CN209305715U - A kind of reconfigurable type multiple joint crawler belt composite mobile robot - Google Patents
A kind of reconfigurable type multiple joint crawler belt composite mobile robot Download PDFInfo
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- CN209305715U CN209305715U CN201822248752.6U CN201822248752U CN209305715U CN 209305715 U CN209305715 U CN 209305715U CN 201822248752 U CN201822248752 U CN 201822248752U CN 209305715 U CN209305715 U CN 209305715U
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Abstract
The utility model relates to mobile robot fields, specifically a kind of reconfigurable type multiple joint crawler belt composite mobile robot, including main car body, sideway joint and secondary track module, main car body is equipped with main crawler belt, and clutch-brake and first round joint are equipped in main crawler belt driving wheel, the second wheel joint is equipped in main crawler belt driven wheel, main car body is equipped with main track driving mechanism and wheel joint driving mechanism, main crawler belt driving wheel is driven by main track driving mechanism and is rotated, and main track driving mechanism is connected with corresponding clutch-brake, second wheel joint passes through wheel joint driving mechanism driving rotation, each wheel joint is corresponding with sideway joint to be connected, sideway joint and secondary track module are rotatablely connected, sideway is intra-articular to be equipped with the sideway driving mechanism for driving secondary track module to swing, it is equipped with secondary track driving mechanism in secondary track module and driving is entire The rotary drive mechanism of secondary track module rotation.The utility model can be realized walking form complicated and changeable, be suitable for various complicated landform environment.
Description
Technical field
The utility model relates to mobile robot fields, the specifically a kind of compound moving machine of reconfigurable type multiple joint crawler belt
Device people.
Background technique
Mobile robot is frequently necessary to rapidly enter complicated landform and the operation in complicated landform, for example surveys landform and pass
The environmental information at exploration scene is passed, and since the activity landform of mobile robot is extremely complex, there are the step manually built, building
The landform such as ladder, channel have the in disorder landform formed after calamity, and the landform for also having environment space narrow, this requires mobile robots
Mobile chassis there is the ability of above-mentioned complicated landform of overcoming, but be used for its row of the mobile robot of detect operation in the prior art
It is single to walk mechanism form, terrain adaptability is poor and flexibility is low, it is difficult to meet the complicated landforms such as catwalk, gully, step
Movement requirement.
Utility model content
The purpose of this utility model is to provide a kind of reconfigurable type multiple joint crawler belt composite mobile robots, by changing not
Same sideway joint and secondary track module angle realize structural remodeling, can be realized walking form complicated and changeable, and be applicable in
In the various complicated landform environment such as slype, gully, step topography is mobile, step is climbed, rough ground movement.
The purpose of this utility model is achieved through the following technical solutions:
A kind of reconfigurable type multiple joint crawler belt composite mobile robot, including main car body, sideway joint and secondary track module, it is main
Car body is equipped with main crawler belt, and the clutch-brake being fixed together and first round joint, main crawler belt are equipped in main crawler belt driving wheel
The second wheel joint is equipped in driven wheel, the main car body is equipped with main track driving mechanism and wheel joint driving mechanism, wherein leading
Crawler belt driving wheel is rotated by the main track driving mechanism driving, and the main track driving mechanism and the clutch-brake
It is connected, the second wheel joint passes through wheel joint driving mechanism driving rotation, the first round joint and the second wheel joint difference
It is connected with corresponding sideway joint, is equipped with adapter far from main car body one end in sideway joint, pair is equipped on secondary track module
Crawler belt, and the shaft end of the first wheel shaft of secondary crawler belt is rotatablely connected with the adapter on corresponding sideway joint, it is intra-articular in the sideway
Equipped with sideway driving mechanism, and the secondary track module passes through the intra-articular sideway driving mechanism driving of corresponding sideway and swings,
Secondary track driving mechanism and rotary drive mechanism are equipped in the pair track module, and the secondary crawler belt is driven by the secondary crawler belt
The driving rotation of motivation structure, entire pair track module is driven by the rotary drive mechanism to be turned around secondary first wheel shaft of crawler belt
It is dynamic.
