CN209395912U - Cterpillar drive and barrier-surpassing robot - Google Patents

Cterpillar drive and barrier-surpassing robot Download PDF

Info

Publication number
CN209395912U
CN209395912U CN201822276329.7U CN201822276329U CN209395912U CN 209395912 U CN209395912 U CN 209395912U CN 201822276329 U CN201822276329 U CN 201822276329U CN 209395912 U CN209395912 U CN 209395912U
Authority
CN
China
Prior art keywords
swing arm
tensioner
gear
walking
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201822276329.7U
Other languages
Chinese (zh)
Inventor
董雷
宦荣华
朱孔荣
于锋锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Baize Xinneng Technology Co Ltd
Original Assignee
Hangzhou Baize Xinneng Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hangzhou Baize Xinneng Technology Co Ltd filed Critical Hangzhou Baize Xinneng Technology Co Ltd
Priority to CN201822276329.7U priority Critical patent/CN209395912U/en
Application granted granted Critical
Publication of CN209395912U publication Critical patent/CN209395912U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model provides a kind of cterpillar drive and barrier-surpassing robot, is related to the technical field of crawler type obstacle crossing robot.A kind of cterpillar drive, including body, pedrail mechanism and at least a pair of of oscillating arm mechanisms, pedrail mechanism is separately positioned on the two sides of body, at least one end of body is arranged in oscillating arm mechanisms, oscillating arm mechanisms include swing arm ontology, it is sequentially connected between swing arm ontology in each pair of oscillating arm mechanisms by transmission axis connection, transmission shaft and cycloidal planetary gear speed reducer, cycloidal planetary gear speed reducer and the first driving mechanism are sequentially connected;First driving mechanism can drive transmission shaft rotation by cycloidal planetary gear speed reducer, and the swing arm body oscillatory of each centering is driven by transmission shaft, to adjust the pivot angle of oscillating arm mechanisms.A kind of barrier-surpassing robot, including cterpillar drive.Alleviate the problems such as barrier-surpassing robot obstacle climbing ability in the prior art is not strong.

