CN208855756U - Rotary wheel carries out converting machine people - Google Patents
Rotary wheel carries out converting machine people Download PDFInfo
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- CN208855756U CN208855756U CN201821412258.2U CN201821412258U CN208855756U CN 208855756 U CN208855756 U CN 208855756U CN 201821412258 U CN201821412258 U CN 201821412258U CN 208855756 U CN208855756 U CN 208855756U
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 30
- 230000009467 reduction Effects 0.000 claims description 6
- 239000011324 bead Substances 0.000 claims description 3
- 229910000838 Al alloy Inorganic materials 0.000 claims description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 2
- 240000007651 Rubus glaucus Species 0.000 claims description 2
- 235000011034 Rubus glaucus Nutrition 0.000 claims description 2
- 235000009122 Rubus idaeus Nutrition 0.000 claims description 2
- 239000000956 alloy Substances 0.000 claims description 2
- 229910052744 lithium Inorganic materials 0.000 claims description 2
- 239000006096 absorbing agent Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to a kind of rotary wheels to carry out converting machine people, including power supply, microprocessor, camera, communication interface, input/output interface, wheel carry out conversion equipment and motor driver；Rotating arm one end of wheel shoe conversion equipment is tire device, the other end is crawler attachment, motor driver tire on the drive wheels device, crawler attachment, it is installed on the chassis lower part of trolley, by Bi-motor set at being fixed with the right angle gear that can mutually agree with tire axis, crawler belt drive sprocket axle gear on bi-motor；Wheel carries out the top that conversion equipment is mounted on chassis, and wheel is connected between same horizontally-arranged tire device, crawler attachment and carries out transaxle, and wheel is carried out transaxle both ends and is connected in the middle part of rotating arm, drives a wheel to carry out transaxle using single motor.Being kept completely separate for running on wheels and crawler-type traveling may be implemented in the utility model, while running on wheels and crawler-type traveling being made to share a driving device.
Description
Technical field
The present invention relates to walking mechanism fields, and in particular to a kind of rotary wheel shoe converting machine people.
Background technique
Instantly, wheel carries out dual-purpose robot in military affairs, and the multiple fields such as exploration wait until widely to use, and prospect is long-range, but
Many Lun Lv robots are not carried out being kept completely separate for running on wheels and crawler-type traveling, while there is also drive modules to separate,
Situations such as driving is complicated.
Summary of the invention
The object of the present invention is to provide a kind of rotary wheels to carry out converting machine people, and running on wheels and crawler type row may be implemented
That walks is kept completely separate, while running on wheels and crawler-type traveling being made to share a driving device.
To solve above-mentioned technical problem, present invention provide the technical scheme that
A kind of rotary wheel carries out converting machine people, including power supply, microprocessor, camera, communication interface, input and output connect
Mouth, wheel carry out conversion equipment and motor driver；Rotating arm one end of the wheel shoe conversion equipment is tire device, the other end is
Crawler attachment, the motor driver tire on the drive wheels device, crawler attachment, is installed on the chassis lower part of trolley, by bi-motor
Composition, is fixed with the right angle gear that can mutually agree with tire axis, crawler belt drive sprocket axle gear on bi-motor；The wheel, which is carried out, to be turned
Changing device is mounted on the top on chassis, and wheel is connected between same horizontally-arranged tire device, crawler attachment and carries out transaxle, wheel is carried out
Transaxle both ends are connected in the middle part of rotating arm, drive a wheel to carry out transaxle using single motor；The microprocessor connection camera shooting
Head, wheel carry out conversion equipment, motor driver, and the communication interface connects microprocessor by input/output interface, described logical
Communication interface, camera, wheel carry out conversion equipment and are all connected with power supply.
It is fixed with pinion gear in the single motor, is carried out on transaxle in wheel and is fixed with gear wheel, passes through turning for pinion gear
Dynamic band driving wheel carries out transaxle rotation.
Further, further include rotation balance device, carry out on transaxle and be equipped with by two pieces of gaskets and digging in each wheel
The balancing device of hole disk composition, is placed with bead, it is ensured that balance when rotation in hollowing out disk.
It further, further include tire and the fixed device of crawler belt, the tire and the fixed device of crawler belt are fixed on wheel and carry out
Tire device, the fixed crawler attachment in another side are fixed in the end of conversion equipment on one side.
In the crawler attachment, crawler belt is driven to driving wheel drive, driving wheel rotation is driven by motor, to pass through
Crawler belt drives driven wheel rotation, realizes walking.
Further, there are two in through-hole, with crawler belt on one side of fixed crawler belt for the tire and the fixed device of crawler belt
Portion is connected, the shaking of crawler belt when preventing from converting.
In the motor driver, motor first connects relay, reconnects driving chip；It is double in motor driver
The motor that motor and wheel are carried out in conversion equipment is Worm reduction motor, it can be achieved that self-locking.