The second wheel shaft of main the first wheel shaft of crawler belt and main crawler belt is equipped in the main car body, and the first wheel shaft of main crawler belt both ends are set
There is main crawler belt driving wheel, main crawler belt the second wheel shaft both ends are equipped with main crawler belt driven wheel, positioned at ipsilateral main crawler belt driving wheel and master
Crawler belt driven wheel is connected by main crawler belt, is set in main car body there are two main track driving mechanism and two wheel joint drive machines
Structure, each main crawler belt driving wheel are rotated by corresponding main track driving mechanism driving, second in each main crawler belt driven wheel
It takes turns joint and passes through the driving rotation of corresponding wheel joint driving mechanism.
The main track driving mechanism includes main caterpillar drive, main track drive gear and main crawler belt driven gear,
Main caterpillar drive is fixedly arranged in main car body, and main track drive gear is installed on the output shaft of the main caterpillar drive
On, main crawler belt driven gear be fixedly arranged in corresponding main crawler belt driving wheel and with the clutch-brake in the main crawler belt driving wheel
It is connected, the main track drive gear and the main crawler belt driven gear engagement.
The wheel joint driving mechanism includes wheel articulated driving equipment, wheel joint drive gear and takes turns joint driven gear,
Wheel articulated driving equipment is fixedly arranged in main car body, and wheel joint drive gear is installed on the output shaft of the wheel articulated driving equipment
On, wheel joint driven gear is rotatably dispose in corresponding main crawler belt driven wheel, and the wheel joint driven gear and the master
The second wheel joint in crawler belt driven wheel is connected, and the wheel joint drive gear is engaged with wheel joint driven gear.
The sideway joint is equipped with articular shell, and sideway driving mechanism is set in the sideway articular shell, the sideway
Driving mechanism includes that sideway driving device, sideway driving gear and sideway driven wheel of differential, sideway driving device are fixedly arranged on sideway
In articular shell, sideway driving gear is installed on the output shaft of sideway driving device and engages with sideway driven wheel of differential, institute
Sideway driven wheel of differential is stated to be connected with the shaft end of the first wheel shaft of corresponding secondary crawler belt.
Sideway articular shell one end be equipped with sideway connector, the other end be equipped with adapter, and the sideway driving gear and
Sideway driven wheel of differential is set in the adapter.
The pair track module includes the first wheel shaft of secondary crawler belt, the second wheel shaft of secondary crawler belt, secondary crawler belt vehicle frame and secondary crawler belt, institute
It states secondary the first wheel shaft of crawler belt and secondary the second wheel shaft of crawler belt is divided into secondary crawler belt vehicle frame both ends, and secondary the first wheel shaft of crawler belt is equipped with pair
Crawler belt driven wheel, secondary the second wheel shaft of crawler belt are equipped with secondary crawler belt driving wheel, and the pair crawler belt driving wheel and secondary crawler belt driven wheel are logical
It crosses secondary crawler belt to be connected, the secondary track driving mechanism and rotary drive mechanism is equipped on the secondary crawler belt vehicle frame.
The pair track driving mechanism includes secondary caterpillar drive, secondary track drive gear and secondary crawler belt driven gear,
Secondary caterpillar drive is fixedly arranged in secondary crawler belt vehicle frame, and secondary track drive gear is installed on the output shaft of secondary caterpillar drive
And engaged with secondary crawler belt driven gear, secondary crawler belt driven gear and secondary the second wheel shaft of crawler belt are connected.
The rotary drive mechanism include secondary track module rotation drive device, rotary drive gear, rotary drive gear,
Worm and worm wheel, secondary track module rotation drive device are fixedly arranged in secondary crawler belt vehicle frame, rotary drive gear and worm screw it is coaxial and
It being rotatably arranged in secondary crawler belt vehicle frame, rotary drive gear is installed on the output shaft of secondary track module rotation drive device,
And rotary drive gear is engaged with the rotary drive gear, worm gear is fixedly arranged on secondary the first wheel shaft of crawler belt, and worm gear with it is described
Worm screw engagement.
The main car body is equipped with sensor module.
The advantages of the utility model and good effect are as follows:
1, the utility model realizes structural remodeling, Neng Goushi by changing different sideway joints and secondary track module angle
Existing walking form complicated and changeable, and it is suitable for slype, gully, step topography movement, step climbing, rough ground
The various complicated landform environment such as mobile, can better meet the passability needs of disaster landform and complicated landform, and to calamity
Evil scene and complicated landform scene carry out environmental information detection, field scene information collection etc. and need.