Description

Cterpillar drive and barrier-surpassing robot
Technical field
The utility model relates to the technical fields of crawler type obstacle crossing robot, more particularly, to a kind of cterpillar drive And barrier-surpassing robot.
Background technique
It is more and more applied in actual life, is living with progress, caterpillar type robot with the development of science and technology Caterpillar type robot is used to work with dangerous in working environment and other insecurity factors needs, crawler belt swing arm Barrier-surpassing robot is a kind of equipment that can move simultaneously crossing over blockage, is that field environment is investigated, maked an inspection tour, clearance gets rid of the danger and badly endangers One of the important automation equipment to work when detecting in dangerous environment due to such robot obstacle climbing ability and is fitted Answer the ability of outdoor complicated landform strong, passability is good in uneven and road environment that is having barrier, so it uses neck Domain is also increasingly wider.
Currently, existing barrier-surpassing robot product has the following deficiencies: (1) although robot structure is simple, transmit Torque is not big enough, is short of power in crossing over blockage, this will weaken its obstacle climbing ability significantly;(2) existing barrier-surpassing robot Then the crossbeam of one entirety of setting among crawler belt is arranged shock-damping structure is unified on crossbeam, crawler sections is caused to seem ratio Cumbersome, structure is complex, and dismounts more troublesome;(3) in existing barrier-surpassing robot, the mounting structures and tensioner of crawler belt Structure is provided separately, and virtually increases the structure of crawler sections, is kept crawler belt whole heavy, is influenced obstacle climbing ability.
Based on problem above, propose that a kind of cterpillar drive that obstacle climbing ability is strong is particularly important.
The information disclosed in the background technology section is intended only to deepen the reason to the general background technology of the utility model Solution, and it is known to those skilled in the art existing to be not construed as recognizing or imply that the information is constituted in any form Technology.
Utility model content
The purpose of this utility model is to provide a kind of cterpillar drive and barrier-surpassing robots, to alleviate the prior art In barrier-surpassing robot obstacle climbing ability it is not strong the problems such as.
In order to solve the above-mentioned technical problem, the technological means that the utility model is taken are as follows:
A kind of cterpillar drive provided by the utility model, including body, pedrail mechanism and at least a pair of of swing arm machine The left and right sides of the body is arranged in structure, the pedrail mechanism, and at least one end of the body is arranged in the oscillating arm mechanisms;
The oscillating arm mechanisms include swing arm ontology, pass through transmission between each swing arm ontology in the oscillating arm mechanisms Axis connection, the transmission shaft and cycloidal planetary gear speed reducer are sequentially connected, and the cycloidal planetary gear speed reducer and the first driving mechanism pass Dynamic connection;
First driving mechanism can drive the transmission shaft to rotate by the cycloidal planetary gear speed reducer, and by described Transmission shaft drives the swing arm body oscillatory of each centering, to adjust the pivot angle of the oscillating arm mechanisms.
As a kind of further technical solution, the oscillating arm mechanisms include swing arm driving wheel, swing arm driven wheel and swing arm Crawler belt;
The swing arm driving wheel is rotatably arranged on the transmission shaft, and close to the first end of the swing arm ontology Place;
The swing arm driven wheel is rotatably arranged at the second end of the swing arm ontology;
The swing arm crawler belt is connected between the swing arm driving wheel and the swing arm driven wheel.
As a kind of further technical solution, first gear, the cycloidal-pin wheel are sequentially connected on the transmission shaft The output end of speed reducer is provided with second gear, and the first gear is meshed with the second gear.
As a kind of further technical solution, the pedrail mechanism includes the walking driver gear connected by traveling crawler And walking passive gear;
The walking driver gear and the second driving mechanism are sequentially connected;
The walking driver gear and/or the walking passive gear are rotatablely connected with the corresponding transmission shaft, and described Walking driver gear and/or the walking passive gear are connected with the corresponding swing arm driving wheel;
Second driving mechanism drives the walking driver gear rotation, and as described in the walking driver gear synchronous drive The rotation of swing arm driving wheel, to drive the oscillating arm mechanisms to operate, and/or, second driving mechanism drives the walking actively Wheel rotation, the walking driver gear drive the walking passive gear rotation by the traveling crawler, and driven by the walking Wheel synchronizes the swing arm driving wheel rotation, to drive the oscillating arm mechanisms to operate.
As a kind of further technical solution, which includes damping;
The damping is set to the left and right sides of the body, and is located on the inside of the corresponding pedrail mechanism;
The damping can carry out damping, support to the traveling crawler in the pedrail mechanism.
As a kind of further technical solution, the damping includes swinging frame, damper element and damping wheel;
