CN207875802U - It is a kind of to carry out compound ground robot based on wheel - Google Patents

Abstract

The utility model belongs to technical field of automation more particularly to a kind of ground robot compound based on wheel shoe, and it included agent structure, running gear and battery case that should carry out compound ground robot based on wheel；Due to the adoption of the above technical scheme, the utility model whole system is divided into the several module compositions of main body, left and right caterpillar system, left and right train, left and right secondary track, symmetrical configuration, convenient for safeguarding；The structure of wheel auxiliary swing arm further improves the handling capacity of robot, scheme compared to packbot, reduce unnecessary weight, reduce potential resistance again, most importantly, the position of centre of gravity of robot can be adjusted by the posture of swing arm, ensure that robot technology action is stable.

Description

It is a kind of to carry out compound ground robot based on wheel

Technical field

The utility model belong to technical field of automation more particularly to it is a kind of driven by crawler belt or train, can be with It is moved in multiple types of floors, in conjunction with the manipulator and camera of equipment, the tasks such as the scouting that can carry out, explosive, carrying Compound ground robot is carried out based on wheel.

Background technology

Various types of ground robots are largely currently equipped both at home and abroad, are widely used in the special types such as army, police, fire-fighting Field, and significant effect is achieved, a large amount of manpowers are saved, countless life has been saved.But in practical application, it is limited by The prior art, the common robot in market have the following disadvantages：

Travel speed and handling capacity contradict

Wherein wheeled robot is suitable for ground robot that is medium-and-large-sized, fast moving, in spies such as building, rugged mountain areas Different region then can not effectively use, and minitype wheeled ground robot is worse by performance, can only be executed by means such as hand throwings short The indoor simple task of distance；Caterpillar robot has the handling capacity of stronger ground adaptability and complicated landform, but crawler belt Own efficiency is relatively low, and especially in cold environment, thick and heavy rubber or polyurethane elastomeric material are hardened on crawler belt, and motor needs Large drag forces are overcome to travel, it is serious to reduce travel speed and mileage travelled；

It is powerful to conflict with phase easy to carry

It is the usual bulky of robot that existing wheel, which is carried out compound, and transport is inconvenient, expensive, and matching system is complicated, and giving needs Ask high-volume equipment and the widely available very big inconvenience brought of multitask of unit.

Patent has had similar retrieval, foreign countries to have using U.S. Packbot as the caterpillar robot of representative both at home and abroad at present Product, there is the product for imitating Packbot in the country, but concrete methods of realizing is slightly different with this patent.

The product of Packbot has thick and heavy crawler belt, by the external tooth type of crawler belt, realizes increasing frictional ground force, carries High step climbs ability, and system such as is hit at a series of functions when reduction is fallen.There are two modularization auxiliary to carry out for Packbot dresses Band, can be with auxiliary robot throwing over barrier.

The product of existing Packbot has good passability and resistance to shock loads ability.But its caterpillar belt structure is turning to When efficiency it is slightly lower, manufacturing process is complicated, thus manufacturing price is expensive, is unsuitable for high-volume and equips.

In addition, the design limitations of the modules such as battery uniformly configured the position of center of gravity, excessively rearward, secondary track in addition Length reason, limit its climb height barrier object passability.

Domestic existing imitation products, although shape is similar to Packbot, although it is multiple to avoid Packbot in manufacturing process Miscellaneous technique, but sacrifice car body weight thus, height of C.G., the performance paid close attention in the multinomial practical application such as center of gravity front and back position Parameter, there is no accomplished, Er Qiechong on imitation products at home for the passability and resistance to shock loads ability that Packbot possesses Amount is big, not readily portable and carrying.

Invention content

To solve the above-mentioned problems, the utility model aim is to provide a kind of distributing rationally by center of gravity, further carries The climbing of high product and side slope handling capacity；By distributing rationally for form, product weight is reduced, from weight and operation appearance Two aspect of state improves portability；Distinctive modularized design is used, operation is simplified, improves the working flexibility of system It is light-weight, speed is fast, good by performance, compact portable carries out compound ground robot based on wheel.