Further, tire carrying roller part has spring damper, in bumpy road, by spring in curved track
Sliding in road reduces the shake up and down of vehicle.
It is aluminum alloy materials that transaxle is carried out on the robot chassis, wheel, and the rotating arm is sub- Gree organic plastic plate.
The robot is controlled using stm32mini, and the camera is raspberry pie control, and the supplying cell is 24v
Lithium battery.
The utility model has the advantages that
Wheel of the invention, which carries out converting machine people, can realize being kept completely separate for running on wheels and crawler-type traveling, while wheeled row
By rotation switching, the two shares a drive module using gear-driven mode for walking modes and crawler-type traveling mode.
Detailed description of the invention
Fig. 1: the structural schematic diagram of motor driver.
Fig. 2: the structural schematic diagram of rotation balance device.
Fig. 3: rotary wheel carries out the structural schematic diagram of converting machine people.
Fig. 4: wheel carries out the structural schematic diagram of conversion equipment.
Fig. 5: caterpillar drive structural schematic diagram.
Fig. 6: the spring damper structural schematic diagram of tire carrying roller part.
Fig. 7: carrying roller overall structure diagram.
Fig. 8: driving wheel overall structure diagram.
In figure: 1- Worm reduction motor, the first gasket of 2-, 3- balance element, the second gasket of 4-, 5- gear wheel, 6- turn
Change motor gear, 7- pinion gear, 8- camera, 9- crawler attachment, 10- tire device, 11- driven wheel, 12- driving wheel, 13- rotation
Pivoted arm, 14- encoder, 15- driving motor gear, 16- encoder gear, 17- gear, 18- spring, 19- crawler belt carrying roller,
20- carrying roller goods of furniture for display rather than for use.
Specific embodiment
The present invention is further explained in the light of specific embodiments.
A kind of rotary wheel shoe converting machine people, including power supply, microprocessor, camera 8, wheel carry out conversion equipment, driving
Device；13 one end of rotating arm of the wheel shoe conversion equipment is tire device 10, the other end is crawler attachment 9, and the motor drives
Dynamic device is located at the chassis lower part of trolley, by Bi-motor set at, be fixed on motor can on tire axis, 12 axis of crawler belt driving wheel
The right angle gear that gear mutually agrees with, the wheel carry out the top that conversion equipment is mounted on chassis, drive an axis using single motor,
It is fixed with pinion gear 7 on motor, gear wheel 5 is fixed on axis, is rotated by the rotation band moving axis of pinion gear 7；Micro- place
Device connection camera 8, wheel shoe conversion equipment, driving device are managed, further includes communication interface, input/output interface, the communication connects
Mouth connects microprocessor by input/output interface.The communication interface, camera 8, wheel carry out conversion equipment and are all connected with power supply.
Further include rotation balance device, the balance dress being made of two pieces of gaskets and borehole disk is equipped on each axis
It sets, bead is placed in hollowing out disk, it is ensured that balance when rotation.
It further include tire and the fixed device of crawler belt, the tire and the fixed device of crawler belt are fixed on the end of converter,
Tire, the fixed crawler belt in another side are fixed on one side.
In the crawler attachment, crawler belt is driven to the drive of driving wheel 12, drives driving wheel 12 to rotate by motor, thus
It drives driven wheel 11 to rotate by crawler belt, realizes walking.The tire and crawler belt fix device has two in fixed crawler belt on one side
A through-hole is connected with the inside of crawler belt, the shaking of crawler belt when preventing from converting.
There is spring damper to pass through cunning of the spring in arc track in bumpy road for tire carrying roller part
It is dynamic, reduce the shake up and down of vehicle.
In the present embodiment, rotary wheel is carried out converting machine people and is driven by four rotating arms, 13, two Worm reduction motors
Driving wheel carries out conversion module, and two Worm reduction motors are driven walking module, controlled by the way of manual remote sensing, machine
Device people acquires exogenous data, the microprocessor being transferred in robot by front end camera 8, and microprocessor passes through bluetooth module
Host computer is transferred information to, then host computer sends order, and control robot carries out wheel and carries out conversion.
When wheel carries out conversion, rear-wheel motor driving device first stops working, and the Worm reduction motor of rear-wheel is locked, prevents
It is only slided in front-wheel conversion process, Lun Lv robot stops walking, and then the motor control leading portion of front-wheel conversion module
Rotating arm 13 is rotated, another walking states, the balance element 3 in rotary shaft and the balance element in walking mechanism are switched to
3 can be such that the gear on the gear and motor driver of walking mechanism correctly agrees with, and rear-wheel is as supporting mechanism at this time.Pass through
Contactless limit switch on arm detects whether to rotate to accurate location, after front-wheel conversion finishes, under front-wheel chassis
The worm and gear motor control front-wheel at end is locked, and rear-wheel is converted.Rear-wheel is converted with same step.