The first end of the swinging frame and the body are rotatablely connected, and the damping wheel is rotatably arranged on the swinging frame Second end;
The damper element is connected between the body and the swinging frame.
As a kind of further technical solution, which includes support roller tension mechanism;
The support roller tension mechanism is set to the left and right sides of the body, and is located in the corresponding pedrail mechanism Side;
The support roller tension mechanism can carry out tensioner, support to the traveling crawler in the pedrail mechanism.
As a kind of further technical solution, the support roller tension mechanism includes mounting rack, tensioner wheel assembly and tensioner Component;
The mounting rack is connect with the body, and at least one set of tensioner wheel assembly is movably disposed at the installation On frame, the output end of the tensioner component is connect with the tensioner wheel assembly, for driving the tensioner wheel assembly relative to institute It is mobile to state mounting rack, to pass through traveling crawler described in the tensioner wheel assembly tensioner.
As a kind of further technical solution, the tensioner component includes tension bolt, the tension bolt with it is described Mounting rack is threadedly coupled;
The end of the tension bolt is connect with the tensioner wheel assembly;
Screwing the tension bolt can drive the tensioner wheel assembly mobile relative to the mounting rack, by described Traveling crawler described in tensioner wheel assembly tensioner.
A kind of barrier-surpassing robot provided by the utility model, including the cterpillar drive.
Compared with prior art, technology possessed by cterpillar drive and barrier-surpassing robot provided by the utility model Advantage are as follows:
A kind of cterpillar drive provided by the utility model, including body, pedrail mechanism and at least a pair of of swing arm machine Structure, pedrail mechanism is respectively set at left and right sides of body, and front end, rear end or the rear and front end of body are arranged oscillating arm mechanisms, pass through Setting oscillating arm mechanisms can make cterpillar drive have stronger walking, obstacle climbing ability, so that cterpillar drive is more It is adapted to complicated landform.
Further, oscillating arm mechanisms include swing arm ontology, pass through transmission shaft between the swing arm ontology in each pair of oscillating arm mechanisms Realize connection, also, transmission shaft is sequentially connected with the output end of cycloidal planetary gear speed reducer again, the input terminal of cycloidal planetary gear speed reducer It is sequentially connected with the output end of the first driving mechanism;As a result, under the driving effect of the first driving mechanism, cycloidal planetary gear speed reducer It operates and transmission shaft is driven to rotate, further drive the swing arm ontology of left and right ends to be swung by transmission shaft, to adjust The pivot angle of each pair of oscillating arm mechanisms, so that oscillating arm mechanisms more adapt to complicated landform.
Cterpillar drive provided by the utility model substitutes traditional transmission mechanism by cycloidal planetary gear speed reducer, According to the characteristic of cycloidal planetary gear speed reducer itself, bigger transfer of torque can be provided for transmission shaft, and by transmission shaft band movable pendulum Arm swing greatly strengthens the obstacle climbing ability of cterpillar drive, effectively to ensure that power output when obstacle detouring work Alleviate the problem of existing barrier-surpassing robot is short of power in crossing over blockage.
Preferably, it by setting damping and support roller tension mechanism, increases steady when cterpillar drive works Qualitative and adaptability, to improve the ability that it adapts to outdoor complicated landform.
A kind of barrier-surpassing robot provided by the utility model, including above-mentioned cterpillar drive, as a result, the obstacle detouring machine People's technical advantage achieved and effect include above-mentioned barrier-surpassing robot technical advantage achieved and effect, are no longer gone to live in the household of one's in-laws on getting married herein It states.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the first schematic diagram of cterpillar drive provided by the embodiment of the utility model;
Fig. 2 is the second schematic diagram of cterpillar drive provided by the embodiment of the utility model;
Fig. 3 is the third schematic diagram of cterpillar drive provided by the embodiment of the utility model;
Fig. 4 is the schematic diagram of damping provided by the embodiment of the utility model;
Fig. 5 is the schematic diagram of support roller tension mechanism provided by the embodiment of the utility model.
Icon:
100- body;
200- pedrail mechanism;210- traveling crawler;220- walking driver gear;230- walking passive gear;
300- oscillating arm mechanisms;310- swing arm ontology;320- swing arm driving wheel;330- swing arm driven wheel;340- swing arm Crawler belt;
The first driving mechanism of 410-;420- cycloidal planetary gear speed reducer;430- transmission shaft;440- first gear;450- Second gear;The second driving mechanism of 460-;470- third gear;The 4th gear of 480-;490- planetary reducer;
500- damping;510- swinging frame;520- damper element;530- damping wheel;
600- support roller tension mechanism;610- mounting rack;620- tensioner wheel assembly;630- tensioner component;631- tensioner Bolt;
700- battery pack;800- control element.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical Novel protected range.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection;It can be mechanical connection, be also possible to be electrically connected;Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition The concrete meaning of language in the present invention.