The technical solution of the utility model is：It is a kind of to carry out compound ground robot based on wheel, it should be carried out based on wheel compound Ground robot includes agent structure, running gear and battery case；

The agent structure includes front body and rear framework, and the front end both sides of the front body are equipped with drive shaft, front end Centre position is equipped with front camera, and control system is equipped with inside the front body and drives the motor of the drive shaft；Institute It states and is provided with rear camera, operation panel and the interface that stays for installing antenna on rear side of front body, on the operation panel Equipped with emergency stop switch and data-interface, the front camera, rear camera, operation panel, emergency stop switch, data-interface and Interface is stayed to be electrically connected with the control system；

Framework is in hollow after described, and wherein one end and the rear side of the front body is affixed, and the other end is handle；

The running gear includes the caterpillar system that double cog synchronous belt is made and secondary track system, and the double cog is same The caterpillar system that step band is made is mounted on the both sides of the agent structure, the auxiliary by Left-side support plate and Right side support plate Caterpillar system is mounted on the front end for the caterpillar system that the double cog synchronous belt is made；

The battery case is arranged by carry device on the side wall of the both sides of the agent structure.

Further, it includes crawler belt, Athey wheel, tensioning that the caterpillar system, which includes the caterpillar system made of double cog synchronous belt, Device and elastic wheel；

Wherein, 2 Athey wheels are separately mounted in the drive shaft of the front body, and in addition 2 Athey wheels are logical The both sides that connecting shaft is mounted on the rear end of the rear framework are crossed, 2 crawler belts are separately positioned on 4 Athey wheels, often The elastic wheel is all connected on the outside of a Athey wheel, the tensioning apparatus setting is in the rear in connecting shaft.

Further, the secondary track system includes secondary track support arm, synchronous Athey wheel, secondary track, auxiliary shoe Belt wheel and angle adjusting mechanism；

Wherein, described in 2 synchronous Athey wheels are mounted on the outside of elastic wheel by the angle adjusting mechanism In drive shaft, 2 synchronous Athey wheels are hinged with one end of the secondary track support arm respectively, 2 secondary tracks The secondary track wheel is arranged in the other end of support arm, and the secondary track is arranged in the synchronous Athey wheel and secondary track wheel On.

Further, the diameter of the elastic wheel is 1.2 times of the crawler belt wheel diameter.

Further, it further includes loading structure that should carry out compound ground robot based on wheel, and the loading structure includes bearing a heavy burden Main body and several bogie wheels, several bogie wheels be placed equidistant with the heavy burden body side and with the crawler belt inner surface Contact, 2 heavy burden main bodys are symmetrically fixed in the lower end of the agent structure both sides, and the end at heavy burden main body both ends Distance to the agent structure end is equal.

Further, the length of the secondary track support arm is not less than the wheelbase between front and back elastic wheel.

Further, the 1/3 of a diameter of agent structure height of the bogie wheel.

Further, the surface of the secondary track support arm is equipped with several rectangular through-holes, the secondary track support arm One side end face is first-class away from equipped at least 2 reinforcing ribs.

Further, the length of the heavy burden main body is the 1/2 of the agent structure length.

Further, the lateral wall of the rear framework is equipped with the card slot for fixing carry device.

Further, the outer surface of the crawler belt is equidistantly equipped with several lug tooths, centrally located to be equipped with screens slot, position Internal track surfaces in the both sides of the screens slot are equipped with internal tooth；Stop flange is equipped on the outside of the wheel hub of the Athey wheel, it is described It is equidistantly equipped on the end face of stop flange several equipped with power teeth.

The utility model has the beneficial effects that：Due to the adoption of the above technical scheme, the utility model, which has the special feature that, is：

First, take into account the movement of high speed and the obstacle detouring of complex road surface, the train of optimization is system in straight road surface high-speed cruising Efficient support is provided, brief crawler belt can provide necessary and not extra power-assisted under complicated landform, need not to reduce The electric quantity consumption wanted puies forward effect and subtracts consumption；

Second is that center of gravity is short, forward, this makes ground robot be concentrated mainly on front half section to the active force on ground, more suitable The inclined-plane of climbing wide-angle is closed, and has very strong stability；

Third, being conducive to loss of weight, more portable, proprietary hollow design eliminates unnecessary containment weight, Ke Yiji Loss of weight is caused, the position of holding is reserved, that is, is convenient for portable carrying, and throw convenient for tactics；

Fourth, simple in structure, it is several that whole system is divided into main body, left and right caterpillar system, left and right train, left and right secondary track A module composition, symmetrical configuration, convenient for safeguarding；The structure of wheel auxiliary swing arm further improves the handling capacity of robot, phase Than in the scheme of packbot, that is, reducing unnecessary weight, and reduce potential resistance, it is most important that, pendulum can be passed through The posture of arm adjusts the position of centre of gravity of robot, ensures that robot technology action is stable.

Description of the drawings

Fig. 1 is a kind of structural schematic diagram for carrying out compound ground robot based on wheel of the utility model.

Fig. 2 is a kind of structural schematic diagram of agent structure that carrying out compound ground robot based on wheel of the utility model.

Fig. 3 is a kind of structural representation of secondary track system that carrying out compound ground robot based on wheel of the utility model Figure.

Fig. 4 is a kind of structural schematic diagram of caterpillar system that carrying out compound ground robot based on wheel of the utility model.

Fig. 5 is the crawler belt and Athey wheel of a kind of caterpillar system for carrying out compound ground robot based on wheel of the utility model Structural schematic diagram.In figure：

1. agent structure, 1-11. front bodies, 1-111. drive shafts, 1-112. emergency stop switch, 1-113. data-interfaces, 1- 114. staying framework after interface, 1-12., 2. running gears, 2-1. caterpillar systems, 2-11. crawler belts, 2-111. lug tooths, 2-112. Screens slot, 2-113. internal tooths, 2-12. Athey wheels, 2-13. tensioning apparatus, 2-14. elastic wheels, 2-2. secondary tracks system, 2- 21. secondary track support arm, 2-22. synchronize Athey wheel, 2-23. secondary tracks, 2-24. secondary tracks wheel, 2-25. angular adjustments Mechanism, 3. battery cases, 4. rear cameras, 5. loading structures, 5-1. heavy burdens main body, several bogie wheels of 5-2., 6. operation panels, 7. front camera, 8. antennas, 9. carry devices, 10. handles.

Specific implementation mode

The technical solution of the utility model is described further below in conjunction with the accompanying drawings.

As Figure 1-Figure 5, the utility model is a kind of carrying out compound ground robot based on wheel, should be carried out based on wheel compound Ground robot includes agent structure 1, running gear 2 and battery case 3；

The agent structure 1 includes respectively accounting for the front body 1-11 and rear framework 1-12 of agent structure length half, before described The front end both sides of main body 1-11 are equipped with drive shaft 1-111, and front end centre position is equipped with front camera 7, the front body 1- Control system is installed inside 11 and drives the motor of the drive shaft 1-111；After being provided on rear side of the front body 1-11 It sets camera 4, operation panel 6 and stays interface 1-114 for install antenna, the operation panel 6 is equipped with emergency stop switch 1- 112 and data-interface 1-113, the front camera 7, rear camera 4, operation panel 6, emergency stop switch 1-112, data connect Mouthful 1-113 and interface 1-114 is stayed to be electrically connected with the control system；

Framework 1-12 is in hollow after described, and wherein one end and the rear side of the front body 1-11 is affixed, and the other end is to carry Hand 10；

The running gear 2 includes the caterpillar system 2-1 that makes of double cog synchronous belt and secondary track system 2-2, described The caterpillar system that double cog synchronous belt is made is mounted on the two of the agent structure 1 by Left-side support plate and Right side support plate Side, the secondary track system 2-2 are mounted on the front end for the caterpillar system 2-1 that the double cog synchronous belt is made；

The battery case 3 is arranged by carry device 9 on the side wall of the both sides of the agent structure 1.

The caterpillar system 2-1 include the caterpillar system made of double cog synchronous belt include crawler belt 2-11, Athey wheel 2-12, Tensioning apparatus 2-13 and elastic wheel 2-14；

Wherein, 2 Athey wheel 2-12 are separately mounted on the drive shaft 1-111 of the front body 1-11, in addition 2 The Athey wheel 2-12 is mounted on the both sides of the rear end of the rear framework 1-12,2 crawler belt 2-11 difference by connecting shaft It is arranged on 4 Athey wheel 2-12, is all connected with the elastic wheel 2-14 on the outside of each Athey wheel 2-12, described Tight device 2-13 settings are in the rear in connecting shaft.

The secondary track system 2-2 includes secondary track support arm 2-21, synchronous Athey wheel 2-22, secondary track 2- 23, secondary track wheel 2-24 and angle adjusting mechanism 2-25；

Wherein, 2 synchronous Athey wheel 2-22 are mounted on elastic wheel 2- by the angle adjusting mechanism 2-25 On the drive shaft 1-111 in 14 outsides, 2 synchronous Athey wheel 2-22 are respectively with the secondary track support arm 2-21's One end is hinged, and the secondary track wheel 2-24, the secondary track is arranged in the other end of 2 secondary track support arm 2-21 2-23 is arranged on the synchronous Athey wheel 2-22 and secondary track wheel 2-24.

The diameter of the elastic wheel 2-14 is 1.2 times of the Athey wheel 2-12 diameters.

It further includes loading structure 5 that this carries out compound ground robot based on wheel, and the loading structure includes heavy burden main body 5-1 With several bogie wheel 5-2, several bogie wheel 5-2 be placed equidistant with the sides heavy burden main body 5-1 and with the crawler belt 2- 11 inner surfaces contact, and 2 heavy burden main body 5-1 are symmetrically fixed in the lower end of 1 both sides of the agent structure, and the heavy burden The distance of the end at the both ends main body 5-1 to 1 end of the agent structure is equal.

The length of the secondary track support arm 2-21 is not less than the wheelbase between front and back elastic wheel 2-14.

The 1/3 of 1 height of a diameter of agent structure of the bogie wheel 5-2.

The surface of the secondary track support arm 2-21 is equipped with several rectangular through-hole 2-211, the secondary track support arm A side end face of 2-21 is first-class away from equipped at least 2 reinforcing rib 2-212.

The length of the heavy burden main body 5-1 is the 1/2 of 1 length of the agent structure.

The lateral wall of framework 1-12 is equipped with the card slot 8 for fixing carry device after described.

The outer surface of the crawler belt 2-11 is equidistantly equipped with several lug tooth 2-111, centrally located to be equipped with screens slot 2-112, the crawler belt 2-11 inner surfaces positioned at the both sides of the screens slot 2-112 are equipped with internal tooth 2-113；The Athey wheel 2-12's It is equipped with stop flange 2-121 on the outside of wheel hub, is equidistantly equipped on the end face of the stop flange 2-121 several equipped with power teeth 2- 122, when driving, the stop flange of belt wheel is stuck in the screens slot of band, because belt wheel is fixed, can only be rotated, cannot be axial Play, band can only just be driven, without axial float chain-taking,

The sliding tooth of belt wheel and traditional synchronous belt, tooth form, tooth pitch be it is the same, standard, unlike, herein, The sliding tooth of belt wheel is grown on the end face of flange, traditional synchronous pulley, is grown in outer circle, in this way improve the advantages of be, Handstone is easy to fall, it is not easy to block main crawler belt

The utility model is characterized in that：

Hollow structure empty after weight before 1.

For the ground robot design of centre of gravity in car body first half, i.e. front body 1-11 only has half of length over ends of body, and concentrates In first half.This design has the advantage that center of gravity is forward, and when climbing, center of gravity is forward, helps to create downward forward Torque, to be easier to photograph on higher barrier, the phenomenon that being not susceptible to insufficient pressure and skid；

Framework 1-12 uses hollow frame structure, the handle 10 reserved afterwards, and the person of being more convenient to operate, which carries, to be carried, Yi Jizhan Art is jettisoninged, therefore structure as handle is also the protection point of this patent, and whether thickness, side or circle are even bent, and are all pair The simple modification of this patent；

Operation panel 6 in hollow structure, the position simple and clear can be conveniently operated, and because in square shape Portion is substantially subjected to frame protection, it is possible to prevente effectively from false triggering, if emergency stop switch is in this position, operator can be very convenient It operates, but in tactics jettisoning action, the emergency stop switch of this position is not easy, by the foreign matter triggering in environment, to cause to fail.

Novel wheel carries out composite construction

This programme innovatively uses a kind of wheel shoe composite construction, simple and practical so that robot simply may be used based on this The structure leaned on not only had obtained the efficiency that wheeled robot is run at high speed, but also has met the handling capacity of robot under complicated landform.

The diameter of the elastic wheel of the robot is slightly larger than the diameter of Athey wheel.Under such structure, robot transports on level land When row, mainly by wheel contacts ground handling, crawler belt can be made narrow, undertake the effect of driving belt, narrow crawler belt Chance because contacting ground is not easy to be worn due to reduction, meanwhile, narrow crawler belt running resistance is small, to improve the machine of robot Tool efficiency；When robot is in rough ground cross-country service, complicated landform makes somebody a mere figurehead train, when can not drive, crawler belt intervention with The matching of landform contacts, to ensure robot with caterpillar band type normal operation.

Half long small bogie wheel support construction

Small bogie wheel only has half long structure, and during robot ambulation, road surface especially larger in some resistances can To reduce the effective length that robot is contacted with ground, left and right crawler belt shortens with ground contact length, effect and usually when straight trip Bogie wheel is the same without bogie wheel, but when turning to, because shortening with ground contact length, the moment of resistance shortens, and can effectively subtract Few resistance, keeps steering more laborsaving, avoids not caused enough the stuck phenomenon of steering moment, saves valuable electricity, increase machine The cruise duration of device people and mileage.

Stop flange, original circumferential teeth deformation is different to grow circumferentially, the small rod of cantilever with tooth shape character；Belt wheel is then It makes a variation for common double cog synchronous belt, it is characterized in that fluting among double cog synchronous belt, avoids the flange of belt wheel, to In rotation, band is locked by flange constrains, thus can not axial float.

The design has that belt is light, and internal resistance is small, is driven the features such as efficient, it is most important that, it, can in complicated sand-gravel surface Stuck phenomenon is caused to effectively prevent sandstone to enter tooth socket, improves the robustness of system.Therefore distinctive belt wheel and band Design,

The hub positions of Athey wheel take the spoke of hollow out to fill shock-absorbing design.In addition to this, the tread of crawler belt external tooth tooth form, Using big tooth form hollow design, the external tooth tooth form tread of hollow design the advantage is that as the innovative point of this patent, i.e., into One step increases the elasticity of driving wheel, impact force when reducing high-speed cruising suffered by system；Reduce weight again, to reducing The overall weight of robot is helpful.The shape of hollow out can be varied, but the driving wheel of this dual shock-absorbing design is this The simple transformation of the innovative point of patent, hollow out fancy can not avoid the fact that invade this patent innovative point.

Secondary track swing arm structure

First point, the driving wheel of secondary track and driven wheel increase, and after increasing Athey wheel, secondary track support arm is and shoe Band spaces out, and such design can ensure that, in complicated rough ground, crawler belt is not maked somebody a mere figurehead, that is, ensures that passability avoids again Increase unnecessary weight；

Second point, secondary track support arm lengthen, and the secondary track support arm of lengthening can assist climbing upper higher vertical Straight height barrier, it is often more important that, the crawler belt arm of lengthening is enough to change the center of gravity of robot, so as to cope with freely The technical need of centre of gravity adjustment when slope, descending and obstacle detouring；

Thirdly, secondary track radius bend is big, can reduce motor required resistance overcome in driving.

Claims (10)

1. a kind of carrying out compound ground robot based on wheel, it includes agent structure that should carry out compound ground robot based on wheel（1）、 Running gear（2）And battery case（3）；

The agent structure（1）Including front body（1-11）With rear framework（1-12）, the front body（1-11）Front end both sides Drive shaft is installed（1-111）, front end centre position is equipped with front camera（7）, the front body（1-11）Inside is equipped with Control system and the driving drive shaft（1-111）Motor；The front body（1-11）Rear side be provided with rear camera （4）, operation panel（6）Interface is stayed with for install antenna（1-114）, the operation panel（6）It is equipped with emergency stop switch（1- 112）And data-interface（1-113）, the front camera（7）, rear camera（4）, operation panel（6）, emergency stop switch（1- 112）, data-interface（1-113）With stay interface（1-114）It is electrically connected with the control system；

Framework after described（1-12）In hollow, wherein one end and the front body（1-11）Rear side it is affixed, the other end be carry Hand（10）；

The running gear（2）The caterpillar system made including double cog synchronous belt（2-1）With secondary track system（2-2）, institute It states the caterpillar system that double cog synchronous belt is made and the agent structure is mounted on by Left-side support plate and Right side support plate（1）'s Both sides, the secondary track system（2-2）The caterpillar system made mounted on the double cog synchronous belt（2-1）Front end；

The battery case（3）Pass through carry device（9）It is arranged in the agent structure（1）Both sides side wall on.

2. according to claim 1 carry out compound ground robot based on wheel, which is characterized in that the caterpillar system（2- 1）Include crawler belt including the caterpillar system that double cog synchronous belt is made（2-11）, Athey wheel（2-12）, tensioning apparatus（2-13）With Elastic wheel（2-14）；

Wherein, 2 Athey wheels（2-12）It is separately mounted to the front body（1-11）Drive shaft（1-111）On, in addition 2 A Athey wheel（2-12）It is mounted on the rear framework by connecting shaft（1-12）Rear end both sides, 2 crawler belts（2- 11）It is separately positioned on 4 Athey wheels（2-12）On, each Athey wheel（2-12）Outside be all connected with the elastic wheel （2-14）, the tensioning apparatus（2-13）It is arranged in rear connecting shaft.

3. according to claim 1 carry out compound ground robot based on wheel, which is characterized in that the secondary track system （2-2）Including secondary track support arm（2-21）, synchronous Athey wheel（2-22）, secondary track（2-23）, secondary track wheel（2- 24）And angle adjusting mechanism（2-25）；

Wherein, 2 synchronous Athey wheels（2-22）Pass through the angle adjusting mechanism（2-25）It is mounted on elastic wheel（2- 14）The drive shaft in outside（1-111）On, 2 synchronous Athey wheels（2-22）Respectively with the secondary track support arm （2-21）One end it is hinged, 2 secondary track support arms（2-21）The other end secondary track wheel is set（2-24）, The secondary track（2-23）It is arranged in the synchronous Athey wheel（2-22）With secondary track wheel（2-24）On.

4. according to claim 2 carry out compound ground robot based on wheel, which is characterized in that the elastic wheel（2-14） Diameter be the Athey wheel（2-12）1.2 times of diameter.

5. according to claim 2 carry out compound ground robot based on wheel, which is characterized in that should be carried out based on wheel compound Ground robot further includes loading structure（5）, the loading structure includes heavy burden main body（5-1）With several bogie wheels（5-2）If Do the bogie wheel（5-2）It is placed equidistant in the heavy burden main body（5-1）Side and with the crawler belt（2-11）Inner surface connects It touches, 2 heavy burden main bodys（5-1）Symmetrically it is fixed in the agent structure（1）The lower end of both sides, and the heavy burden main body（5- 1）The end at both ends is to the agent structure（1）The distance of end is equal.

6. according to claim 3 carry out compound ground robot based on wheel, which is characterized in that the secondary track support Arm（2-21）Length be not less than front and back elastic wheel（2-14）Between wheelbase.

7. according to claim 5 carry out compound ground robot based on wheel, which is characterized in that the bogie wheel（5-2） A diameter of agent structure（1）The 1/3 of height.

8. according to claim 3 carry out compound ground robot based on wheel, which is characterized in that the secondary track support Arm（2-21）Surface be equipped with several rectangular through-holes（2-211）, the secondary track support arm（2-21）A side end face it is first-class Away from equipped at least 2 reinforcing ribs（2-212）.

9. according to claim 5 carry out compound ground robot based on wheel, which is characterized in that the heavy burden main body（5- 1）Length be the agent structure（1）The 1/2 of length.

10. according to claim 2 carry out compound ground robot based on wheel, which is characterized in that the crawler belt（2- 11）Outer surface equidistantly be equipped with several lug tooths（2-111）, centrally located to be equipped with screens slot（2-112）, it is located at the card Position slot（2-112）Both sides crawler belt（2-11）Inner surface is equipped with internal tooth（2-113）；The Athey wheel（2-12）Wheel hub on the outside of Equipped with stop flange（2-121）, the stop flange（2-121）End face on equidistantly be equipped with it is several be equipped with power teeth（2-122）.