CN208576616U - Wheel-track combined mobile robot - Google Patents
Wheel-track combined mobile robot Download PDFInfo
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- CN208576616U CN208576616U CN201721710520.7U CN201721710520U CN208576616U CN 208576616 U CN208576616 U CN 208576616U CN 201721710520 U CN201721710520 U CN 201721710520U CN 208576616 U CN208576616 U CN 208576616U
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- 210000000245 forearm Anatomy 0.000 claims description 2
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Abstract
The utility model is a kind of novel wheel-track combined mobile robot, can be used for field investigation and job that requires special skills, and by two preceding wheel leg systems, fuselage, rear wheel leg system, four part of leg system composition is carried out in left and right.Three wheels have independent driving steering structure, keep robot movement more flexible.Leg mechanism in two independent preceding wheel leg systems uses parallel―ordinal shift structure, and the special pattern converting system equipped with torsionspring is connected with fuselage, robot is in obstacle detouring, preceding wheel leg system can passively be swung up and down in a certain range with hypsography, there is adaptability to landform, guarantee wheel in obstacle detouring always between ground well contacting, improve obstacle detouring handling capacity；Simultaneously, by mode change system, two preceding wheel leg systems can be used to assist crossing over blockage and adjust the center of gravity high and low position of vehicle body, be improved it and cross ability and the moving stability to vertical plateau class obstacle by passively swinging the active roll being changed into a certain range.
Description
Technical field:
The utility model relates to a kind of robots, and in particular to one kind can under unstructured landform powered travel, tool
Have compared with high maneuverability, the wheel-track combined mobile robot of higher obstacle detouring and higher adaptivity.
Background technique:
With the development of society, the maturation of robot technology, robot be not only desired in industrial environment into
Row labour production, in other respects such as military affairs, undersea detection, space exploration, rescue and relief work, nuclear industry field requires can
The robot for the task that fulfils assignment under unstructured moving grids.Therefore to can be in active adaption under unstructured moving grids and flexible
The research of mobile " specialized robot " is increasingly by the consistent attention of every country.
The mobile mechanism of existing mobile robot is broadly divided into four classes: wheeled, leg formula, crawler type, combined type (such as wheel leg
Formula, wheel shoe formula etc.).Any mobile mechanism all has its unique advantages in specific environment, but there is also it is some from
The deficiency and defect that body can not overcome.Under comparing, combined mobile robot more only has single type mobile mechanism
Robot has better environmental suitability, but the combined mobile robot of various countries is limited by this body structure at present, obstacle detouring
Performance is simultaneously non-ideal, therefore the innovation and research work actively developed to composite moving mechanism are of great significance.
Summary of the invention:
The utility model provide one kind can the operation under complicated, unstructured moving grids, there is considerable flexibility, geometry
The wheel-track combined mobile robot of the characteristics such as passability, obstacle detouring, anti-overturning, ride performance.Wheel-track combined type is moved
Motivation structure, the advantages of having wheel type mobile structure and crawler-type mobile mechanism concurrently, have stronger environmental suitability, in relatively flat and
When moving on harder ground, there is good mobility and mobile flexibility；Passing through the soft slobs such as marsh, sand ground
When face, guarantee that there is good passability and hauling ability while certain movement speed；When passing through rough ground, have
Good passage capacity and there is stronger vertical cross section to cross ability, while guaranteeing good concealment, it is desirable that structure is simple,
It is small in size, it is light-weight.
In order to achieve the above-mentioned object of the invention, the problems of prior art, the technical side that the utility model is taken are solved
Case is: a kind of wheel-track combined mobile robot, and robot uses symmetrical structure, mainly by two preceding wheel leg systems, fuselage,
Leg system, four parts composition are carried out in wheel leg system afterwards, left and right.When moving on relatively flat and harder ground, it is mainly considered
Mobility and mobile flexibility, it is desirable that robot moving mechanism movement speed is fast, turns to flexibly, can be realized 360 degree of original place
Rotation and movement control simple；For the stationarity for improving the concealment of its movement and travelling and turning to, Ying Yaoqiu body gravity is use up
Amount reduces.When through soft terrains such as marsh, sand grounds, it is desirable that guarantee that there is good pass through while certain movement speed
Property is avoided because of the excessive and irremovable situation of frictional resistance suffered by wheel falls into ground, therefore it is required that robot moving mechanism
With lesser grounding pressure and good hauling ability.When passing through rough ground, it is desirable that good passage capacity, therefore machine
Answered between people's structure and ground the road clearance with higher, at the same in order to coordinate it is above-mentioned mention " body gravity reduces as far as possible " design
It is required that then mobile robot should have the excellent suspension frame structure for capableing of active accommodation itself center of gravity height, to meet by rugged
When road surface, each wheel can well be contacted with ground, guarantee mobile robot tool while transmitting sufficient power demand
There is preferable mobile ride comfort, provide more stable carrying platform for the instrument and equipment of carrying, is conducive to guarantee investigation quality.With phase
It compares like the robot of Dimension Types, crosses ability with stronger perpendicular steps, while to guarantee good concealment,
It is required that structure is simple, and it is small in size, it is light-weight.And the ability for crossing vertical step is often close with the structure size of robot itself
Correlation devises a set of whole cooperate and motor-driven crosses strategy.
Detailed description of the invention:
Fig. 1 is the whole installation diagram of the utility model wheel-track combined mobile robot；
Fig. 2 is the whole installation diagram of the utility model wheel-track combined mobile robot；
Fig. 3 is the structural schematic diagram of the steering driving mechanism of the utility model wheel-track combined mobile robot；
Fig. 4 is the structural schematic diagram of the mode changeover mechanism of the utility model wheel-track combined mobile robot；
Fig. 5 is the airframe structure of the utility model wheel-track combined mobile robot and the structural schematic diagram of transmission system；
Fig. 6 is the structural schematic diagram of the crawler belt upper bracket transmission system of the utility model wheel-track combined mobile robot；
Fig. 7 is the crawler rack structural schematic diagram of the utility model wheel-track combined mobile robot；
Fig. 8 is the triangle Athey wheel structural schematic diagram of the utility model wheel-track combined mobile robot；
Specific embodiment:
Utility model will be further explained below with reference to the attached drawings and specific embodiments, but the content of the utility model
It is not limited in affiliated range.
As shown in Figure 1, wheel-track combined mobile robot uses symmetrical structure, mainly by two preceding wheel leg systems (1,
2) leg system (5,6) four parts composition is carried out in, fuselage (3), rear wheel leg system (4), left and right.It altogether include three wheels, two triangles
Athey wheel, three wheels have independent driving steering structure, keep robot movement more flexible.Two independent preceding wheel leg systems
Leg mechanism (7) in system (1,2) uses parallel―ordinal shift structure, and one end of leg mechanism connects wheel (8), and the other end is by being located at
In fuselage, and the special pattern converting system equipped with torsionspring is connected with fuselage (3), and robot is in obstacle detouring, preceding wheel leg system
System (1,2) can passively be swung up and down in a certain range with hypsography, had good adaptability to landform, guaranteed wheel
(8) in obstacle detouring, well contacting between ground to transmit sufficient power improves obstacle detouring handling capacity always；Meanwhile by mould
Formula converting system (10), two preceding wheel leg systems (1,2) can by passively swinging the active roll being changed into a certain range,
It can be used to assist crossing over blockage and adjust the center of gravity high and low position of vehicle body, improve it and ability is crossed to vertical plateau class obstacle
With the moving stability.
As shown in Fig. 2, wheel-track combined mobile robot important mechanism mainly has crawler belt upper bracket drive train mechanism
(9), mode changeover mechanism (10), steering driving mechanism (11), triangle Athey wheel mechanism (12), crawler rack structure (13).With
Upper mechanism illustrates one by one below.
As shown in figure 3, steering driving mechanism (11) is by two independent motors (14,15) and its motor rack (16,17), end
It covers (18), rotation shaft of wheel (19) and sliding bearing (20) are constituted.0.15 meter of wheel external diameter, outer ring is solid tire, wheel
Axis connection is exported by shaft and motor (15), therefore motor (15) provides wheel along the torque in own axes direction, is machine
The mobile offer power of people.Motor (15) is fixed in motor rack (17), motor rack (17) and is fixed in motor rack (16)
Motor (14) output shaft be connected, motor (14) provide torque realize analysis of wheel vertical in the rotation of its own axis direction, thus
It allows the robot to flexibly turn to.Shaft and motor rack (17), the connection type between motor rack (17) and motor rack (16) are equal
The structure matched using cylindrical projection with groove, it is therefore an objective to directly transmit the ground shock power that wheel is subject to via motor rack
To torsionspring, avoids the output shaft for making motor from bearing external force and its caused vibration, reach protection motor output shaft, guarantee electricity
Machine has reliably working condition and the output of stable torque.In addition, it is respectively arranged with sliding bearing in protrusion and recessinterengaging means,
The frictional dissipation of motor output is reduced, for the mobile barrier-jump of robot, provides more sufficient power.
As shown in figure 4, mode changeover mechanism mainly has wheel leg driving motor (21), and bevel gear set (22), straight tooth column tooth
Wheel group (23), compressed spring (24), main gear shaft (25), castellated axle sleeve (26), castellated geared sleeve (27), slide key
(28), shift fork (29), roller (30), cylindrical cam axis (31), cam wheel group (32), torsionspring (33), cam motor
(34) and sliding bearing, sleeve form.One end of torsionspring (33) is fixed with fuselage, the other end and castellated geared sleeve
(27) fixed, the rectangular preiection between castellated axle sleeve (26), castellated geared sleeve (27) by end face is intermeshed together,
Castellated geared sleeve (27) empty set equipped with sliding bearing bush is on main gear shaft (25), therefore castellated geared sleeve (27) can edge
The circumferential direction of main gear shaft (25) is freely rotated；Castellated axle sleeve (26) is connected by three slide keys (28) and main gear shaft (25)
It connects, therefore castellated axle sleeve (26) can be slid along the axial direction of main gear shaft (25), and in order to easy to assembly, castellated axis
Set (26) is divided into two parts.Geared sleeve in straight spur gear group (23) with the more number of teeth is in castellated axle sleeve (26)
On, between connected with flat key.Shift fork (29) also covers on castellated axle sleeve (26), and rises to the gear on castellated axle sleeve (26)
To the effect of axial restraint.The end of castellated axle sleeve (26) is connected by compressed spring (24) with fuselage.Main gear shaft (25)
Right end be fixed together by the forearm mobile jib rod piece of wheel leg system in front of flat key and bolt.Straight spur gear group (23)
Two gears do not mesh together, and castellated axle sleeve (26), castellated geared sleeve (27) are in right end compressed spring (24) and circle
Under the limitation of column camshaft (31) position, end face rectangular teeth is mutually tightly engaged.Make on the ground that preceding wheel leg system is subject at this time
Firmly torsion bullet will be passed to via main gear shaft (25), slide key (28), castellated axle sleeve (26), castellated geared sleeve (27)
Spring is balanced by the torque that the deformation of torsionspring generates.At this point, preceding wheel leg system will be realized passively according to landform
It adapts to, flexibly swing and deform up and down.The wheel leg system active output torque before needing, before playing the climbing of wheel leg system or
When support auxiliary barrier-jump effect, cam motor (34) rotation, torque is transmitted to cylindrical cam axis by cam wheel group (32)
(31), so that it be driven to be rotated about axis.The rotation of cylindrical cam axis (31) will make shift fork (29) to push castellated axle sleeve (26)
Axial sliding to the right is carried out along the keyway on main gear shaft (25), to make a pair of of gear of straight spur gear group (23)
It is engaged, can realize the active torque output of preceding wheel leg system by starting wheel leg driving motor (21) at this time, realize
Its active roll in moving range, to assist crossing over blockage.
As shown in figure 5, car body is in such a way that machine driving is in conjunction with Electrified Transmission.In view of in order to improve robot
Operation precision, for convenience of speed regulation and control, driving motor selects stepper motor in transmission system, and in order to make decelerating through motor
To obtain biggish torque, multiple groups roller gear and bevel gear has been used to slow down motor in transmission system in fuselage, together
When consider the mean allocation of practical set and robot quality, move it more steadily, to body shell and internal structure into
Design is gone, fuselage is by fuselage left plate (35), central fuselage (36), fuselage right side plate (37) and internal carrier structure (38) group
At.Aluminum alloy materials are all made of, wherein part (35,36,37) is all made of forging type processing, connects between each part with screw.
As shown in fig. 6, crawler belt upper bracket transmission system, by the driving motor (39) in Fig. 6, roller gear group (40) bores tooth
Wheel group (41), gear shaft (42,43) part form.Crawler belt upper bracket is connect with the end of gear shaft (43), driving motor output
Torque by roller gear group (40), bevel gear set (41) is transmitted on gear shaft (43), props up on crawler belt so as to realize
Frame is rotated around the active of gear shaft (43) axis.
As shown in fig. 7, crawler belt upper bracket (44) connects in such a way that protrusion is matched with groove with crawler belt lower bracket (45)
Connect, and junction be equipped with torsionspring (46), therefore crawler belt lower bracket can be according to hypsography and opposing tracks upper bracket exists
It is swung in a certain range.
As shown in figure 8, the other end of crawler belt lower bracket can be installed to drive triangle Athey wheel opposing tracks lower bracket
(45) motor (47) rotated, the connection type which matches also by protrusion with groove with the connection of triangle Athey wheel.Three
The supporting structure of angle Athey wheel is mainly by driven wheel (48), " L " type bracket (49), crawler belt inner support (50), train of reduction gears
(51), driving wheel (52), driving motor (53) composition.The torque of driving motor is transferred to driving wheel by train of reduction gears
(52), crawler belt operating is realized.When rough ground is mobile, rear wheel leg system (4) passes through " L " type bracket (49) for wheel and machine
Body is connected, and " L " type bracket (49) can passively be swung in a certain range around the hinge joint with fuselage, increases crawler belt to ground
Contact area, improve the barrier-jump ability of crawler belt.
Triangle Athey wheel (12) includes two driving motors, and lower section driving motor is used to provide the power of crawler haulage, on
Square driving motor is used to realize triangle Athey wheel (12) around 360 degree of active rotations of the junction that is connected with crawler belt lower bracket (45)；
It is rotated by the active of triangle Athey wheel (12) and crawler belt upper bracket (44), the change in location and receipts of Athey wheel system may be implemented
It puts, and then makes robot that the transformation of wheel type mobile Yu the hybrid movement of wheel-track may be implemented.
Claims (3)
1. wheel-track combined mobile robot, using symmetrical structure, mainly by two preceding wheel leg systems (1,2), fuselage (3), after
Leg system (5,6) four parts composition is carried out in wheel leg system (4), left and right；It altogether include three wheels, two triangle Athey wheels, three vehicles
Wheel has independent driving steering structure, keeps robot movement more flexible；Leg in two independent preceding wheel leg systems (1,2)
Mechanism (7) uses parallel―ordinal shift structure, and one end of leg mechanism connects wheel (8), and the other end is equipped with by being located in fuselage
The special pattern converting system of torsionspring is connected with fuselage (3), and in obstacle detouring, preceding wheel leg system (1,2) can be with for robot
Hypsography is passively swung up and down in a certain range, has good adaptability to landform, guarantees that wheel (8) begin in obstacle detouring
Well contacting between end and ground improves obstacle detouring handling capacity to transmit sufficient power；Meanwhile by mode change system
(10), two preceding wheel leg systems (1,2) can be used to auxiliary by passively swinging the active roll being changed into a certain range
It helps crossing over blockage and adjusts the center of gravity high and low position of vehicle body, improve it and ability and mobile stabilization are crossed to vertical plateau class obstacle
Property；Wheel is connected by wheel leg system (4) by " L " type bracket (49) with fuselage afterwards, " L " type bracket (49) can around with machine
The hinge joint of body is passively swung in a certain range；Crawler belt upper bracket (44) and crawler belt lower bracket (45) pass through protrusion and groove
The mode matched connects, and junction be equipped with torsionspring (46), therefore crawler belt lower bracket can according to hypsography phase
Crawler belt upper bracket is swung in a certain range；The other end of crawler belt lower bracket can be installed to drive triangle Athey wheel opposite
The motor (47) of crawler belt lower bracket (45) rotation, the side which matches also by protrusion with groove with the connection of triangle Athey wheel
Formula connection；The supporting structure of triangle Athey wheel is mainly by driven wheel (48), " L " type bracket (49), crawler belt inner support (50), deceleration
Gear set (51), driving wheel (52), driving motor (53) composition；The torque of driving motor is transferred to actively by train of reduction gears
It takes turns (52), realizes crawler belt operating；When rough ground is mobile, " L " type bracket (49) can be around the hinge joint with fuselage in certain model
It is passively swung in enclosing, increases crawler belt to the contact area on ground, improve the barrier-jump ability of crawler belt.
2. wheel-track combined mobile robot described in accordance with the claim 1, it is characterized in that: mode changeover mechanism mainly has wheel
Leg driving motor (21), bevel gear set (22), straight spur gear group (23), compressed spring (24), main gear shaft (25), dental inlay
Formula axle sleeve (26), castellated geared sleeve (27), slide key (28), shift fork (29), roller (30), cylindrical cam axis (31), cam
Gear set (32), torsionspring (33), cam motor (34) and sliding bearing, sleeve composition；One end of torsionspring (33) with
Fuselage is fixed, and the other end and castellated geared sleeve (27) are fixed, and castellated axle sleeve (26), castellated geared sleeve pass through between (27)
Together, castellated geared sleeve (27) empty set equipped with sliding bearing bush is in main gear shaft (25) for the rectangular preiection intermeshing of end face
On, therefore castellated geared sleeve (27) can be freely rotated along the circumferential direction of main gear shaft (25)；Castellated axle sleeve (26) passes through three
A slide key (28) connect with main gear shaft (25), therefore castellated axle sleeve (26) can be carried out along the axial direction of main gear shaft (25)
Sliding, and in order to easy to assembly, castellated axle sleeve (26) is divided into two parts；Have in straight spur gear group (23) more multiple tooth
Several geared sleeves on castellated axle sleeve (26), between connected with flat key；Shift fork (29) also covers on castellated axle sleeve (26), and
Play the role of axial restraint to the gear on castellated axle sleeve (26)；The end of castellated axle sleeve (26) passes through compressed spring
(24) it is connected with fuselage；The right end of main gear shaft (25) is connected by the forearm mobile jib rod piece of wheel leg system in front of flat key and bolt
Together；Two gears of straight spur gear group (23) do not mesh together, castellated axle sleeve (26), castellated geared sleeve
(27) under the limitation of right end compressed spring (24) and cylindrical cam axis (31) position, end face rectangular teeth is mutually tightly engaged；
The ground force that preceding wheel leg system is subject at this time will be via main gear shaft (25), slide key (28), castellated axle sleeve (26), tooth
Embedded geared sleeve (27) passes to torsionspring, is balanced by the torque that the deformation of torsionspring generates；At this point, preceding wheel leg system
System will be realized according to landform and passively be adapted to, and flexibly swing and deformation are carried out up and down；Wheel leg system is actively defeated before needing
Torque out, when the climbing of wheel leg system or support assist barrier-jump before playing the role of, cam motor (34) rotation, torque passes through cam tooth
Wheel group (32) is transmitted to cylindrical cam axis (31), so that it be driven to be rotated about axis；The rotation of cylindrical cam axis (31) will make to dial
Pitching (29) pushes castellated axle sleeve (26) to slide along the axial direction that the keyway on main gear shaft (25) carries out to the right, to make straight-tooth
A pair of of gear of roller gear group (23) is engaged, and can realize preceding wheel leg by starting wheel leg driving motor (21) at this time
The active torque of system exports, its active roll in moving range is realized, to assist crossing over blockage.
3. wheel-track combined mobile robot described in accordance with the claim 1, it is characterized in that: triangle Athey wheel (12) includes two
A driving motor, lower section driving motor are used to provide the power of crawler haulage, and top driving motor is used to realize triangle Athey wheel
(12) around 360 degree of active rotations of the junction that is connected with crawler belt lower bracket (45)；By being propped up on triangle Athey wheel (12) and crawler belt
The active of frame (44) rotates, and the change in location and folding and unfolding of Athey wheel system may be implemented, and then it is wheeled that robot may be implemented
The mobile transformation with the hybrid movement of wheel-track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721710520.7U CN208576616U (en) | 2017-12-11 | 2017-12-11 | Wheel-track combined mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721710520.7U CN208576616U (en) | 2017-12-11 | 2017-12-11 | Wheel-track combined mobile robot |
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| Publication Number | Publication Date |
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| CN208576616U true CN208576616U (en) | 2019-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721710520.7U Active CN208576616U (en) | 2017-12-11 | 2017-12-11 | Wheel-track combined mobile robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109966679A (en) * | 2019-03-28 | 2019-07-05 | 李岱峰 | Convenient for obstacle detouring, crawler belt fire-fighting robot platform easy to repair |
| CN110329369A (en) * | 2019-07-31 | 2019-10-15 | 北京履坦科技有限公司 | A kind of haunch formula mobile chassis |
| CN110329370A (en) * | 2019-07-31 | 2019-10-15 | 北京履坦科技有限公司 | A kind of band turns to the haunch formula mobile chassis of wheel leg |
| CN110615048A (en) * | 2019-09-29 | 2019-12-27 | 哈尔滨商业大学 | Cross-country robot based on muddy region quick travel |
| CN112388649A (en) * | 2020-11-02 | 2021-02-23 | 郑州九泰科技有限公司 | Double-arm four-wheel drive magnetic grinding thickness measuring visual inspection robot |
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
-
2017
- 2017-12-11 CN CN201721710520.7U patent/CN208576616U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109966679A (en) * | 2019-03-28 | 2019-07-05 | 李岱峰 | Convenient for obstacle detouring, crawler belt fire-fighting robot platform easy to repair |
| CN109966679B (en) * | 2019-03-28 | 2024-03-26 | 山东硅兔智能装备有限公司 | Crawler firefighting robot platform convenient to obstacle surmount and maintain |
| CN110329369A (en) * | 2019-07-31 | 2019-10-15 | 北京履坦科技有限公司 | A kind of haunch formula mobile chassis |
| CN110329370A (en) * | 2019-07-31 | 2019-10-15 | 北京履坦科技有限公司 | A kind of band turns to the haunch formula mobile chassis of wheel leg |
| CN110329370B (en) * | 2019-07-31 | 2024-03-15 | 北京履坦科技有限公司 | Arched movable chassis with steering wheel legs |
| CN110615048A (en) * | 2019-09-29 | 2019-12-27 | 哈尔滨商业大学 | Cross-country robot based on muddy region quick travel |
| CN112388649A (en) * | 2020-11-02 | 2021-02-23 | 郑州九泰科技有限公司 | Double-arm four-wheel drive magnetic grinding thickness measuring visual inspection robot |
| CN113859380A (en) * | 2021-10-20 | 2021-12-31 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
| CN113859380B (en) * | 2021-10-20 | 2023-09-08 | 重庆兰空无人机技术有限公司 | All-terrain unmanned aerial vehicle defense system and moving method |
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