The utility model is further described in detail below through specific implementation examples and in conjunction with the accompanying drawings.
Specific structure is as Figure 1-Figure 5.
A kind of cterpillar drive provided in this embodiment, including body 100, pedrail mechanism 200 and at least a pair of of pendulum Pedrail mechanism 200, front end, rear end or the rear and front end of body 100 is respectively set in arm mechanism 300, the left and right sides of body 100 Oscillating arm mechanisms 300 are set, can enable cterpillar drive that there is stronger walking, obstacle detouring by the way that oscillating arm mechanisms 300 are arranged Power, so that cterpillar drive is more suitable for complicated landform.
Further, oscillating arm mechanisms 300 include swing arm ontology 310, the swing arm ontology 310 in each pair of oscillating arm mechanisms 300 it Between connection realized by transmission shaft 430, also, transmission shaft 430 is sequentially connected with the output end of cycloidal planetary gear speed reducer 420 again, The input terminal of cycloidal planetary gear speed reducer 420 and the output end of the first driving mechanism 410 are sequentially connected;As a result, in the first driving machine Under the driving effect of structure 410, cycloidal planetary gear speed reducer 420 operates and transmission shaft 430 is driven to rotate, further by transmission shaft 430 The swing arm ontology 310 at left and right ends is driven to be swung, so that the pivot angle of each pair of oscillating arm mechanisms 300 is adjusted, so that swing arm machine Structure 300 more adapts to complicated landform.Preferably, the first driving mechanism 410 uses driving motor.
Cterpillar drive provided in this embodiment substitutes traditional transmission mechanism by cycloidal planetary gear speed reducer 420, According to the characteristic of cycloidal planetary gear speed reducer 420 itself, bigger transfer of torque can be provided for transmission shaft 430, and by transmission shaft 430 drive swing arm to swing, to ensure that power output when obstacle detouring work, greatly strengthen the obstacle detouring of cterpillar drive The problem of existing barrier-surpassing robot is short of power in crossing over blockage has been effectively relieved in ability.
In the optional technical solution of the present embodiment, oscillating arm mechanisms 300 include swing arm driving wheel 320,330 and of swing arm driven wheel Swing arm crawler belt 340;Swing arm driving wheel 320 is rotatably arranged on transmission shaft 430, and is located at the first end of swing arm ontology 310 Place;Swing arm driven wheel 330 is rotatably arranged at the second end of swing arm ontology 310;Swing arm crawler belt 340 is connected to swing arm actively Between wheel 320 and swing arm driven wheel 330.
In the optional technical solution of the present embodiment, first gear 440 is sequentially connected on transmission shaft 430, cycloidal-pin wheel subtracts The output end of fast machine 420 is provided with second gear 450, and first gear 440 is meshed with second gear 450.
In the present embodiment, oscillating arm mechanisms 300 further include swing arm driving wheel 320, swing arm other than including swing arm ontology 310 Driven wheel 330 and swing arm crawler belt 340, specifically, being sequentially connected between swing arm ontology 310 and transmission shaft 430, so that transmission shaft 430 two swing arm ontologies 310 being able to drive in each pair of oscillating arm mechanisms 300 are swung, to adjust the pendulum of each pair of oscillating arm mechanisms 300 Angle;Preferably, it is connected between swing arm ontology 310 and transmission shaft 430 using spline, can also be other forms, such as flat key certainly Connection, locking connection etc..
Further, which is string configuration, and the first end of swing arm ontology 310 is matched with transmission shaft 430 Installation is closed, and swing arm driving wheel 320 is then assembled on transmission shaft 430 by bearing, swing arm driven wheel 330 is mounted on by shaft The second end of swing arm ontology 310, and be arranged with swing arm crawler belt 340 on swing arm driving wheel 320 and swing arm driven wheel 330, as a result, when When swing arm driving wheel 320 rotates, it is able to drive the running of swing arm crawler belt 340, in order to crossing over blockage.Also, in 430 band of transmission shaft Under movement is used, swing arm ontology 310 and swing arm driven wheel 330 thereon are able to carry out oscillation adjustment pivot angle, to adapt to complicated landform And crossing over blockage.
Further, it is sequentially connected with first gear 440 on transmission shaft 430, and the output of cycloidal planetary gear speed reducer 420 Setting second gear 450 in end transmits power when the first driving mechanism 410 driving cycloidal planetary gear speed reducer 420 works as a result, Be transmitted to first gear 440 to second gear 450, and by second gear 450, then by first gear 440 drive transmission shaft 430 and The swing arm ontology 310 connecting with transmission shaft 430 moves, so that the pivot angle for adjusting oscillating arm mechanisms 300 is realized, to adapt to intricately Shape.Certainly, it can also be realized and be connected by other kinds of drive between cycloidal planetary gear speed reducer 420 and transmission shaft 430, such as chain Item-sprocket wheel, worm gear-endless screw, belt wheel-belt etc., concrete mode is unrestricted.