After conversion, robot continues to walk, meanwhile, in entire walking process, robot carries out closed-loop control,
The information fed back by camera 8 is fed back according to road conditions by encoder 14, the closed-loop control of real-time perfoming speed.
The above is only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form, any ripe
Professional and technical personnel is known, without departing from the scope of the present invention, according to the technical essence of the invention, to the above reality
Any simple modifications, equivalent substitutions and improvements etc. made by example are applied, it is fallen within the scope of protection of the technical scheme of the present invention
It is interior.
Claims (10)
1. a kind of rotary wheel carries out converting machine people, it is characterised in that: including power supply, microprocessor, camera, communication interface,
Input/output interface, wheel carry out conversion equipment and motor driver；The wheel carries out rotating arm one end of conversion equipment as tire dress
Set, the other end be crawler attachment, the motor driver tire on the drive wheels device, crawler attachment are installed under the chassis of trolley
Portion, by Bi-motor set at being fixed with the right angle tooth that can mutually agree with tire axis, crawler belt drive sprocket axle gear on bi-motor
Wheel；The wheel carries out the top that conversion equipment is mounted on chassis, is connected with wheel between same horizontally-arranged tire device, crawler attachment
Transaxle is carried out, wheel is carried out transaxle both ends and is connected in the middle part of rotating arm, drives a wheel to carry out transaxle using single motor；Micro- place
Device connection camera, wheel shoe conversion equipment, motor driver are managed, the communication interface connects micro- place by input/output interface
Device is managed, the communication interface, camera, wheel carry out conversion equipment and be all connected with power supply.
2. rotary wheel according to claim 1 carries out converting machine people, it is characterised in that: be fixed in the single motor
Pinion gear carries out on transaxle in wheel and is fixed with gear wheel, carries out transaxle rotation by the rotation band driving wheel of pinion gear.
3. rotary wheel according to claim 1 carries out converting machine people, it is characterised in that: it further include rotation balance device,
It is carried out on transaxle in each wheel and is equipped with the balancing device being made of two pieces of gaskets and borehole disk, be placed in hollowing out disk
Bead, it is ensured that balance when rotation.
4. rotary wheel according to claim 1 carries out converting machine people, it is characterised in that: further include that tire and crawler belt are fixed
The fixed device of device, the tire and crawler belt is fixed on the end that wheel carries out conversion equipment, fixes tire device, another side on one side
Fixed crawler attachment.
5. rotary wheel according to claim 1 carries out converting machine people, it is characterised in that: in the crawler attachment, crawler belt
Be driven to driving wheel drive, by motor drive driving wheel rotation, thus by crawler belt drive driven wheel rotation, realize go
It walks.
6. rotary wheel according to claim 5 carries out converting machine people, it is characterised in that: the tire and the fixed dress of crawler belt
It sets that there are two through-holes on one side of fixed crawler belt, is connected with the inside of crawler belt, the shaking of crawler belt when preventing conversion.
7. rotary wheel according to claim 1 carries out converting machine people, it is characterised in that: in the motor driver,
Motor first connects relay, reconnects driving chip；Bi-motor and wheel in motor driver carry out the motor in conversion equipment
It is Worm reduction motor, it can be achieved that self-locking.
8. rotary wheel according to claim 1 carries out converting machine people, it is characterised in that: tire carrying roller part has bullet
Spring vibration absorber, by sliding of the spring in arc track, reduces the shake up and down of vehicle in bumpy road.
9. rotary wheel according to claim 1 carries out converting machine people, it is characterised in that: the robot chassis, wheel are carried out
Transaxle is aluminum alloy materials, and the rotating arm is sub- Gree organic plastic plate.
10. rotary wheel according to claim 1 carries out converting machine people, it is characterised in that: the robot uses
Stm32mini control, the camera are raspberry pie control, and supplying cell is 24v lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821412258.2U CN208855756U (en) | 2018-08-30 | 2018-08-30 | Rotary wheel carries out converting machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821412258.2U CN208855756U (en) | 2018-08-30 | 2018-08-30 | Rotary wheel carries out converting machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208855756U true CN208855756U (en) | 2019-05-14 |
Family
ID=66416253
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821412258.2U Expired - Fee Related CN208855756U (en) | 2018-08-30 | 2018-08-30 | Rotary wheel carries out converting machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208855756U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114633819A (en) * | 2022-04-27 | 2022-06-17 | 吉林大学 | Crawler belt walking device |
-
2018
- 2018-08-30 CN CN201821412258.2U patent/CN208855756U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114633819A (en) * | 2022-04-27 | 2022-06-17 | 吉林大学 | Crawler belt walking device |
| CN114633819B (en) * | 2022-04-27 | 2023-02-03 | 吉林大学 | Crawler belt walking device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190514 |