CN207860304U - A kind of multiduty independent track drive unit - Google Patents
A kind of multiduty independent track drive unit Download PDFInfo
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- CN207860304U CN207860304U CN201721873117.6U CN201721873117U CN207860304U CN 207860304 U CN207860304 U CN 207860304U CN 201721873117 U CN201721873117 U CN 201721873117U CN 207860304 U CN207860304 U CN 207860304U
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- module
- gear
- spur gear
- multiduty
- crawler belt
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Abstract
The application belongs to driving unit, and in particular to a kind of multiduty independent track drive unit.A kind of multiduty independent track drive unit, including drive module, swing module and crawler belt, wherein drive module and swing module are hinged in end, crawler belt is along direction of motion covering drive module and swings module, outer surface pinch rollers are being set close to the position of drive module and swing module junction, crawler belt is passed through from the lower section of outer surface pinch rollers.The remarkable result of the application is：A kind of independent caterpillar driving unit to serve many purposes is provided, the characteristics of making it have compact dimensions, having auxiliary joint, is deformable, can combine, both be adapted to there are Turbogrid plates, small stair, small holes even stair nuclear island ring corridor region, it can also be adapted to the small spaces such as small pipeline region and channel bend, can be applicable to the like environment of other occasions.
Description
Technical field
The application belongs to driving unit, and in particular to a kind of multiduty independent track drive unit.
Background technology
After nuclear power station enables, radioactive environment is just in inside nuclear island always, with the increase of nuclear power station run time, is needed
Numerous key positions is detected, be overhauled；When nuclear power station meets with an accidet, it is also necessary to the region that can not be reached to personnel
It is detected.With the development of specialized robot technology, these work more and more are gone to complete by robot.
Caterpillar type robot is one kind in mobile robot, and with power abundance, longer performance is good, and landform adapts to
The features such as ability is strong, can based on platform, stay in various detecting instruments, sensor or camera and enter in nuclear power station
Each position be detected, overhaul, detect.For example, for there are Turbogrid plates, small stair, the small holes even nuclear islands of stair
Ring corridor region needs caterpillar robot to have auxiliary joint to realize obstacle crossing function；For the small spaces such as small pipeline region,
It needs the appearance and size of robot small, or even needs body deformable, to adapt to channel bend.
But existing caterpillar type robot, track drive structure function are more single；Crawler belt with auxiliary joint
Driving structure has preferable obstacle crossing function, but often flat between the motor and crawler belt rotary shaft of this kind of track drive structure
Row arrangement, width dimensions are larger, can not be adapted to the narrow regions such as small pipeline；The smaller track drive structure of structure size,
Though there is auxiliary joint, crawler belt can stretch protrusion when joint is swung, and be unfavorable for through channel bend, robot itself can not also weigh
Combination nova.
Invention content
The application in view of the drawbacks of the prior art, provides a kind of multiduty independent track drive unit.
What the application was realized in：A kind of multiduty independent track drive unit, including drive module, swing module
And crawler belt, wherein drive module and swing module is hinged in end, and crawler belt is along direction of motion covering drive module and swings module,
It close to drive module and is swinging the position of module junction outer surface pinch rollers is set, crawler belt is from outer surface pinch rollers
Lower section passes through.
A kind of multiduty independent track drive unit as described above, wherein the drive module includes as dynamic
The motor A of power core, motor A are fixed on by motor mount on side plate, and output shaft and the bevel gear A toe joints of motor A bore tooth
A is taken turns successively with spur gear A, spur gear B toe joints, and spur gear A is fixed on by bevel gear shaft on side plate, spur gear B and spur gear C
For in-line gears, spur gear C is successively in-line gears with driving Athey wheel with spur gear D and spur gear E toe joints, spur gear E, is driven
Dynamic Athey wheel and crawler belt toe joint, and it further includes being separately positioned on side plate two to drive Athey wheel that can drive crawler belt, drive module
The support Athey wheel A and support Athey wheel B, the support Athey wheel A and support Athey wheel B at end are used to support crawler belt, are internal
Gear assembly slot milling, in the end set fixed gear of side plate, which is used to connect with swing module, and fixed gear passes through
Hinging rotary axis is fixed on side plate, and outer surface pinch rollers are being arranged close to the position of fixed gear.