In the optional technical solution of the present embodiment, pedrail mechanism 200 includes the walking active connected by traveling crawler 210 Wheel 220 and walking passive gear 230;Walking driver gear 220 and the second driving mechanism 460 are sequentially connected;Walking driver gear 220 and/ Or walking passive gear 230 is rotatablely connected with corresponding transmission shaft 430, and walking driver gear 220 and/or walking passive gear 230 It is connected with corresponding swing arm driving wheel 320;Second driving mechanism 460 drives walking driver gear 220 to rotate, and actively by walking The rotation of 220 synchronous drive swing arm driving wheels 320 is taken turns, to drive oscillating arm mechanisms 300 to operate, and/or, the second driving mechanism 460 is driven Dynamic walking driver gear 220 rotates, and walking driver gear 220 drives walking passive gear 230 to rotate by traveling crawler 210, and by going It walks the synchronous swing arm driving wheel 320 of driven wheel 230 to rotate, to drive oscillating arm mechanisms 300 to operate.
In the present embodiment, pedrail mechanism 200 includes traveling crawler 210, walking driver gear 220 and walking passive gear 230, row It walks driving wheel 220 to be driven by the second driving mechanism 460, it is preferable that the output end of the second driving mechanism 460 is connected with row Star speed reducer 490, the output end of planetary reducer 490 are provided with third gear 470, are provided with the 4th on walking driver gear 220 Gear 480, and third gear 470 and the 4th gear 480 are intermeshed, as a result, in the driving effect of the second driving mechanism 460 Under, planetary reducer 490 operates and third gear 470 is driven to rotate, then drives the 4th gear 480 to rotate by third gear 470, It is finally rotated by 480 synchronous drive walking driver gear 220 of the 4th gear, to drive traveling crawler 210 and walking passive gear 230 to transport It is dynamic, to realize walking.Preferably, the second driving mechanism 460 uses driving motor, and third gear 470 and the 4th gear 480 use Intermeshing bevel gear.In the present embodiment, the walking driver gear 220 of 100 left and right sides of body is driven by one group second respectively Mechanism 460 provides power, and two group of second driving mechanism 460 is controlled by the control element 800 of cterpillar drive, control The control principle of element 800 processed can refer to the prior art, be not set forth in detail herein.
Further, when oscillating arm mechanisms 300 are a pair and the front end or rear end of body 100 is arranged in, swing arm driving wheel 320 are fixedly connected with walking driver gear 220 or walking passive gear 230, as a result, under the driving effect of the second driving mechanism 460, Walking driver gear 220 and walking passive gear 230 can be rotated around transmission shaft 430, and driven by walking driver gear 220 or walking Take turns 230 synchronous drive swing arm driving wheels 320 (front end or rear end) rotation, walking driver gear 220 be able to drive traveling crawler 210 and Walking passive gear 230 moves, and realizes walking, swing arm driving wheel 320 is able to drive swing arm crawler belt 340 and swing arm driven wheel 330 is transported It is dynamic, so that oscillating arm mechanisms 300 operate, in order to crossing over blockage.
When oscillating arm mechanisms 300 are two pairs and when being separately positioned on the front-end and back-end of body 100, swing arm driving wheel 320 with Walking driver gear 220 is fixedly connected, and swing arm driving wheel 320 is equally fixedly connected with walking passive gear 230, is driven as a result, second Under the driving effect of motivation structure 460, walking driver gear 220 can be rotated around the transmission shaft 430 of 100 one end of body, and synchronous The swing arm driving wheel 320 at 100 one end of body is driven to rotate, meanwhile, walking passive gear 230 can surround 100 other end of body Transmission shaft 430 rotate, and swing arm driving wheel 320 at 100 other end of synchronous drive body rotates;It is located at body 100 as a result, Oscillating arm mechanisms 300 at rear and front end can operate, in order to crossing over blockage.
Further, the transmission shaft 430 under the driving effect of the first driving mechanism 410, at 100 one or both ends of body Rotation, and drive corresponding swing arm ontology 310 to swing by transmission shaft 430, the adjusting to 300 angle of oscillating arm mechanisms is realized with this, To adapt to more complicated landform.
In the optional technical solution of the present embodiment, which includes damping 500;Damping 500 100 two sides of body are set to, and are located at 200 inside of pedrail mechanism;Damping 500 can be to the walking in pedrail mechanism 200 Crawler belt 210 carries out damping, support.
In the optional technical solution of the present embodiment, damping 500 includes swinging frame 510, damper element 520 and damping wheel 530;The first end and body 100 of swinging frame 510 are rotatablely connected (preferably, connecting by shaft), the rotation setting of damping wheel 530 In the second end of swinging frame 510;Damper element 520 is connected between body 100 and swinging frame 510.
In the present embodiment, the inside setting of the traveling crawler 210 in the pedrail mechanism 200 of 100 left and right sides of body is more The mutually independent damping 500 of group, improves damping effect, so that cterpillar drive can adapt to complicated landform;Tool Body, which includes swinging frame 510, damper element 520 and damping wheel 530, damping wheel 530 and traveling crawler 210 Inside push against, as a result, in the process of walking, effect of the traveling crawler 210 by ground can squeeze damping wheel 530, and by Damping wheel 530 drives swinging frame 510 to be swung relative to body 100, at this point, damper element 520 can be compressed or be extended, from And the damping wheel 530 on swinging frame 510 can be driven to support 210 inside of traveling crawler by damper element 520, to alleviate row The relaxation of crawler belt 210, de- band, also, the compression or elongation of the reciprocally swinging and damper element 520 by swinging frame 510 are walked, it can Realize buffering, damping effect.Preferably, damper element 520 uses spring damper.
