CN2186639Y

CN2186639Y - Robot motion carrier suitable for complicated topography

Info

Publication number: CN2186639Y
Application number: CN 93228507
Authority: CN
Inventors: 杨汝清; 肖天富; 张选琪
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 1993-06-18
Filing date: 1993-06-18
Publication date: 1995-01-04
Anticipated expiration: 2003-06-18

Abstract

The utility model relates to a robot motion carrier suitable for a complicated topography, which is characterized in that an original caterpillar band structure is improved into a simple caterpillar band which is in a wheel type structure; the supporting frame of the caterpillar band is driven by two motors and a planetary reducer at the middle part of the carrier through connecting a main shaft and a main band wheel; the outside of the main band wheel is provided with four travelling wheels. Due to the function of a chain and a sprocket, the front and back four caterpillar bands can play a function of main driving, as well as can swing up and down to adapt the need of travelling at a complicated topography. Because the outside of the main band wheel is provided with the travelling wheels, the motion carrier can play the function of a wheel type structure on a common flat ground. The utility model has the advantage of simple structure, which is suitable to be used on various occasions.

Description

Robot motion carrier suitable for complicated topography

The robot mobile vehicle that can travel on complex-terrain at present also can be referred to as the mobile robot.It is by people's far distance controlled, match with manipulator or miscellaneous equipment above being installed in it, can replace the people to do some in dangerous, abominable, harmful place, can be widely used in places such as nuclear industry, chemical industry, railway, factories and miness such as work such as observation, inspection, carrying, loading and unloading, operation and operation processing.

Because with the operation place of upper portion door and landform more complicated all, therefore the driveability to robot has proposed very high requirement, as can stair activity, cross obstacle, stride trench, radius of turn is little or the like.The ANDROS-MARK robot (United States Patent (USP) 4,932,831) that U.S. REMOTECWC company produces has solved above problem basically.Its mobile vehicle is six caterpillar belt structures.Two crawler belts are the main crawler belts that drive about the centre, are driven by two motors and two groups of decelerators respectively, can advance, retreat, and turn or the original place rotation about the speed difference that also can utilize the right and left crawler belt to rotate is carried out.Its basic function is identical with two crawler belts of common tank.In addition, it also respectively has two to pay crawler belt in the front and back of carrier.Two tackle crawler belt respectively by two motors and two groups of decelerators before and after this, can swing up and down into arbitrarily angledly in ± 90 ° of scopes, and being fit to stair activity, crossing the needs that complex-terrain such as obstacle travels, it preferably resolves the problem of travelling of complex-terrain.

But, the problem that in carrying out use, also has two deficiencies: at first, this robotlike is that ground is up sails normal the most of the time, and the picture stair activity, to cross utmost point complex-terrain working opportunitys such as obstacle less, and ground is up sails normal, and track structure is more much lower than wheeled construction running efficiency, and owing to influences such as tooth gaps on the crawler belt, travelling on the level land also can produce bigger vibration, and travel speed is high more, vibrates big more.Secondly, caterpillar belt structure is when turning, and crawler belt will produce bigger relative slip with ground, when pivot turn, it is bigger to slide relatively especially, because crawler belt and contact area of ground are very big, even on general level land, frictional force is also very big, therefore needs bigger driving power.And on the more crude concrete floor, on stone or the sand ground; the first-class occasion in rough other ground; just more difficult when it is turned, usually the crawler belt obscission can appear, sometimes even can produce that motor burns out because of long-time stall or crawler belt such as tears at the serious problems generation.

In order to solve above deficiency, the utility model provides a kind of simple four crawler belts, one wheeled robot mobile vehicle, utilize crawler belt and road wheel structure combining, effectively realized both having kept up/down steps, crossed that driveability on the complex-terrain such as obstacle has overcome again that it is not high at running efficiency on the common level land, vibration and turning difficulty and crawler belt shortcoming such as easily come off on crude ground.