2, the utility model is realized by the clutch-brake in main crawler belt driving wheel drives corresponding sideway joint to swing, when
When clutch-brake is non-brake, main crawler belt and secondary crawler belt realize common walking mode, using flexible.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the utility model,
Fig. 2 is the main car body structural schematic diagram in Fig. 1,
Fig. 3 is the driven wheel structure schematic diagram in Fig. 2,
Fig. 4 is the driving wheel structural schematic diagram in Fig. 2,
Fig. 5 is the sideway joint structure schematic diagram in Fig. 1,
Fig. 6 is the secondary track module structural schematic diagram in Fig. 1,
Fig. 7 is another walking form schematic diagram of the utility model,
Fig. 8 is another walking form schematic diagram of the utility model,
Fig. 9 is another walking form schematic diagram of the utility model,
Figure 10 is schematic diagram when the utility model passes through slype,
Figure 11 is schematic diagram when the utility model passes through gully,
Figure 12 is schematic diagram when the utility model passes through step topography,
Figure 13 is schematic diagram when the utility model climbs step,
Figure 14 is schematic diagram of the utility model when moving on rough ground.
Wherein, 1 is main car body, and 101 be main crawler belt, and 102 be controller, and 103 be main the second wheel shaft of crawler belt, and 104 close for wheel
Driving device is saved, 105 be main crawler belt driven wheel, and 1051 be wheel joint driven gear, and 1052 be the second wheel joint, and 1053 be second
Oscillating bearing is taken turns, 106 be wheel joint drive gear, and 107 be main track drive gear, and 108 be main crawler belt driving wheel, based on 1081
Crawler belt driven gear, 1082 be clutch-brake, and 1083 be first round joint, and 1084 be first round oscillating bearing, is carried out based on 109
Band driving device, 110 be conducting slip ring, and 111 be main car frame, and 112 be main car body cover board, and 113 be main the first wheel shaft of crawler belt；2 are
Sideway joint, 201 be sideway driven wheel of differential, and 202 be sideway articular shell, and 203 be sideway connector, and 204 drive for sideway
Device, 205 be sideway bearing, and 206 drive gear for sideway, and 207 be adapter, and 3 be secondary track module, and 301 be secondary crawler belt the
One wheel shaft, 3011 be shaft end, and 302 be secondary crawler belt vehicle frame, and 303 be secondary caterpillar drive, and 304 be secondary crawler belt, and 305 be secondary crawler belt
Gear is driven, 306 be secondary crawler belt driven gear, and 307 be the second wheel shaft of secondary crawler belt, and 308 be secondary crawler belt driving wheel, and 309 carry out to be secondary
Band module rotation drive device, 310 be worm gear, and 311 be secondary crawler belt driven wheel, and 312 be rotary drive gear, 313 for rotation from
Moving gear, 314 be worm screw, and 315 be secondary crawler belt bearing；4 be sensor module, and 401 be visual sensor, and 402 be mounting bracket,
403 detect sensing device for environmental information.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in figs. 1 to 6, the utility model includes main car body 1, sideway joint 2 and secondary track module 3, such as the institute of Fig. 2~4
Show, 1 two sides of main car body are equipped with main crawler belt 101, and the clutch and brake being fixed together is equipped in main crawler belt driving wheel 108
Device 1082 and first round joint 1083, main crawler belt driven wheel 105 is interior to be equipped with the second wheel joint 1052, and the main car body 1 is equipped with
Main track driving mechanism and wheel joint driving mechanism, wherein the main crawler belt driving wheel 108 passes through the main track driving mechanism
Driving rotates and drives the main crawler belt 101 mobile, and the main track driving mechanism is connected with the clutch-brake 1082, when
When the clutch-brake 1082 is braked, the clutch-brake 1082 and first round joint 1083 are with main crawler belt driving wheel 108
It rotates together, when the clutch-brake 1082 is not braked, the main track driving mechanism only drives main crawler belt driving wheel 108
Rotation, first round joint 1083 do not rotate, and main crawler belt 101 and secondary track module 3 realize walking mode jointly at this time, described
Second wheel joint 1052 passes through wheel joint driving mechanism driving rotation, the first round joint 1083 and the second wheel joint
1052 are connected with corresponding sideway joint 2 respectively, and each sideway joint 2 is rotatablely connected with a secondary track module 3, is such as schemed
Shown in 5~6, the sideway joint 2 is equipped with adapter 207 far from 1 one end of main car body, and the pair track module 3 is equipped with secondary carry out
Band 304, and the shaft end 3011 of the first wheel shaft of secondary crawler belt 301 is rotatablely connected with the adapter 207 on corresponding sideway joint 2, in institute
It states and is equipped with sideway driving mechanism in sideway joint 2, and the secondary track module 3 passes through the sideway driving in corresponding sideway joint 2
Mechanism driving is swung, and is equipped with secondary track driving mechanism and rotary drive mechanism, secondary track module 3 in the secondary track module 3
On secondary crawler belt 304 moving in rotation is driven by the secondary track driving mechanism, entire pair track module 3 passes through rotation drive
The driving of motivation structure is rotated around the first wheel shaft of the secondary crawler belt 301.