In addition, can individually be torn open to damping 500 due to being independent from each other between multiple groups damping 500 Dress, maintenance, repair, to reduce the complexity of the dismounting of damping 500, maintenance and maintenance;Also, it walks in replacement When crawler belt 210, each group damping 500 can be individually removed, improves the replacement efficiency of traveling crawler 210.
In the present embodiment, by using above-mentioned damping 500, it has been effectively relieved and crossbeam is set in traveling crawler 210 The problem of, to keep the structure of damping 500 more single, keep entire cterpillar drive lighter.
In the optional technical solution of the present embodiment, which includes support roller tension mechanism 600;Support roller tensioner Mechanism 600 is set to 100 two sides of body, and is located at 200 inside of pedrail mechanism;Support roller tension mechanism 600 can be to pedrail mechanism Traveling crawler 210 in 200 carries out tensioner, support.
In the optional technical solution of the present embodiment, support roller tension mechanism 600 includes mounting rack 610,620 and of tensioner wheel assembly Tensioner component 630;Mounting rack 610 is connect with body 100, and at least one set of tensioner wheel assembly 620 is movably disposed at mounting rack On 610, the output end of tensioner component 630 is connect with tensioner wheel assembly 620, for driving tensioner wheel assembly 620 relative to installation Frame 610 is mobile, to pass through 620 tensioner traveling crawler 210 of tensioner wheel assembly.
In the optional technical solution of the present embodiment, tensioner component 630 includes tension bolt 631, tension bolt 631 and installation Frame 610 is threadedly coupled;The end of tension bolt 631 is connect with tensioner wheel assembly 620;It screws tension bolt 631 and can drive and rise Bearing up pulley component 620 is mobile relative to mounting rack 610, to pass through 620 tensioner traveling crawler 210 of tensioner wheel assembly.
In the present embodiment, support is arranged in the inside of the traveling crawler 210 in the pedrail mechanism 200 of 100 left and right sides of body Tension mechanism 600 is taken turns, the tensioner effect of traveling crawler 210 is realized, so that the walking ability of traveling crawler 210 is more stable; Specifically, the support roller tension mechanism 600 includes mounting rack 610, tensioner wheel assembly 620 and tensioner component 630, wherein expansion tightening wheel Component 620 is mounted on the mounting rack 610 connecting with body 100, and tensioner component 630 can drive tensioner wheel assembly 620 opposite It is moved in mounting rack 610, to carry out tensioner to traveling crawler 210.
Preferably, tensioner wheel assembly 620 includes connecting shaft and expansion tightening wheel ontology, offers long hole on mounting rack 610, is connected Axis passes through long hole, and expansion tightening wheel ontology is rotatably arranged in connecting shaft, and tensioner component 630 includes tension bolt 631, tension bolt 631 end and connecting shaft are rotatablely connected, and tension bolt 631 is threadedly coupled with mounting rack 610 again, screws tensioner spiral shell as a result, When bolt 631, connecting shaft and expansion tightening wheel ontology thereon can be pushed mobile relative to mounting rack 610, in turn, pass through expansion tightening wheel sheet Body carries out tensioner to traveling crawler 210.
Support roller tension mechanism 600 in the present embodiment integrates tensioner wheel assembly 620 and tensioner component 630, shape At the structure for having both support, tensioner function simultaneously, thus, compared with the prior art, make structure simple by using Integrated design It is single, compact small and exquisite, further, it is possible to keep the walking ability of cterpillar drive more stable, it is effectively relieved in walking process The problem of existing pine band, de- band.
In the present embodiment preferably, a pair of of oscillating arm mechanisms 300 are respectively set in the rear and front end of body 100, and first drives Motivation structure 410 and cycloidal planetary gear speed reducer 420 are corresponding with oscillating arm mechanisms 300;The pedrail mechanism 200 of 100 left and right sides of body It is operated alone respectively by one group of second driving mechanism 460.Further, the first driving mechanism 410 and the second driving mechanism 460 It connect with control element 800, is controlled by control element 800, and be powered by battery pack 700.
A kind of barrier-surpassing robot provided in this embodiment, including above-mentioned cterpillar drive, the as a result, barrier-surpassing robot Technical advantage and effect achieved include above-mentioned barrier-surpassing robot technical advantage achieved and effect, and details are not described herein again.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited System;Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of Technical characteristic is equivalently replaced;And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new The range of each embodiment technical solution of type.