Structural design of the present utility model is achieved in that this device adopts simple four crawler belts, one wheeled construction, simple four crawler belts are that relative four crawler belts can drive, independent swing, even complexity four caterpillar belt structures that can independent torsional, mainly be in order to reduce the complexity of car body weight, volume, cost and control.Detailed structure is that two motors that direction parallel to each other is relative are housed in the middle of the robot carrier, each joins the output of two motors with planetary reduction gear, decelerator passes through worm gear, worm screw is connected with driving shaft, this axle is with bearings, the sprocket wheel that the decelerator of two motors passes through separately simultaneously is connected with the crawler belt support of both sides, support can swing up and down in ± 90 ° of scopes, a main pulley respectively is equipped with in the two driving shaft outsides that decelerator connects, two chains about connecting respectively, chain wheel set, be with four crawler belts in the chain wheel set outside, on four crawler belt main pulleys, respectively installed a road wheel respectively additional.Four crawler belts had both played main driving effect before and after its this kind structure made, and rose again to swing up and down to adapt to the travel function of needs of complex-terrain, and four road wheels make motion carrier bring into play the function that wheeled construction moves on common level land.

The advantage of the utility model:

1. running efficiency height, steady on the common level land.

2. can not produce difficulty when turning on the ground such as crude, more can not come off by crawler belt.

3. still bring into play the caterpillar belt structure advantage on the complex-terrain.

4. four wheels can be for convenience detach and be changed, and simple four caterpillar belt structures that remove behind the four wheels still keep six crawler belt functions, and makes things convenient for manyly than six caterpillar belt structures when turning.

Detailed structure of the present utility model, operation principle is by embodiment and accompanying drawing provide down.

Fig. 1 is for adapting to complex-terrain robot mobile vehicle structure principle chart;

Fig. 2 is for adapting to complex-terrain robot mobile vehicle structure side view.

Its structure is by shown in Figure 1:

1) motor 5, and connecting planetary reduction gear 6,11 is worm gear, and 7 is worm screw, drive axle 19 rotations.This axle is support with bearing 18, and the support 12,15 that drives anterior two crawler belts swings up and down in ± 90 ° of scopes, to adapt to the needs that travel on the complex-terrain.

2) motor 23 passes through planetary reduction gear 24, worm gear 27, and worm screw 25 drives axle 26 rotations, and this axle is support with bearing 30, and the

support

31,34 that drives two crawler belts in rear portion swings up and down in ± 90 ° of scopes, to adapt to the needs that travel on the complex-terrain.

3) motor 3, by planetary reduction gear 4, and

sprocket wheel

38,10,33, chain 37 drives the main pulley 2,9 of two crawler belts in the left side simultaneously, makes crawler belt 13,35 cycle rotations that are installed on the main pulley, drives carrier and moves.

4) motor 21, and by planetary reduction gear 22 and

sprocket wheel

36,16,

chain

37,39 drives the main pulley 17,28 of two crawler belts in the right side simultaneously, makes

crawler belt

14,32 cycle rotations that are installed on the main pulley, drives carrier and moves.

5) four

road wheels

1,8,20,29 are fixed by bolts to respectively on the outside of four main pulleys, can rotate with each main pulley respectively.Because all greater than the radius of turn of crawler belt on the main pulley, so on general level land, four crawler belts keep levels or go up pendulum before and after needing only, this mobile vehicle has just become four-wheel-type structure dolly to the radius of four wheels.On injustice or complex-terrain, as long as the pendulum angle of crawler belt before and after suitably selecting, this carrier has just become simple four caterpillar belt structure dollies.

Claims

1, a kind of robot mobile vehicle that contains caterpillar belt structure, it is characterized in that this device adopts simple four crawler belts, one wheeled construction, its structure is that two motor (1) and (3) that direction parallel to each other is relative are housed in the middle of the robot carrier, each joins two motors (1) (3) output with planetary reduction gear (4) (22), decelerator (4) (22) is by worm gear (11) (27), worm screw (7) (25) is connected with driving shaft (19) (26), the sprocket wheel (16) (33) that decelerator (4) (22) passes through separately simultaneously is connected with the crawler belt support (12) (15) (31) (34) of both sides, a main pulley (2) (9) (17) (28) respectively is equipped with in two driving shafts (19) (26) outside, the outside is with 4 crawler belts (13) (14) (32) (35), respectively installs a road wheel (1) (29) (8) (20) on each main pulley (2) (9) (17) (28) additional.

2, by the described robot mobile vehicle of claim 1, it is characterized in that two driving shaft outsides that decelerator (4) (22) connects a main pulley (2) (9) (17) (18) respectively be housed connect respectively about two chains (37) (39) and chain wheel set (36) (38).

3,, it is characterized in that the crawler belt support (12) (15) (31) (34) that decelerator connects can swing up and down in ± 90 ° of scopes by the described robot mobile vehicle of claim 1.