As shown in Fig. 2, being equipped with main the first wheel shaft of crawler belt 113 and the second wheel shaft of main crawler belt 103 in the main car body 1, and main
113 both ends of the first wheel shaft of crawler belt are equipped with main crawler belt driving wheel 108, and main 103 both ends of the second wheel shaft of crawler belt are equipped with main crawler belt driven wheel
105, it is connected with main crawler belt driven wheel 105 by main crawler belt 101 positioned at ipsilateral main crawler belt driving wheel 108, is set in main car body 1
There are two main track driving mechanism and two wheel joint driving mechanisms, each main crawler belt driving wheel 108 passes through corresponding main crawler belt
Driving mechanism driving rotates, and the second wheel joint 1052 in each main crawler belt driven wheel 105 passes through corresponding wheel joint drive machine
Structure driving rotation.As shown in Fig. 2, first wheel shaft of main crawler belt 113 and 103 inner hollow of the second wheel shaft of main crawler belt can be used for walking
Line.
As shown in Figure 2 and Figure 4, the main track driving mechanism includes main caterpillar drive 109, main track drive gear
107 and main crawler belt driven gear 1081, main caterpillar drive 109 be fixedly arranged in main car body 1, main track drive gear 107 is pacified
On output shaft loaded on the main caterpillar drive 109, main crawler belt driven gear 1081 is fixedly arranged in main crawler belt driving wheel 108
And be connected with the clutch-brake 1082, the main track drive gear 107 and the engagement of main crawler belt driven gear 1081.Equipment
When work, main caterpillar drive 109 transmits torque by the main track drive gear 107 and main crawler belt driven gear 1081
It drives main crawler belt driving wheel 108 to rotate, and then drives main crawler belt 101 mobile, it is described when the clutch-brake 1082 braking
Clutch-brake 1082 and the connection of main crawler belt driven gear 1081, the first round, joint 1083 was with 108 turns of main crawler belt driving wheel
It is dynamic.The clutch-brake 1082 is techniques well known and is commercial products, and in addition in the present embodiment, the main crawler belt is driven
Dynamic device 109 is the motor and speed reducer to link together.
As shown in Fig. 2, being equipped with conducting slip ring 110 on main first wheel shaft of crawler belt 113, the conducting slip ring 110 is wrapped
Inner ring stator and outer ring rotor are included, the stator suit is fixed on main the first wheel shaft of crawler belt 113, the clutch-brake 1082
Cable be connected with the 110 outer ring rotor of conducting slip ring, when main crawler belt driving wheel 108 rotation when, 1082 line of clutch-brake
Cable also rotates with, and 110 rotor of conducting slip ring and 1082 cable other end synchronous rotary of clutch-brake prevent clutch-brake
Twisted wire occurs for 1082 cables.The conducting slip ring 110 is techniques well known.