A kind of multiduty independent track drive unit as described above, wherein the swing module includes as dynamic
The motor B of power core, motor B are arranged in swinging the swing shell that side plate forms by two, the output shaft of motor B and bevel gear
C toe joints, bevel gear C and bevel gear D toe joints, bevel gear D and spur gear F are in-line gears, and common axis is rotary shaft, spur gear
F is engaged with fixed gear, because fixed gear is fixed, so spur gear F drives the entire module that swings to be rotated around hinging rotary axis,
Sliding slot is set swinging the one end of module far from spur gear F, tensioning block is set in the sliding slot, and tensioning block can be slided in sliding slot
It is dynamic, it is arranged below tensioning block and holds out against spring and support Athey wheel module C.
A kind of multiduty independent track drive unit as described above, wherein further include the connection that several sizes do not wait
Plate.
A kind of multiduty independent track drive unit as described above, wherein the connecting plate is wide tablet.
A kind of multiduty independent track drive unit as described above, wherein the connecting plate is fillet connecting plate,
And connecting plate is angled when being connect with two driving units, final product cross section is V-shaped.
The remarkable result of the application is：A kind of independent caterpillar driving unit to serve many purposes is provided, is made it have
Compact dimensions have auxiliary joint, deformable, the characteristics of can combining, and have both been adapted to that there are Turbogrid plates, small stair, small
Hole even the nuclear island ring corridor region of stair can also be adapted to the small spaces such as small pipeline region and channel bend, also
It can be adapted for the like environment of other occasions.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the drive mechanism schematic diagram of drive module；
Fig. 3 is the structural schematic diagram for swinging module；
Fig. 4 is the schematic diagram that the present invention is in deformation state；
One embodiment when Fig. 5 is obstacle detouring of the present invention；
Fig. 6 is one embodiment that the present invention is used for small pipeline；
Fig. 7 is one embodiment when the present invention passes through channel bend.
In figure：1. modules are swung drive module, 2., 3. crawler belts, 4. connecting plate A, 5. connecting plate B, 6. connecting plate C, 7.
Rank, 8. small pipelines, 9. channel bends, 1001. side plates, 1002. motor A, 1003. motor mounts, 1004. bevel gear A,
1005. bevel gear B, 1006. bevel gear shafts, 1007. spur gear A, 1008. spur gear B, 1009. spur gear C, 1010. spur gears
D, 1011. driving Athey wheels, 1012. spur gear E, 1013. support Athey wheel A, 1014. support Athey wheel B, 1015. outer surfaces
Pinch rollers, 1016. hinging rotary axis, 1017. fixed gears, 2001. swing shells, 2002. swing side plates, 2003. motor B,
2004. bevel gear C, 2005. bevel gear D, 2006. rotary shafts, 2007. spur gear F, 2008. tensioning blocks, 2009. sliding slots,
2010. hold out against spring, 2011. support Athey wheel module C.
Specific implementation mode
In Fig. 1, drive module 1 and to swing between module 2 be hinged relationship, swinging module 2 can exist around hinge joint
It is rotated within the scope of certain angle, crawler belt 3 gets up drive module 1 and swing 2 integral coating of module, and crawler belt 3 is in total
Centre position.
1. drive module in figure, 2. swing modules, 3. crawler belts, 4. connecting plate A, 5. connecting plate B, 6. connecting plate C, 7.
Rank, 8. small pipelines, 9. channel bends, 1001. side plates, 1002. driving motors, 1003. motor mounts, 1004. bevel gears
A, 1005. bevel gear B, 1006. bevel gear shafts, 1007. spur gear A, 1008. spur gear B, 1009. spur gear C, 1010. straight-tooth
D is taken turns, 1011. driving Athey wheels, 1012. spur gear E, 1013. support Athey wheel modules As, 1014. support Athey wheel module B,
1015. outer surface pinch rollers, 1016. hinging rotary axis, 1017. fixed gears.
The drive mechanism of driver module in Fig. 2, motor A1002 are mounted on side plate 1001 by motor mount 1003
On, bevel gear A1004 is directly installed on motor A1002, and under the driving of motor A, bevel gear A1004 imparts power to cone
Gear B 1005, bevel gear B1005 impart power to spur gear A1007 by rotary shaft 1006, and spur gear A1007 is by power
It is coaxially arranged to pass to spur gear B1008, spur gear C1009 and spur gear B1008, can synchronous rotary, pass through spur gear C1009
Spur gear D1010 is transmitted drive force to, spur gear D1010 imparts power to spur gear E1012, and spur gear 1012 is in two
Among a driving Athey wheel 1011, two driving Athey wheels 1011 and spur gear E1012 are coaxially arranged, can be driven with synchronous rotary
Dynamic Athey wheel 1011 can drive crawler belt 3 to move；Support Athey wheel modules A 1013 and support Athey wheel module B1014 are used to support
The movement of crawler belt 3 follows the movement of crawler belt 3 to carry out driven, and outer surface pinch rollers 1015 are used to push down the outer surface of crawler belt 3,
Hinging rotary axis 1016 and fixed gear 1017 are fixed relative to side plate 1001；
By a series of above power transmissions, the rotary motion of motor A1002 can be converted into the power of crawler belt 3, in turn
Drive entire unit motion.
Fig. 3 is the structural schematic diagram for swinging module, and it is the basis for swinging module 2 that shell 2001 is swung in figure, swings side plate
2002 are located by connecting with shell 2001 is swung, and motor B2003 is mounted on and swings in shell 2001, and bevel gear C2004 is directly fixed
On motor B2003, the power of motor B2003 is passed to bevel gear D2005 by spur gear C2004, and bevel gear D2005 passes through rotation
Shaft 2006 imparts power to spur gear F2007, and spur gear F2007 is engaged with fixed gear 1017, because fixed gear 1017 is fixed
It is motionless, so spur gear F2007 drives the entire module 2 that swings to be rotated around hinging rotary axis 1016, by controlling motor B2003
Rotation angle, can control swing module 2 hunting range；Tensioning block 2008 can slide back and forth in sliding slot 2009,
2 support Athey wheel modules As 1013 are installed on tight block 2008, meanwhile, tensioning block 2008 holds out against spring 2010 by two and withstands,
Supporting Athey wheel module C2011 and support Athey wheel modules A 1013, support crawler belt 3 is held out against when swinging the swing of module 2 jointly
Spring 2010 supports tensioning block 2008 to ensure that crawler belt 3 is in tensioning state always.
In Fig. 4, swings module 2 and swung, form an angle with drive module 1, existed by tensioning block 2008
Slidable adjustment in sliding slot 2009, it is ensured that crawler belt 3 is tensioned, and by the pressuring action of outer surface pinch rollers 1015, carries out
Still it is coated on drive module 1 with 3 and swings the periphery of module 2, without exceptionally straight, protrusion.
In Fig. 5, connecting plate A4 is connected side by side by two drive modules 1 are parallel, is swung module 2 and is formed one with drive module 1
A angle swings the supported underneath of module 2 on step 7, before the synchronous hunting and drive module 1 for swinging module 2
Into may be implemented whole to climb up step.
In Fig. 6, connecting plate B5 is integral with certain inclination angle connection by two drive modules 1, swings module 2 and driving
Module 1 draws a straight line, and the outer surface of crawler belt 3 is contacted with the inner wall of small pipeline 8, to support is integrally formed.
In Fig. 7, connecting plate C6 is connected side by side by two drive modules 1 are parallel, swings shape between module 2 and drive module 1
At an angle, it to adapt to the tendency of channel bend 9, is contacted with the inner surface of channel bend 9 below the outer surface of crawler belt 3, band
Dynamic entirety moves in channel bend 9.In detail in this figure as can be seen that if without outer surface pinch rollers 1015, crawler belt 3 is taut
Tightly, elbow place may not crossed.
Claims (6)
1. a kind of multiduty independent track drive unit, it is characterised in that：Including drive module (1), swings module (2) and carry out
Band (3), wherein drive module (1) and swing module (2) are hinged in end, and crawler belt (3) is along direction of motion covering drive module (1)
With swing module (2), outer surface pinch rollers are being set close to the position of drive module (1) and swing module (2) junction
(1015), crawler belt (3) is passed through from the lower section of outer surface pinch rollers (1015).
2. a kind of multiduty independent track drive unit as described in claim 1, it is characterised in that：The drive module
(1) include motor A (1002) as power core, motor A (1002) is fixed on side plate by motor mount (1003)
(1001) on, the output shaft of motor A (1002) and bevel gear A (1004) toe joint, bevel gear A (1004) successively with spur gear A
(1007), spur gear B (1008) toe joint, spur gear A (1007) are fixed on by bevel gear shaft (1006) on side plate (1001), directly
Gear B (1008) and spur gear C (1009) are in-line gears, spur gear C (1009) successively with spur gear D (1010) and spur gear
E (1012) toe joint, spur gear E (1012) are in-line gears, driving Athey wheel (1011) and crawler belt with driving Athey wheel (1011)
(3) toe joint, and drive Athey wheel (1011) that crawler belt (3) can be driven, drive module (1) further includes being separately positioned on side plate
(1001) the support Athey wheel A (1013) at both ends and support Athey wheel B (1014), support Athey wheel A (1013) and support are carried out
Belt wheel B (1014) is used to support crawler belt (3), fixed in the end set of side plate (1001) for internal gear assembly slot milling
Gear (1017), the fixed gear (1017) are used to connect with swing module (2), and fixed gear (1017) passes through hinging rotary axis
(1016) it is fixed on side plate (1001), close to the position of fixed gear (1017) setting outer surface pinch rollers (1015).
3. a kind of multiduty independent track drive unit as claimed in claim 1 or 2, it is characterised in that：The swing
Module (2) includes the motor B (2003) as power core, and motor B (2003) settings are by two swing side plate (2002) groups
At swing shell (2001) in, the output shaft of motor B (2003) and bevel gear C (2004) toe joint, bevel gear C (2004) and cone
Gear D (2005) toe joint, bevel gear D (2005) and spur gear F (2007) are in-line gears, and common axis is rotary shaft
(2006), spur gear F (2007) is engaged with fixed gear (1017), because fixed gear (1017) is fixed, so spur gear F
(2007) it drives the entire module (2) that swings to be rotated around hinging rotary axis (1016), is swinging module (2) far from spur gear F
(2007) one end setting sliding slot (2009), the setting tensioning block (2008) in the sliding slot (2009), tensioning block (2008) can be with
The sliding in sliding slot (2009) is arranged below tensioning block (2008) and holds out against spring (2010) and support Athey wheel module C
(2011)。
4. a kind of multiduty independent track drive unit as described in claim 1, it is characterised in that：Further include several sizes
Not equal connecting plate.
5. a kind of multiduty independent track drive unit as claimed in claim 4, it is characterised in that：The connecting plate is
Wide tablet.
6. a kind of multiduty independent track drive unit as claimed in claim 4, it is characterised in that：The connecting plate is
Fillet connecting plate, and when connecting plate is connect with two driving units, is angled, final product cross section is V-shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721873117.6U CN207860304U (en) | 2017-12-27 | 2017-12-27 | A kind of multiduty independent track drive unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721873117.6U CN207860304U (en) | 2017-12-27 | 2017-12-27 | A kind of multiduty independent track drive unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207860304U true CN207860304U (en) | 2018-09-14 |
Family
ID=63463193
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721873117.6U Active CN207860304U (en) | 2017-12-27 | 2017-12-27 | A kind of multiduty independent track drive unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207860304U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969276A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of multiduty independent track drive unit |
-
2017
- 2017-12-27 CN CN201721873117.6U patent/CN207860304U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109969276A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of multiduty independent track drive unit |
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