Claims (10)

1. a kind of cterpillar drive, including body, pedrail mechanism and at least a pair of of oscillating arm mechanisms, the pedrail mechanism setting In the left and right sides of the body, at least one end of the body is arranged in the oscillating arm mechanisms, which is characterized in that
The oscillating arm mechanisms include swing arm ontology, are connected between each swing arm ontology in the oscillating arm mechanisms by transmission shaft It connects, the transmission shaft and cycloidal planetary gear speed reducer are sequentially connected, and the cycloidal planetary gear speed reducer and the transmission of the first driving mechanism connect It connects;
First driving mechanism can drive the transmission shaft to rotate by the cycloidal planetary gear speed reducer, and by the transmission Axis drives the swing arm body oscillatory of each centering, to adjust the pivot angle of the oscillating arm mechanisms.
2. cterpillar drive according to claim 1, which is characterized in that the oscillating arm mechanisms include swing arm active Wheel, swing arm driven wheel and swing arm crawler belt;
The swing arm driving wheel is rotatably arranged on the transmission shaft, and close at the first end of the swing arm ontology;
The swing arm driven wheel is rotatably arranged at the second end of the swing arm ontology;
The swing arm crawler belt is connected between the swing arm driving wheel and the swing arm driven wheel.
3. cterpillar drive according to claim 1 or 2, which is characterized in that be sequentially connected on the transmission shaft First gear, the output end of the cycloidal planetary gear speed reducer are provided with second gear, the first gear and the second gear It is meshed.
4. cterpillar drive according to claim 2, which is characterized in that the pedrail mechanism includes being carried out by walking The walking driver gear and walking passive gear of band connection;
The walking driver gear and the second driving mechanism are sequentially connected;
The walking driver gear and/or the walking passive gear are rotatablely connected with the corresponding transmission shaft, and the walking Driving wheel and/or the walking passive gear are connected with the corresponding swing arm driving wheel;
Second driving mechanism drives the walking driver gear rotation, and the swing arm as described in the walking driver gear synchronous drive Driving wheel rotation, to drive the oscillating arm mechanisms to operate, and/or, second driving mechanism drives the walking driver gear rotation Turn, the walking driver gear drives the walking passive gear rotation by the traveling crawler, and same by the walking passive gear The swing arm driving wheel rotation is walked, to drive the oscillating arm mechanisms to operate.
5. cterpillar drive according to claim 1 or 4, which is characterized in that including damping;
The damping is set to the left and right sides of the body, and is located on the inside of the corresponding pedrail mechanism;
The damping can carry out damping, support to the traveling crawler in the pedrail mechanism.
6. cterpillar drive according to claim 5, which is characterized in that the damping includes swinging frame, subtracts Shake element and damping wheel;
The first end of the swinging frame and the body are rotatablely connected, and the damping wheel is rotatably arranged on the second of the swinging frame End;
The damper element is connected between the body and the swinging frame.
7. cterpillar drive according to claim 1 or 4, which is characterized in that including support roller tension mechanism;
The support roller tension mechanism is set to the left and right sides of the body, and is located on the inside of the corresponding pedrail mechanism;
The support roller tension mechanism can carry out tensioner, support to the traveling crawler in the pedrail mechanism.
8. cterpillar drive according to claim 7, which is characterized in that the support roller tension mechanism includes installation Frame, tensioner wheel assembly and tensioner component;
The mounting rack is connect with the body, and at least one set of tensioner wheel assembly is movably disposed at the mounting rack On, the output end of the tensioner component is connect with the tensioner wheel assembly, for driving the tensioner wheel assembly relative to described Mounting rack is mobile, to pass through traveling crawler described in the tensioner wheel assembly tensioner.
9. cterpillar drive according to claim 8, which is characterized in that the tensioner component includes tension bolt, The tension bolt is threadedly coupled with the mounting rack;
The end of the tension bolt is connect with the tensioner wheel assembly;
Screwing the tension bolt can drive the tensioner wheel assembly mobile relative to the mounting rack, to pass through the tensioner Traveling crawler described in wheel assembly tensioner.
10. a kind of barrier-surpassing robot, which is characterized in that including the described in any item cterpillar drives of claim 1-9.
CN201822276329.7U 2018-12-30 2018-12-30 Cterpillar drive and barrier-surpassing robot Active CN209395912U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201822276329.7U CN209395912U (en) 2018-12-30 2018-12-30 Cterpillar drive and barrier-surpassing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201822276329.7U CN209395912U (en) 2018-12-30 2018-12-30 Cterpillar drive and barrier-surpassing robot