As shown in Figures 2 and 3, the wheel joint driving mechanism includes wheel articulated driving equipment 104, wheel joint drive gear
106 are fixedly arranged in main car body 1 with wheel joint driven gear 1051, wheel articulated driving equipment 104, and wheel joint drive gear 106 is pacified
On output shaft loaded on wheel articulated driving equipment 104, joint driven gear 1051 is taken turns by bearing support and is rotatably dispose in main shoe
In band driven wheel 105, and take turns joint driven gear 1051 it is connected with the second wheel joint 1052 and with the wheel joint drive gear
106 engagements.When equipment works, wheel articulated driving equipment 104 passes through wheel joint drive gear 106 and wheel joint driven gear 1051
The second wheel joint 1052 described in torque actuated is transmitted to rotate.In the present embodiment, the wheel articulated driving equipment 104 is to be connected to one
The motor and speed reducer risen.
As shown in Figure 3 and Figure 4, first round joint 1083 is installed on main crawler belt master by the bearing of first round oscillating bearing 1084
On driving wheel 108, the second wheel joint 1052 is installed on main crawler belt driven wheel 105 by the second wheel bearing of oscillating bearing 1053, horizontal
Pendulum joint 2 does not influence the main rotation of crawler belt 101 walking when swinging.
As shown in Fig. 2, the main car body 1 includes the main car frame 111 for carrying each driving mechanism and controller 102,
Main car body cover board 112 is equipped on the upside of the main car frame 111, the clutch-brake 1082 is controlled by the controller 102.
As shown in figure 5, the sideway joint 2 includes sideway articular shell 202, sideway connector 203,207 and of adapter
Sideway driving mechanism, 202 one end of sideway articular shell are equipped with sideway connector 203 and corresponding first round joint 1083 or the second
It takes turns joint 1052 to be connected, in the present embodiment, the sideway connector 203 is 90 ° of steering bend pipes and inside is used for cabling, and sideway is closed
It saves 202 other end of shell and is equipped with adapter 207 and the corresponding secondary rotation connection of track module 3, sideway driving mechanism is set to described
In sideway articular shell 202.
As shown in figure 5, the sideway driving mechanism include sideway driving device 204, sideway driving gear 206 and sideway from
Dynamic bevel gear 201, sideway driving device 204 are fixedly arranged in sideway articular shell 202, and sideway driving gear 206 is installed on sideway
On the output shaft of driving device 204, the shaft end 3011 of secondary the first wheel shaft of crawler belt 301 is closed by the bearing of sideway bearing 205 with sideway
The adapter 207 of section 2 is rotatablely connected, and sideway driving gear 206 is engaged with sideway driven wheel of differential 201, and the sideway is driven
The shaft end 3011 of bevel gear 201 and the first wheel shaft of the secondary crawler belt 301 is connected, and the sideway driving gear 206 and sideway are driven
Bevel gear 201 is set in adapter 207.When equipment works, sideway driving device 204 drives gear 206 and cross by sideway
It puts driven wheel of differential 201 and transmits torque, and then drive axial direction rotation of the secondary track module 3 around the shaft end 3011.The present embodiment
In, the sideway driving device 204 includes motor, first class reducer and the 2-level reducer being sequentially connected.
As shown in fig. 6, the pair track module 3 is carried out including the first wheel shaft of secondary crawler belt 301, the second wheel shaft of secondary crawler belt 307, pair
Band vehicle frame 302 and secondary crawler belt 304, the first wheel shaft of the pair crawler belt 301 and the second wheel shaft of secondary crawler belt 307 are divided into secondary crawler belt vehicle frame
302 both ends, and the first wheel shaft of secondary crawler belt 301 is equipped with secondary crawler belt driven wheel 311, secondary the second wheel shaft of crawler belt 307 is equipped with secondary carry out
Band driving wheel 308, the secondary crawler belt driving wheel 308 and secondary crawler belt driven wheel 311 are connected by secondary crawler belt 304, in the secondary shoe
Band vehicle frame 302 is equipped with the secondary track driving mechanism and rotary drive mechanism.301 inner hollow of the first wheel shaft of the pair crawler belt
For cabling.
As shown in fig. 6, the pair track driving mechanism includes secondary caterpillar drive 303, secondary 305 and of track drive gear
Secondary crawler belt driven gear 306, secondary caterpillar drive 303 are fixedly arranged in secondary crawler belt vehicle frame 302, secondary crawler belt driven gear 306 with
Secondary the second wheel shaft of crawler belt 307 be connected, secondary track drive gear 305 be installed on the output shaft of secondary caterpillar drive 303 and with
Secondary crawler belt driven gear 306 engages.When equipment works, secondary caterpillar drive 303 passes through secondary track drive gear 305 and pair is carried out
A driven gear 306 transmits the second wheel shaft of torque actuated pair crawler belt 307 and rotates, and then drives pair by secondary crawler belt driving wheel 308
Crawler belt 304 is mobile.In the present embodiment, the pair caterpillar drive 303 is connected motor and speed reducer.
As shown in fig. 6, the rotary drive mechanism includes secondary track module rotation drive device 309, rotary drive gear
312, rotary drive gear 313, worm screw 314 and worm gear 310, secondary track module rotation drive device 309 are fixedly arranged on secondary creeper truck
In frame 302, rotary drive gear 313 and worm screw 314 are coaxial and are rotatably arranged in secondary crawler belt vehicle frame 302, rotate sliding tooth
Wheel 312 is installed on the output shaft of secondary track module rotation drive device 309, and rotary drive gear 312 and the rotation from
Moving gear 313 engages, and worm gear 310 is fixedly arranged on secondary the first wheel shaft of crawler belt 301, and worm gear 310 is engaged with the worm screw 314.If
When standby work, rotation drive device 309 passes sequentially through rotary drive gear 312, rotary drive gear 313, worm screw 314 and worm gear
310 transmitting torques make secondary track module 3 is whole to rotate around secondary the first wheel shaft of crawler belt 301.In the present embodiment, the pair pedrail mould
Block rotation drive device 309 is connected motor and speed reducer, is in addition equipped with secondary crawler belt in the middle part of the first wheel shaft of the secondary crawler belt 301
The bearing of bearing 315 is installed on secondary crawler belt vehicle frame 302.
As shown in Fig. 1~2, the main car body 1 is equipped with sensor module 4, in the present embodiment, the sensor module 4
Sensing device 403 is detected including mounting bracket 402, visual sensor 401 and environmental information, the mounting bracket 402 is installed in
On main car body 1, visual sensor 401 and environmental information detection sensing device 403 are installed in the mounting bracket 402.It is described
Visual sensor 401 and environmental information detection sensing device 403 are techniques well known and are commercial products.
The working principle of the utility model are as follows:
When utility model works, each driving mechanism is controlled by controller 102, wherein the main track driving mechanism
Drive main crawler belt 101 mobile, and when the clutch-brake 1082 in main crawler belt driving wheel 108 is braked, the clutch and brake
Device 1082 and the connection of main crawler belt driven gear 1081, first round joint 1083 is rotated together with main crawler belt driving wheel 108, and then band
It moves corresponding sideway joint 2 to swing, when clutch-brake 1082 is non-brake, main crawler belt 101 and secondary crawler belt 304 realize row jointly
Walking modes, the second wheel joint 1052 in main crawler belt driven wheel 105 are then rotated by wheel joint driving mechanism driving, in turn
Corresponding sideway joint 2 is driven to swing, sideway joint 2, which is swung, drives corresponding secondary track module 3 to swing, and in the cross
Put in joint 2 drives secondary pedrail mould 2 to rotate around 207 central axes of adapter of 2 shaft end of sideway joint equipped with sideway driving mechanism,
In addition it is additionally provided with rotation in addition to being equipped with the secondary track driving mechanism for driving secondary crawler belt 304 mobile in the secondary track module 3 and drives
The entire secondary track module 3 of motivation structure driving is rotated around secondary the first wheel shaft of crawler belt 301.As shown in Fig. 7~14, the utility model passes through
Change different 3 angles of sideway joint 2 and secondary track module, can be realized walking form complicated and changeable, and be suitable for narrow
The various complicated landform environment such as narrow passage, gully, step topography are mobile, step is climbed, rough ground is mobile, for example pair is carried out
Band module 3 is tilted a certain angle upwards can increase climbing ability, and it is logical can to increase the utility model for the whole sides of secondary track module 3
The ability of catwalk is crossed, main crawler belt 101 advances while rotating first round joint 1083, and the utility model is made to utilize gait pattern
Across higher obstacle or the step that climbs, the center of the utility model can also be adjusted additionally by the angle for controlling each joint
Position and head room.
Claims (10)
1. a kind of reconfigurable type multiple joint crawler belt composite mobile robot, it is characterised in that: including main car body (1), sideway joint (2)
With secondary track module (3), main car body (1) is equipped with main crawler belt (101), and is equipped with and is fixed together in main crawler belt driving wheel (108)
Clutch-brake (1082) and first round joint (1083), the second wheel joint (1052) is equipped in main crawler belt driven wheel (105),
The main car body (1) is equipped with main track driving mechanism and wheel joint driving mechanism, wherein main crawler belt driving wheel (108) passes through institute
Main track driving mechanism driving rotation is stated, and the main track driving mechanism is connected with the clutch-brake (1082), second
It takes turns joint (1052) and passes through wheel joint driving mechanism driving rotation, the first round joint (1083) and the second wheel joint
(1052) it is connected respectively with corresponding sideway joint (2), is equipped with adapter far from main car body (1) one end in sideway joint (2)
(207), be equipped with secondary crawler belt (304) on secondary track module (3), and the shaft end (3011) of secondary the first wheel shaft of crawler belt (301) with it is right
It answers the adapter (207) on sideway joint (2) to be rotatablely connected, sideway driving mechanism, and institute is equipped in the sideway joint (2)
It states the sideway driving mechanism driving that secondary track module (3) pass through in corresponding sideway joint (2) to swing, in the secondary track module
(3) secondary track driving mechanism and rotary drive mechanism are equipped in, and the secondary crawler belt (304) passes through the secondary track driving mechanism
Driving rotation, entire pair track module (3) is driven by the rotary drive mechanism to be turned around secondary first wheel shaft of crawler belt (301)
It is dynamic.
2. reconfigurable type multiple joint crawler belt composite mobile robot according to claim 1, it is characterised in that: the main car body
(1) main the first wheel shaft of crawler belt (113) and the second wheel shaft of main crawler belt (103) are equipped in, and the first wheel shaft of main crawler belt (113) both ends are set
There is main crawler belt driving wheel (108), main the second wheel shaft of crawler belt (103) both ends are equipped with main crawler belt driven wheel (105), positioned at ipsilateral master
Crawler belt driving wheel (108) and main crawler belt driven wheel (105) are connected by main crawler belt (101), set that there are two lead in main car body (1)
Track driving mechanism and two wheel joint driving mechanisms, each main crawler belt driving wheel (108) pass through corresponding main track drive machine
Structure driving rotates, and the second wheel joint (1052) in each main crawler belt driven wheel (105) passes through corresponding wheel joint driving mechanism
Driving rotation.
3. reconfigurable type multiple joint crawler belt composite mobile robot according to claim 1 or 2, it is characterised in that: the master
Track driving mechanism includes main caterpillar drive (109), main track drive gear (107) and main crawler belt driven gear
(1081), main caterpillar drive (109) is fixedly arranged in main car body (1), and main track drive gear (107) is installed on the main shoe
On output shaft with driving device (109), main crawler belt driven gear (1081) is fixedly arranged in corresponding main crawler belt driving wheel (108)
And be connected with the clutch-brake (1082) in the main crawler belt driving wheel (108), the main track drive gear (107) and institute
State main crawler belt driven gear (1081) engagement.
4. reconfigurable type multiple joint crawler belt composite mobile robot according to claim 1 or 2, it is characterised in that: the wheel
Joint driving mechanism includes wheel articulated driving equipment (104), wheel joint drive gear (106) and wheel joint driven gear
(1051), wheel articulated driving equipment (104) is fixedly arranged in main car body (1), and wheel joint drive gear (106) is installed on the wheel and closes
On the output shaft for saving driving device (104), wheel joint driven gear (1051) is rotatably dispose in corresponding main crawler belt driven wheel
(105) the second wheel joint (1052) in, and in wheel joint driven gear (1051) and the main crawler belt driven wheel (105)
It is connected, the wheel joint drive gear (106) is engaged with the wheel joint driven gear (1051).
5. reconfigurable type multiple joint crawler belt composite mobile robot according to claim 1, it is characterised in that: the sideway is closed
It saves (2) and is equipped with articular shell (202), sideway driving mechanism is set in the sideway articular shell (202), the sideway driving machine
Structure includes sideway driving device (204), sideway driving gear (206) and sideway driven wheel of differential (201), sideway driving device
(204) it is fixedly arranged in sideway articular shell (202), sideway driving gear (206) is installed on the output of sideway driving device (204)
It is engaged on axis and with sideway driven wheel of differential (201), the sideway driven wheel of differential (201) and corresponding secondary the first wheel shaft of crawler belt
(301) shaft end (3011) is connected.
6. reconfigurable type multiple joint crawler belt composite mobile robot according to claim 5, it is characterised in that: outside sideway joint
Shell (202) one end is equipped with sideway connector (203), and the other end is equipped with adapter (207), and sideway driving gear (206)
It is set in the adapter (207) with sideway driven wheel of differential (201).
7. reconfigurable type multiple joint crawler belt composite mobile robot according to claim 1, it is characterised in that: the pair crawler belt
Module (3) includes secondary the first wheel shaft of crawler belt (301), secondary the second wheel shaft of crawler belt (307), secondary crawler belt vehicle frame (302) and secondary crawler belt
(304), secondary first wheel shaft of crawler belt (301) and secondary the second wheel shaft of crawler belt (307) are divided into secondary crawler belt vehicle frame (302) both ends,
And secondary the first wheel shaft of crawler belt (301) is equipped with secondary crawler belt driven wheel (311), secondary the second wheel shaft of crawler belt (307) is equipped with secondary crawler belt
Driving wheel (308), the pair crawler belt driving wheel (308) and secondary crawler belt driven wheel (311) pass through secondary crawler belt (304) and are connected, in institute
It states secondary crawler belt vehicle frame (302) and is equipped with the secondary track driving mechanism and rotary drive mechanism.
8. reconfigurable type multiple joint crawler belt composite mobile robot according to claim 7, it is characterised in that: the pair crawler belt
Driving mechanism includes that secondary caterpillar drive (303), secondary track drive gear (305) and secondary crawler belt driven gear (306), pair are carried out
Band driving device (303) is fixedly arranged in secondary crawler belt vehicle frame (302), and secondary track drive gear (305) is installed on secondary track drive dress
It sets on the output shaft of (303) and is engaged with secondary crawler belt driven gear (306), secondary crawler belt driven gear (306) and secondary crawler belt second
Wheel shaft (307) is connected.
9. reconfigurable type multiple joint crawler belt composite mobile robot according to claim 7, it is characterised in that: the rotation is driven
Motivation structure includes secondary track module rotation drive device (309), rotary drive gear (312), rotary drive gear (313), snail
Bar (314) and worm gear (310), secondary track module rotation drive device (309) are fixedly arranged in secondary crawler belt vehicle frame (302), rotation from
Moving gear (313) and worm screw (314) are coaxial and are rotatably arranged in secondary crawler belt vehicle frame (302), rotary drive gear (312) peace
On output shaft loaded on secondary track module rotation drive device (309), and rotary drive gear (312) and the rotation driven tooth
(313) engagement is taken turns, worm gear (310) is fixedly arranged on secondary the first wheel shaft of crawler belt (301), and worm gear (310) is nibbled with the worm screw (314)
It closes.
10. reconfigurable type multiple joint crawler belt composite mobile robot according to claim 1, it is characterised in that: the main vehicle
Body (1) is equipped with sensor module (4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822248752.6U CN209305715U (en) | 2018-12-29 | 2018-12-29 | A kind of reconfigurable type multiple joint crawler belt composite mobile robot |
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| CN201822248752.6U CN209305715U (en) | 2018-12-29 | 2018-12-29 | A kind of reconfigurable type multiple joint crawler belt composite mobile robot |
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| CN209305715U true CN209305715U (en) | 2019-08-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515538A (en) * | 2018-12-29 | 2019-03-26 | 中国科学院沈阳自动化研究所 | Reconfigurable type multiple joint crawler belt composite mobile robot |
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2018
- 2018-12-29 CN CN201822248752.6U patent/CN209305715U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515538A (en) * | 2018-12-29 | 2019-03-26 | 中国科学院沈阳自动化研究所 | Reconfigurable type multiple joint crawler belt composite mobile robot |
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