of of shape and crawler body,
And crossbeam is set between outer side plate, respectively the distance between lateral surface is slightly less than between two crawler body medial surfaces outer panel
Distance, the width of outer panel is less than the height of crawler body, prevents from influencing the normal operation of crawler body, and two outer panels
Between there are sufficient hollow spaces for storing forearm and manipulator.Not only had using the structure of this mechanical arm or intermediate arm
Standby good folding storage, further also has good load-bearing property, especially when the both sides of intermediate arm head end are all provided with
When putting the crawler bodies of rotatable axle construction and both sides and being rotatablely connected, the mechanical property for enabling the mechanical arm of robot is more excellent
It is different, the operation of load or resistance bigger can be carried out.
Since mechanical arm has preferable connection and architectural characteristic in technical solution provided in this embodiment, machinery can be passed through
The intermediate arm or forearm of arm also may be used with first and second crawler body relative to rotation, the obstacle detouring action of auxiliary robot is separated
Posture overturning or correction are carried out by the stretching, extension auxiliary robot of mechanical arm.
Further can cover board be set at the top of two outer panels, first and second crawler body is accommodated into for protecting
Between mechanical arm, cover board is rotatably connected with intermediate arm, connect by drive mechanism with the first drive, when stretching out or collapse
During intermediate arm, synchronous opens or closes cover board, and further protection is provided with this, prevents gravel particle etc. from entering the biography of mechanical arm
In motivation structure, the performance of mechanical arm is influenced.
It should be noted that one energy of forearm can be not only set in the technical program, between intermediate arm and manipulator
Enough components for stretching out rotation, can also set more pivoted arms, only need to ensure that every layer of pivoted arm can be accommodated by turning folding
In the pivoted arm for entering preceding layer.
In this technical solution provided in this embodiment, barrier-surpassing robot include can relatively independent movement first and
Second crawler body when encountering barrier or robot tumbles, can be carried out by two crawler bodies arranged side by side
Mutually independent movement climbs over barrier or aligns robot pose again；On this basis, according to two crawler bodies
Size and spacing are provided with mechanical arm, and between mechanical arm is directly mounted at two crawler bodies, and no longer as the prior art
The connection structure of other connection mechanical arm pedestals similar with crawler body is set in scheme so that mechanical arm can pass through rotation
Storage completely is folded to be hidden between two crawler bodies, including the intermediate arm between two crawler bodies, and
And other front-end functionality components of mechanical arm such as forearm and manipulator can folding storage inside intermediate arm, machine is realized with this
The mechanical arm of device people is preferably protected, during robot obstacle detouring, the complete folded concealed of mechanical arm in two crawler bodies it
Between, it avoids destroying by colliding with；Simultaneously because crawler body independently arranged side by side there are two tools to have fully ensured that robot
Obstacle performance and attitude stabilization performance, and be unlikely to be restrained by mechanical arm configuration.It is in conclusion provided by the utility model
It is unreasonable that barrier-surpassing robot efficiently solves existing extraordinary caterpillar robot structure design, it is difficult to take into account robotic arm manipulation
And the technical issues of obstacle detouring stability etc..
It is preferred on the basis of above-described embodiment to advanced optimize above-mentioned technical proposal, in above-mentioned barrier-surpassing robot,
The head end of the intermediate arm is sequentially connected with the first driving motor, and first driving motor is mounted on to be carried out with described first
In band chassis, the intermediate arm head end side adjacent in first crawler body is installed with the first drive, institute
The output shaft and first drive for stating the first driving motor are sequentially connected, by intermediate described in the described first transmission wheel drive
Arm is rotated around its head end.
In technical solution provided in this embodiment, it will drive intermediate arm rotating opening or the driving motor that closes up is set to the
In one crawler body, can driving motor convenient for storing forearm, and be set to by shoe with the space inside effectively save intermediate arm
With the technical solution in chassis can also more simplified robot wiring, the wiring of motor is uniformly concentrated in crawler body.
In addition it should be noted that one end that the head end of intermediate arm is it to be connect with crawler body is the center of rotation,
The gear side plane of first transmission gear is parallel to the rotational plane of intermediate arm, and the first transmission gear is circumferentially fixed with intermediate arm
Relationship, it is ensured that can pass through gear drive intermediate arm rotation；Further, Preferable scheme is that the first driving motor is only used
In the rotation of driving intermediate arm, and not as the power of other component in robot, in order to accurately individually be controlled, protect
The handling of mechanical arm is demonstrate,proved.
It is preferred on the basis of above-described embodiment to advanced optimize above-mentioned technical proposal, in above-mentioned barrier-surpassing robot,
Be provided between the head end of the intermediate arm and first crawler body rotation connection both the first connecting shaft, described first
Drive is circumferentially fixed to be installed on first connecting shaft.
In technical solution provided in this embodiment, the first company is provided between the head end and the first crawler body of intermediate arm
Spindle ensure that the connection relation between intermediate arm and crawler body is stablized by the structure of the first connecting shaft, pass through axle construction
Connection ensure that relative rotation performance therebetween.Wherein the first drive is installed in the first connecting shaft, and the two is circumferentially solid
It is fixed, there are several different alternative technology schemes herein：First, the first drive is set in the first crawler body, lead to
The transmission mechanism crossed inside crawler body is driven by the first driving motor to be rotated, and is directly passed to rotation by the first drive
First connecting shaft, the first connecting shaft and the rotation connection of the first crawler body and the circumferentially fixed connection of intermediate arm, centre is driven with this
Arm rotates, and this technical solution structure is relatively simple, can be used as preferred technical solution.
It is preferred on the basis of above-described embodiment to advanced optimize above-mentioned technical proposal, in above-mentioned barrier-surpassing robot,
The intermediate arm head end is provided with the second drive away from the opposite side of first drive, and the second drive is set to described
The inside of intermediate arm frame, second drive and the first drive coaxial line, second drive with it is described in
Between arm be rotatablely connected, the forearm head end side adjacent with the second drive is mounted with third drive, the third
Drive is sequentially connected with second drive, and be driven wheel drive forearm by the third rotates around its head end.
In technical solution provided in this embodiment, pass through second and third drive of opposite first drive separate transmission
The rotation of forearm is driven, optimizes the operating performance of mechanical arm；Second drive and the first drive coaxial line are designed, enabled
The transmission performance of mechanical arm is more preferable, and the torque mutually rotated between mechanical arm difference section is unlikely to influence each other；Second and third
The mode being sequentially connected between drive such as can coordinate long transmission shaft connection, this technology side there are many selection using gear set
In case, it is preferred that second season third drive all selects sprocket wheel, and the two is by being driven chain link, stable transmission, mechanical property
It is good, and save space.
It is preferred on the basis of above-described embodiment to advanced optimize above-mentioned technical proposal, in above-mentioned barrier-surpassing robot,
The second driving motor is provided in second crawler body, second driving motor is sequentially connected with the 4th drive, institute
State the circumferentially fixed one end for being installed on the second connecting shaft of the 4th drive, second connecting shaft by second crawler body and
Intermediate arm is rotatablely connected, the circumferentially fixed other end for being installed on the second connecting shaft of the second drive.Second connecting shaft is located at
One end in second crawler body can install the structure of transmission gear or sprocket wheel, so that the rotation of the second driving motor is passed to
Second drive.
In technical solution provided in this embodiment, before being driven by the second driving motor being arranged in the second crawler body
The rotation of arm, motor installation position is similar to the first driving motor installation position, similary to have simplified wiring, pass through closing
Crawler body protects the advantages that transmission mechanism；Further the second connecting shaft of setting, thus by the both sides of mechanical arm respectively with two
The crawler body connection of person both sides, further stabilizes the link position between mechanical arm and crawler body, enables mechanical arm can
With better load-bearing property.
It is preferred on the basis of above-described embodiment to advanced optimize above-mentioned technical proposal, in above-mentioned barrier-surpassing robot,
The head end of the tail end of the intermediate arm and the forearm is rotatablely connected by third connecting shaft, and the third drive is circumferentially fixed
It is installed on the third connecting shaft.
Third connecting shaft, advantage are set in the link position of intermediate arm and forearm in technical solution provided in this embodiment
It can refer to the description to first and second connecting shaft advantageous effect in the various embodiments described above.
It please refers to Fig.3, Fig. 3 is the structural representation of the operation arm device for the barrier-surpassing robot that the utility model embodiment provides
Figure.
It is preferred on the basis of above-described embodiment to advanced optimize above-mentioned technical proposal, in above-mentioned barrier-surpassing robot,
The operation arm device includes manipulator's mounting bracket and the bluff piece and bluff piece driving machine that are set in manipulator's mounting bracket
Structure, the tail end of manipulator's mounting bracket and the forearm are rotatablely connected by the fourth connecting shaft；
Manipulator's mounting bracket side is co-axially mounted with the fourth connecting shaft and is fixed with first bevel gear, the forearm
On be mounted with third driving motor, the output shaft of third driving motor passes through second bevel gear and is passed with the first bevel gear
Dynamic connection.
In technical solution provided in this embodiment, manipulator's mounting bracket is rotatable by the tail end of the fourth connecting shaft and forearm
Connection, installation effect consolidate, and ensure that rotation adjusts the effect of manipulator's angle；In the side of manipulator's mounting bracket, with the
Four connecting shafts are co-axially mounted fixed first bevel gear, can effectively change the direction of rotation transmission by the structure of bevel gear, enable
Third driving motor, which can be more easily installed, to be fixed in forearm, and can according to the use demand of robot adjust first and
Gearratio between second bevel gear can be born so that the adjustment being more suitable for operates the rotation of arm device and manipulator
Load.
It is preferred on the basis of above-described embodiment to advanced optimize above-mentioned technical proposal, in above-mentioned barrier-surpassing robot,
The bluff piece is rotatablely connected with manipulator's mounting bracket, and the tail end of the bluff piece is mounted with transmission worm gear, the operation
Hand mounting bracket is mounted with the 4th driving motor, and worm screw, the transmission are connected on the output shaft of the 4th driving motor
Worm gear is connect with the worm-drive, and the opening and closing movement of the bluff piece is driven by the 4th driving motor.
Technical solution provided in this embodiment realizes the operation and control of bluff piece folding by way of Worm Wheel System,
This structure has very big gearratio, effectively raises the torque of the 4th driving motor output rotation, improves bluff piece and grab
The pressure that extract operation can apply, has similarly slowed down the speed of actions of bluff piece folding, and person easy to operation carries out more accurately
Bluff piece control operation；And Worm Wheel System has self-locking property, can ensure that bluff piece captures object by this design
Do not loosen and promptly act because of the disappearance of driving force afterwards, effectively optimize the using effect of manipulator.
It please refers to Fig.2, Fig. 2 is that the structure of the resilient suspension apparatus of barrier-surpassing robot that the utility model embodiment provides is shown
It is intended to.
It is preferred on the basis of above-described embodiment to advanced optimize above-mentioned technical proposal, in above-mentioned barrier-surpassing robot,
First crawler body and the second crawler body include sole and the crawler belt being installed on the sole, the crawler belt
Resilient suspension apparatus is provided between sole.
It is preferred on the basis of above-described embodiment to advanced optimize above-mentioned technical proposal, in above-mentioned barrier-surpassing robot,
The resilient suspension apparatus includes multigroup suspension unit, and every group of suspension unit includes contacting company with the medial surface of the crawler belt
The carrier wheel of crawler belt is connect, is used to support, the carrier wheel is installed in support shaft, and the support shaft both ends are both provided with shaft end and consolidate
Determine part, the shaft end fixing piece limiting is connected with vehicle frame installed part, and the vehicle frame installed part is used for solid with sole installation
It is fixed, it is provided with support spring between the vehicle frame installed part and the shaft end fixing piece.
The technical solution that above example provides is by setting resilient suspension apparatus to strengthen the shock-absorbing of barrier-surpassing robot
Can, it can realize that crawler belt is contacted with the relatively soft of road surface, be capable of driving and the connection structure of effective protection robot interior, it is corresponding
The adaptability for also just improving robot road pavement to a certain extent, improve the obstacle performance of robot；Embodiment
In multigroup suspension unit it is preferred, be symmetrically disposed on the both sides up and down of sole, crawler belt supported by carrier wheel, and will be entrusted
Wheel is passed to sole by the pressure of crawler belt by support shaft and the support spring of connection, realizes resilient suspension；Its axis
Cavity structure is preferable to provide between end fixing piece and vehicle frame installed part, for being packed into support spring, and is set in cavity structure
The pre-loading screw of back-out can be screwed in by putting, and by the decrement of the rotation adjustment support spring of pre-loading screw, elasticity is adjusted with this
The hardness of draft hitch, to adapt to the dead weight situation of different surface conditions or robot.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or new using this practicality
Type.A variety of modifications of these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide range consistent with features of novelty.
Claims (12)
1. a kind of barrier-surpassing robot, including it is symmetrical, be arranged side by side and can self-movement the first crawler body and the second track bottom
Disk, which is characterized in that intermediate arm is provided between first crawler body and second crawler body, the intermediate arm is first
The both sides at end are rotatablely connected respectively with first crawler body and the second crawler body, the intermediate arm width and described first
Spacing between crawler body and second crawler body matches, thickness and first crawler body or the second track bottom
The height of disk matches, and the intermediate arm can be by rotating complete folding storage in first crawler body and the second crawler belt
In space between chassis；
The intermediate arm is hollow frame structure, and the tail end of the intermediate arm is rotatably connected to forearm, and the forearm can pass through
Complete folding storage is rotated in the hollow space of the intermediate arm frame；The forearm be hollow frame structure, the forearm
Tail end be rotatably connected to operation arm device, the operation arm device can be by rotating complete folding storage in the forearm frame
In the hollow space of frame.
2. barrier-surpassing robot according to claim 1, which is characterized in that the head end of the intermediate arm is sequentially connected with first
Driving motor, first driving motor be mounted on in first crawler body, the intermediate arm head end with it is described
Adjacent side is installed with the first drive in first crawler body, the output shaft of first driving motor and described the
One drive is sequentially connected, and is rotated by intermediate arm described in the described first transmission wheel drive around its head end.
3. barrier-surpassing robot according to claim 2, which is characterized in that the head end of the intermediate arm and first crawler belt
The first connecting shaft of both rotation connections is provided between chassis, first drive is circumferentially fixed to be installed on first company
Spindle.
4. barrier-surpassing robot according to claim 2, which is characterized in that the intermediate arm head end is away from the described first transmission
The opposite side of wheel is provided with the second drive, and the second drive is set to the inside of the intermediate arm frame, second transmission
Wheel and the first drive coaxial line, second drive and the intermediate arm are rotatablely connected, the forearm head end and the
The adjacent side of two drives is mounted with third drive, and the third drive connects with second drive transmission
It connects, be driven wheel drive forearm by the third rotates around its head end.
5. barrier-surpassing robot according to claim 4, which is characterized in that be provided with the second drive in second crawler body
Dynamic motor, second driving motor are sequentially connected with the 4th drive, and the 4th drive is circumferentially fixed to be installed on second
Second crawler body and intermediate arm are rotatablely connected by one end of connecting shaft, second connecting shaft, second drive
The circumferentially fixed other end for being installed on the second connecting shaft.
6. barrier-surpassing robot according to claim 4, which is characterized in that the head of the tail end of the intermediate arm and the forearm
End is rotatablely connected by third connecting shaft, and the third drive is circumferentially fixed to be installed on the third connecting shaft.
7. barrier-surpassing robot according to any one of claims 1 to 6, which is characterized in that the operation arm device includes behaviour
Make hand mounting bracket and the bluff piece being set in manipulator's mounting bracket and bluff piece driving mechanism, manipulator's mounting bracket with
The tail end of the forearm is rotatablely connected by the fourth connecting shaft；
Manipulator's mounting bracket side is co-axially mounted with the fourth connecting shaft and is fixed with first bevel gear, pacifies on the forearm
Dress is fixed with third driving motor, and the output shaft of third driving motor is connected by second bevel gear and first bevel gear transmission
It connects.
8. barrier-surpassing robot according to claim 7, which is characterized in that the bluff piece is rotated with manipulator's mounting bracket
Connection, the tail end of the bluff piece are mounted with transmission worm gear, and manipulator's mounting bracket is mounted with the 4th driving motor,
Worm screw is connected on the output shaft of 4th driving motor, the transmission worm gear is connect with the worm-drive, by described
4th driving motor drives the opening and closing movement of the bluff piece.
9. barrier-surpassing robot according to claim 1, which is characterized in that first crawler body and the second crawler body
Include sole and the crawler belt being installed on the sole, it is rack-mounted to be provided with elastic suspended between the crawler belt and sole
It puts.
10. barrier-surpassing robot according to claim 9, which is characterized in that the resilient suspension apparatus includes multigroup suspension
Unit, every group of suspension unit include connecting, being used to support with the medial surface of the crawler belt carrier wheel of crawler belt, the support
Belt wheel is installed in support shaft, and the support shaft both ends are both provided with shaft end fixing piece, and the shaft end fixing piece limiting is connected with
Vehicle frame installed part, the vehicle frame installed part are used to install with the sole and fix, and the vehicle frame installed part is consolidated with the shaft end
Determine to be provided with support spring between part.
11. barrier-surpassing robot according to claim 1, it is characterised in that first crawler body is equipped with the 5th driving
Motor, the second crawler body tail end are equipped with the 6th driving motor, and each driving motor is driven by Bevel Gear Transmission and carried out
Belt wheel provides the power of advance for chassis.
12. barrier-surpassing robot according to claim 1, it is characterised in that intermediate arm and forearm are by rotating independently of one another
Control converts the posture of robot, improves the obstacle performance of robot.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710247621.3A CN106985130A (en) | 2017-04-17 | 2017-04-17 | A kind of barrier-surpassing robot |
| CN2017102476213 | 2017-04-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207564459U true CN207564459U (en) | 2018-07-03 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710247621.3A Withdrawn CN106985130A (en) | 2017-04-17 | 2017-04-17 | A kind of barrier-surpassing robot |
| CN201710976883.3A Pending CN107511813A (en) | 2017-04-17 | 2017-10-19 | A kind of barrier-surpassing robot |
| CN201721348411.5U Active CN207564459U (en) | 2017-04-17 | 2017-10-19 | A kind of barrier-surpassing robot |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710247621.3A Withdrawn CN106985130A (en) | 2017-04-17 | 2017-04-17 | A kind of barrier-surpassing robot |
| CN201710976883.3A Pending CN107511813A (en) | 2017-04-17 | 2017-10-19 | A kind of barrier-surpassing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN106985130A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511813A (en) * | 2017-04-17 | 2017-12-26 | 北京林业大学 | A kind of barrier-surpassing robot |
| CN112110191A (en) * | 2020-11-23 | 2020-12-22 | 长沙市材新创精研科技有限公司 | Pharmaceutical mechanical arm |
| CN112978363A (en) * | 2021-03-25 | 2021-06-18 | 重庆途益物流有限公司 | Intelligent logistics control device with multi-directional adjustment function |
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| CN107618869A (en) * | 2017-10-13 | 2018-01-23 | 天津市欣跃涂料有限公司 | A kind of spray piece captures robot |
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| CN109703639B (en) * | 2018-12-03 | 2020-10-13 | 北京建筑大学 | Robot with variable structure |
| CN109333490B (en) * | 2018-12-03 | 2021-11-12 | 海阳三贤电子科技有限公司 | Wire hanging machine for automobile wire harness production |
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| CN111014186A (en) * | 2019-11-19 | 2020-04-17 | 广州供电局有限公司 | Dry ice decontamination system |
| CN111843990B (en) * | 2020-06-22 | 2022-08-30 | 安徽科汇钢结构工程有限公司 | Foldable mechanical arm steel frame structure |
| CN114918963A (en) * | 2022-05-31 | 2022-08-19 | 三一汽车制造有限公司 | Sucker mechanism and truss manipulator |
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| JPH09263275A (en) * | 1996-03-27 | 1997-10-07 | Iseki & Co Ltd | Traveling device of working machine |
| CN102233575A (en) * | 2010-04-23 | 2011-11-09 | 北京航空航天大学 | Small-sized emergency rescue and detection robot for nuclear radiation environment |
| CN202144279U (en) * | 2011-07-04 | 2012-02-15 | 辽宁工程技术大学 | Earthquake relief engineering truck |
| US9469356B2 (en) * | 2012-12-21 | 2016-10-18 | Agco Corporation | Multi-axis reaction arm assembly for a tracked tractor |
| CN103538075A (en) * | 2013-09-13 | 2014-01-29 | 常州市盈顺电子有限公司 | Mechanical gripper |
| CN103661651B (en) * | 2013-12-23 | 2016-02-03 | 哈尔滨工业大学 | A kind of have the small-sized search and rescue robot cutting off obstacle function |
| CN104162893B (en) * | 2014-06-05 | 2016-01-27 | 哈尔滨工程大学 | The collapsible Manipulator arm structure of a kind of brace type |
| CN204507046U (en) * | 2015-02-16 | 2015-07-29 | 泰华宏业（天津）机器人技术研究院有限责任公司 | A kind of comprehensive detection swing arm crawler platform |
| KR101691291B1 (en) * | 2015-04-02 | 2016-12-29 | 황종하 | Apparatus for blocking spill of harmful substance for vessel and flooding |
| CN106143662B (en) * | 2016-08-15 | 2018-07-31 | 湖南农业大学 | Caterpillar flexible gets over bank driving device |
| CN106985130A (en) * | 2017-04-17 | 2017-07-28 | 北京林业大学 | A kind of barrier-surpassing robot |
-
2017
- 2017-04-17 CN CN201710247621.3A patent/CN106985130A/en not_active Withdrawn
- 2017-10-19 CN CN201710976883.3A patent/CN107511813A/en active Pending
- 2017-10-19 CN CN201721348411.5U patent/CN207564459U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107511813A (en) * | 2017-04-17 | 2017-12-26 | 北京林业大学 | A kind of barrier-surpassing robot |
| CN112110191A (en) * | 2020-11-23 | 2020-12-22 | 长沙市材新创精研科技有限公司 | Pharmaceutical mechanical arm |
| CN112978363A (en) * | 2021-03-25 | 2021-06-18 | 重庆途益物流有限公司 | Intelligent logistics control device with multi-directional adjustment function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107511813A (en) | 2017-12-26 |
| CN106985130A (en) | 2017-07-28 |
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