Publications (1)

Publication Number Publication Date
CN209395912U true CN209395912U (en) 2019-09-17

Family

ID=67897518

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201822276329.7U Active CN209395912U (en) 2018-12-30 2018-12-30 Cterpillar drive and barrier-surpassing robot

Country Status (1)

Country Link
CN (1) CN209395912U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113427463A (en) * 2021-05-25 2021-09-24 杭州申昊科技股份有限公司 Movable obstacle-crossing live working robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113427463A (en) * 2021-05-25 2021-09-24 杭州申昊科技股份有限公司 Movable obstacle-crossing live working robot

Similar Documents

Publication Publication Date Title
CN109436112A (en) Cterpillar drive and barrier-surpassing robot
CN101380978A (en) Shrimp-shaped six-wheel mobile robot
CN105383582B (en) The unmanned 4 wheel driven platform of swing arm
CN109969282A (en) A kind of four-wheel climbing robot having curved surface adsorption function and its application method
CN1644328A (en) Small crawler leg composite movable robot mechanism
CN209395912U (en) Cterpillar drive and barrier-surpassing robot
CN111196309A (en) Wheel track adjustable carrying platform
CN108407610A (en) A kind of four-wheel drive robot chassis of chain drive
CN204415556U (en) A kind of bionical multi-foot walking robot and robot leg thereof
CN202175087U (en) Steering transmission mechanism
CN201670288U (en) Pedrail type permanent-magnet crawler
CN201677944U (en) Wheel leg composite type mobile robot platform
CN205837117U (en) A kind of power assembly
CN205971581U (en) Rackwork warp shock attenuation walking portion and has its fire control moving platform
CN107651030A (en) The built-in buffering of driving shakes tracked mobile platform and has its robot
CN205203189U (en) Unmanned 4 wheel driven platform of swing arm formula
CN201712688U (en) Small-sized mobile robot wheel swinging type composite driving device
CN103405934A (en) Energy-conversion-driven steerable three-wheel carbon-free trolley
CN201148179Y (en) Mobile robot for ice and snow surface
CN202782681U (en) Series compensation device inspection robot mechanism
CN203694597U (en) Carbon-free trolley driven to walk through gravity potential energy
CN108791548A (en) A kind of compound mobile mechanism of two-wheeled-leg-crawler
CN106184438A (en) Leading screw drives the damping running part of deformation and has its firefighting movable platform
CN208519646U (en) A kind of movable energy-saving Engineering Lamp
CN203469462U (en) Steerable three-wheel carbon-free trolley driven through energy conversion

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant