CN208831613U - A kind of active planetary gear train barrier-surpassing robot of double clutches - Google Patents
A kind of active planetary gear train barrier-surpassing robot of double clutches Download PDFInfo
- Publication number
- CN208831613U CN208831613U CN201821360531.1U CN201821360531U CN208831613U CN 208831613 U CN208831613 U CN 208831613U CN 201821360531 U CN201821360531 U CN 201821360531U CN 208831613 U CN208831613 U CN 208831613U
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- China
- Prior art keywords
- transmission gear
- gear
- planetary
- clutch
- wheel
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Abstract
The utility model discloses a kind of double active planetary gear train barrier-surpassing robots of clutch, are connected and are formed with four groups of planet wheel drive units by chassis；In planet wheel drive unit, the first clutch of double clutch is coaxially connected by hollow shaft sleeve and the first transmission gear, and the second clutch is coaxially connected by input shaft and third transmission gear；Second transmission gear and the first transmission tooth engagement, the 4th transmission gear are engaged with third transmission gear；Second transmission gear is coaxially connected by the sun gear of output shaft and planetary wheel mechanism；4th transmission gear is fixedly connected by connection frame with the planet carrier of planetary wheel mechanism；Shock-absorbing wheel is coaxially mounted on the planetary gear of planetary wheel mechanism.The utility model can fast move and smoothly across obstacle under the conditions of big load on prevailing roadway, and compact-sized, damping property is good.
Description
Technical field
The utility model belongs to barrier-surpassing robot technical field, and in particular to a kind of double active planetary gear train obstacle detourings of clutch
Robot.
Background technique
Barrier-surpassing robot is widely used in terms of building search and rescue, indoor transporting, anti-danger at present.Barrier-surpassing robot master
The structure type to be used includes track structure, wheeled construction and sufficient formula structure.Caterpillar type robot moves slower, sufficient formula machine
Device people structure and control are all more complicated, and common wheeled robot obstacle performance is poor, planet gear type barrier-surpassing robot because
It becomes a kind of preferable selection with preferable obstacle detouring and mobility.
Existing planet gear type barrier-surpassing robot is mostly passive type planetary gear train barrier getting over mechanism, cannot be in big load
Smooth obstacle detouring, performance is to be improved when across various gullies, obstacle and step.In addition, current planet gear type barrier-surpassing robot
Lack damping, cause the ride comfort of robot poor, part planet gear type barrier-surpassing robot then be used directly common wheeled
The damping of vehicle, structure is complicated, and occupied space is big.
Summary of the invention
For above-mentioned defect existing in the prior art, the utility model provides a kind of active planetary gear train of double clutches
Barrier-surpassing robot can fast move and smoothly across obstacle under the conditions of big load on prevailing roadway.In conjunction with saying
Bright book attached drawing, the technical solution of the utility model are as follows:
A kind of active planetary gear train barrier-surpassing robot of double clutches, by chassis B and four groups of planet wheel drive unit A connection groups
At；
The planet wheel drive unit A is by driving motor 1, double clutch 2, hollow shaft sleeve 3, input shaft 4, the first driving cog
Take turns the 5, second transmission gear 6, third transmission gear 7, the 4th transmission gear 8, connection frame 9, output shaft 10, planetary wheel mechanism 11
And shock-absorbing wheel 12 forms；
The double clutch 2 is made of the first clutch 21 and the second clutch 22 coaxial arrangement, the first clutch positioned at outside
21 are fixedly and coaxially connected by hollow shaft sleeve 3 with the first transmission gear 5, positioned inside the second clutch 22 by input shaft 4 and
Third transmission gear 7 is fixedly and coaxially connected；
Second transmission gear 6 is meshed with the first transmission gear 5, the 4th transmission gear 8 and 7 phase of third transmission gear
Engagement；
Second transmission gear 6 is fixedly and coaxially connected by output shaft 10 and the sun gear 111 of planetary wheel mechanism 11；
For 4th transmission gear, 8 empty set on output shaft 10, the outer end face of the 4th transmission gear 8 passes through connection frame 9 and planetary gear train
The planet carrier 114 of mechanism 11 is fixedly connected；
The shock-absorbing wheel 12 is coaxially mounted on the planetary gear 113 of planetary wheel mechanism 11.
Further, the planetary wheel mechanism 11 is by sun gear 111, idle pulley 112, planetary gear 113 and 114 groups of planet carrier
At；
The planet carrier 114 is equilateral triangle plate, and the center of planet carrier 114 is provided with through-hole, and the output shaft 10 passes through
The centre bore of planet carrier 114 and sun gear 111 are coaxially connected；
The connection frame 9 is made of three identical round bars, and three round bars are equidistant flat along the axis of the 4th transmission gear 8
Row setting, one end of three round bars is vertical with 8 outer end face of the 4th transmission gear to be fixedly connected, the other end and planet of three round bars
114 inner face of frame is vertically fixedly connected；
Three planetary gears 113 are equidistantly mounted on three corner positions of planet carrier 114, the sun gear respectively
111 are located at the center of three planetary gears 113, pass through one between the sun gear 111 and three planetary gears 113 respectively
The engagement connection of idle pulley 112.
Further, the shock-absorbing wheel 12 is by tire 121, outer rim 122, inner rim 123 and six vibration absorption units
124 compositions；Six vibration absorption units 124 are arranged radially along wheel and are distributed uniformly and circumferentially in outer rim 122 and inner rim
Between 123.
Compared with prior art, the utility model has the beneficial effects that:
1, the active planetary gear train barrier-surpassing robot of double clutches described in the utility model is cooperated using planet actuation
Double clutches, make robot can fast running on prevailing roadway and under the conditions of big load across various barriers, and machine
Device people has a series of functions such as turning, obstacle detouring, climbing.
2, the active planetary gear train barrier-surpassing robot of double clutches described in the utility model uses shock-absorbing wheel, damping performance
Good, ride comfort is good, has good road surface adaptability, all has very under the operating conditions such as avenue, step, meadow, mountainous region
Strong handling capacity.
3, the active planetary gear train barrier-surpassing robot of double clutches described in the utility model is compact-sized, small volume, and matter
Amount is smaller, has preferable application prospect.
Detailed description of the invention
Fig. 1 is the schematic perspective view of double active planetary gear train barrier-surpassing robots of clutch described in the utility model；
Fig. 2 is the schematic perspective view of planet wheel drive unit in barrier-surpassing robot described in the utility model；
Fig. 3 is the principle sketch of planet wheel drive unit in barrier-surpassing robot described in the utility model；
Fig. 4 is the structural schematic diagram of planetary wheel mechanism in barrier-surpassing robot described in the utility model；
Fig. 5 is the structural schematic diagram of shock-absorbing wheel in barrier-surpassing robot described in the utility model.
In figure:
A- planet wheel drive unit, the chassis B-；
1- driving motor, 2- double clutch, 3- hollow shaft sleeve, 4- input shaft,
The first transmission gear of 5-, the second transmission gear of 6-, 7- third transmission gear, the 4th transmission gear of 8-,
9- connection frame, 10- output shaft, 11- planetary wheel mechanism, 12- shock-absorbing wheel；
The first clutch of 21-, the second clutch of 22-；
111- sun gear, 112- idle pulley, 113- planetary gear, 114- planet carrier；
121- tire, 122- outer rim, 123- inner rim, 124- vibration absorption unit；
Specific embodiment
For the technical solution of the utility model and its course of work is further described, in conjunction with Figure of description, this is practical new
The specific embodiment of type is as follows:
As shown in Figure 1, the utility model discloses a kind of double active planetary gear train barrier-surpassing robots of clutch, by chassis B
And respectively symmetrically it is distributed in four group planet wheel drive unit As composition of the chassis B all around on four direction, the planetary gear
For driving device A by supporting connection component to be mounted on the B of chassis, chassis B, which is expert under the driving of star-wheel-drive device A, completes row
It walks, the movement such as obstacle detouring or climbing.
As shown in Figures 2 and 3, the planet wheel drive unit A is by driving motor 1, double clutch 2, and hollow shaft sleeve 3 is defeated
Enter axis 4, the first transmission gear 5, the second transmission gear 6, third transmission gear 7, the 4th transmission gear 8, connection frame 9, output shaft
10, planetary wheel mechanism 11 and shock-absorbing wheel 12 form.Wherein:
The output end of the driving motor 1 and double clutch 2 are coaxially connected outside output power.
The double clutch 2 is formed by being coaxially disposed inside and outside the first clutch 21 and the second clutch 22, wherein positioned at outside
The clutch compressing disc outer end face of first clutch 21 and one end of hollow shaft sleeve 3 are fixedly and coaxially connected, the other end of hollow shaft sleeve 3 with
The end face of first transmission gear 5 is fixedly and coaxially connected；Clutch compressing disc outer end face and input positioned at the second clutch 22 of inside
One end of axis 4 is fixedly and coaxially connected, and the input shaft 4 passes through the hollow shaft sleeve 3 being coaxially arranged, the other end of input shaft 4
It is fixedly and coaxially connected with third transmission gear 7.
Second transmission gear 6 is meshed with the first transmission gear 5, the 4th transmission gear 8 and third driving cog
Wheel 7 is meshed；The output shaft 10 is arranged in parallel with input shaft 4, and the second transmission gear 6 is fixedly mounted on the one of output shaft 10
End, the other end of output shaft 10 sequentially pass through the planet at the center of the 4th transmission gear 8, connection frame 9 and planetary wheel mechanism 11
Frame 114, and be fixedly and coaxially connected with the sun gear of planetary wheel mechanism；4th transmission gear, 8 empty set is in output shaft 10
On, the outer end face of the 4th transmission gear 8 is fixedly connected by connection frame 9 with the planet carrier of planetary wheel mechanism 11.
The planetary wheel mechanism 11 is made of sun gear 111, idle pulley 112, planetary gear 113 and planet carrier 114；The row
Carrier 114 is equilateral triangle plate, and the center of planet carrier 114 is provided with through-hole, and the output shaft 10 passes through the center of planet carrier 114
Hole and sun gear 111 are coaxially connected；The connection frame 9 is made of three structure size round bars all the same, three round bars and
Four transmission gears, 8 center location is equidistant, three round bars along the 4th transmission gear 8 axis it is equidistant be arranged in parallel, three
One end of root round bar is vertical with 8 outer end face of the 4th transmission gear to be fixedly connected, the other end of three round bars and 114 inner end of planet carrier
Face is vertically fixedly connected；Under the drive of the 4th transmission gear 8, planet carrier 114 is gone with 8 synchronous rotary of the 4th transmission gear
The axis of rotation of carrier 114 is overlapped with the axis of rotation of output shaft 10；There are three the planetary gears 113, equidistantly pacifies respectively
Mounted in three corner positions of planet carrier 114, planetary gear 113 can be relative to 114 rotation of planet carrier, and can be in planet carrier 114
It revolves under drive along the center of planet carrier 114；The sun gear 111 is located at the center of three planetary gears 113, the sun
It is connected by meshing transmission respectively by an idle pulley 112 between wheel 111 and three planetary gears 113.
There are three the shock-absorbing wheels 12, is coaxially mounted to the outside of planetary gear 113 respectively；The shock-absorbing wheel 12 is by taking turns
Tire 121, outer rim 122, inner rim 123 and six vibration absorption units 124 form；Six vibration absorption units 124 are radially set along wheel
It sets and is distributed uniformly and circumferentially between outer rim 122 and inner rim 123.The vibration absorption unit 124 is public using patent
The number of opening is CN207106025U, and the structure of the damper in a kind of entitled shock-absorbing wheel, in that patent, damper passes through spiral shell
Bolt is connected between rim and flower-drum, and specific structure is detailed in published patent text, and in this application, vibration absorption unit 124
Same to be connected between outer rim 122 and inner rim 123 by bolt installation, specific structure can refer to patent publication No. and be
CN207106025U, the technical solution in a kind of entitled shock-absorbing wheel, details are not described herein again.
Detailed process is as follows for the wage process of the active planetary gear train barrier-surpassing robot of double clutches described in the utility model:
1, the flat road surface driving process is specific as follows:
Flat road surface when driving, by control double clutch 2 carry out manipulation and control, make the first clutch 21 combine, and
Second clutch 22 separates, and through the first clutch 21 after the power output of driving motor 1, and is transferred to the first biography by hollow shaft sleeve 3
Moving gear 5, the first transmission gear 5 is through with after 6 engaged transmission of the second transmission gear, power passes to planetary gear by output shaft 10
It is the sun gear 111 of mechanism 11, sun gear 111 passes through 113 engaged transmission of idle pulley 112 and planetary gear.At this point, the planetary gear train
Mechanism 11 is used as fixed shaft gear train mechanism, according to planetary gear train transmission principle, in the case where planet carrier 114 is opposing stationary, the sun
Wheel 111 drives planetary gear 113 along own axes rotation, and then drives shock-absorbing wheel 12 to rotate by planetary gear 113, realizes
It runs at high speed in flat road surface, in addition, only needing the planet wheel drive unit A at left and right sides of configuration of robotic when needing to turn to
Between speed difference can be realized；
The power transmission line of the above process is successively are as follows: 1 → the first 21 → hollow shaft sleeve of clutch 3 → the first of driving motor passes
5 → the second 113 → shock-absorbing wheel of transmission gear 6 → output shaft, 10 → sun gear, 111 → idle pulley, 112 → planetary gear 12 of moving gear.
2, the obstacle detouring process is specific as follows:
When encountering barrier, by separating the first clutch 21 to the control progress manipulation and control of double clutch 2, and the
Two clutches 22 combine, and through the second clutch 22 after the power output of driving motor 1, and are transferred to third driving cog by input shaft 4
Wheel 7, third transmission gear 7 is through with after 8 engaged transmission of the 4th transmission gear, power passes to planetary gear train machine by connection frame 9
The planet carrier 114 of structure 11, according to planetary gear train transmission principle, planet carrier 114 drives planetary gear 113 thereon along sun gear 111
Axis revolution, realize the whole overturning of planetary wheel mechanism 11, and then shock-absorbing wheel 12 is driven to revolve along 10 axis of output shaft, most
Make the chassis B of robot across barrier eventually.
The power transmission line of the above process is successively are as follows: the transmission of 1 → the second clutch 22 → input shaft, 4 → third of driving motor
Gear 7 → the 4th 113 → shock-absorbing wheel of transmission gear 8 → connection frame, 9 → planet carrier, 114 → planetary gear 12.
Claims (3)
1. a kind of active planetary gear train barrier-surpassing robot of double clutches, it is characterised in that:
It is made of chassis (B) and four groups of planet wheel drive unit (A) connections；
The planet wheel drive unit (A) is by driving motor (1), double clutch (2), hollow shaft sleeve (3), input shaft (4), and first
Transmission gear (5), the second transmission gear (6), third transmission gear (7), the 4th transmission gear (8), connection frame (9), output shaft
(10), planetary wheel mechanism (11) and shock-absorbing wheel (12) composition；
The double clutch (2) by the first clutch (21) and the second clutch (22) coaxial arrangement form, positioned at outside first from
It closes (21) to be fixedly and coaxially connected by hollow shaft sleeve (3) with the first transmission gear (5), the second clutch (22) positioned inside passes through
Input shaft (4) is fixedly and coaxially connected with third transmission gear (7)；
Second transmission gear (6) is meshed with the first transmission gear (5), the 4th transmission gear (8) and third transmission gear
(7) it is meshed；
Second transmission gear (6) is coaxial fixed by output shaft (10) and the sun gear (111) of planetary wheel mechanism (11)
Connection；For 4th transmission gear (8) empty set on output shaft (10), the outer end face of the 4th transmission gear (8) passes through connection frame
(9) it is fixedly connected with the planet carrier (114) of planetary wheel mechanism (11)；
The shock-absorbing wheel (12) is coaxially mounted on the planetary gear (113) of planetary wheel mechanism (11).
2. a kind of double active planetary gear train barrier-surpassing robots of clutch as described in claim 1, it is characterised in that:
The planetary wheel mechanism (11) is made of sun gear (111), idle pulley (112), planetary gear (113) and planet carrier (114)；
The planet carrier (114) is equilateral triangle plate, and the center of planet carrier (114) is provided with through-hole, and the output shaft (10) is worn
Centre bore and the sun gear (111) for crossing planet carrier (114) are coaxially connected；
The connection frame (9) is made of three identical round bars, and three round bars are equidistant flat along the axis of the 4th transmission gear (8)
Row setting, one end of three round bars is vertical with the 4th transmission gear (8) outer end face to be fixedly connected, the other end and row of three round bars
Carrier (114) inner face is vertically fixedly connected；
Three planetary gears (113) are equidistantly mounted on three corner positions of planet carrier (114), the sun gear respectively
(111) it is located at the center of three planetary gears (113), leads to respectively between the sun gear (111) and three planetary gears (113)
Cross idle pulley (112) engagement connection.
3. a kind of double active planetary gear train barrier-surpassing robots of clutch as described in claim 1, it is characterised in that:
The shock-absorbing wheel (12) is by tire (121), outer rim (122), inner rim (123) and six vibration absorption units (124)
Composition；Six vibration absorption units (124) are arranged radially along wheel and are distributed uniformly and circumferentially in outer rim (122) and inner rim
(123) between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821360531.1U CN208831613U (en) | 2018-08-23 | 2018-08-23 | A kind of active planetary gear train barrier-surpassing robot of double clutches |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821360531.1U CN208831613U (en) | 2018-08-23 | 2018-08-23 | A kind of active planetary gear train barrier-surpassing robot of double clutches |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208831613U true CN208831613U (en) | 2019-05-07 |
Family
ID=66310243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821360531.1U Expired - Fee Related CN208831613U (en) | 2018-08-23 | 2018-08-23 | A kind of active planetary gear train barrier-surpassing robot of double clutches |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208831613U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104132A (en) * | 2021-05-26 | 2021-07-13 | 孙发 | Robot chassis capable of crossing obstacles in large range |
-
2018
- 2018-08-23 CN CN201821360531.1U patent/CN208831613U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104132A (en) * | 2021-05-26 | 2021-07-13 | 孙发 | Robot chassis capable of crossing obstacles in large range |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190507 Termination date: 20210823 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |