CN220447591U

CN220447591U - Multi-drive mode travelling mechanism

Info

Publication number: CN220447591U
Application number: CN202321762456.2U
Authority: CN
Inventors: 王聪; 郑怀兵; 刘铜; 李斌; 梁志达; 刘春�; 刘启宇
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2023-07-06
Filing date: 2023-07-06
Publication date: 2024-02-06
Anticipated expiration: 2033-07-06

Abstract

The utility model belongs to the field of mechanical automation, in particular to a multi-drive mode travelling mechanism, wherein moving modules are respectively arranged on four corners of a travelling mechanism base, each moving module has the same structure and comprises a motor, a speed reducer, a transmission module and a multifunctional wheel, and the front moving module and the rear moving module on the left side and the right side are respectively connected with each other through connecting bearing seats to realize supporting connection; the multifunctional wheels are arranged at the output end of the transmission module, and can realize a multi-motion mode with strong environmental adaptability according to actual motion scenes. The multi-drive-mode travelling mechanism can realize good adaptability in application scenes such as multi-terrain, non-structure and the like, and can be further expanded to an amphibious movement mode; the utility model integrates the advantages of multiple motion modes such as conventional wheel type, caterpillar band, leg foot, propeller and the like, and has simple structure and easy control.

Description

Multi-drive mode travelling mechanism

Technical Field

The utility model belongs to the field of mechanical automation engineering, and particularly relates to a multi-drive mode travelling mechanism.

Background

With the demands of human beings on development of environments and complex tasks, mechanisms capable of realizing various environmental adaptations are getting widespread attention. The device has the capability of moving on land and water, and can smoothly pass through the device in the complex environment at the junction of water and land, thereby greatly expanding the working range and the capability of executing tasks. At present, the application value of the robot which can adapt to the multi-environmental task in the fields of resource detection, post-disaster rescue, inspection maintenance, military reconnaissance and the like is fully demonstrated. Therefore, the multi-drive mode walking mechanism not only can adapt to land and underwater environments, but also can move and execute tasks in face of non-structural environments such as obstacles, sand and the like, and has great research significance.

Disclosure of Invention

In order to meet task operation requirements of a robot in different environments, the utility model aims to improve the motion capability and environmental adaptability of the robot in an uncertain non-structural environment and provide a multi-drive-mode running mechanism.

The aim of the utility model is realized by the following technical scheme:

the utility model comprises a sealing shell and a movement module, wherein the front end and the rear end of the left side and the right side of the sealing shell are respectively provided with the movement module with the same structure in a sealing way, namely the right side of the sealing shell is respectively provided with a right front movement module and a right rear movement module in a sealing way, the left side of the sealing shell is respectively provided with a left front movement module and a left rear movement module in a sealing way, and the movement and the steering of a travelling mechanism are realized through the movement and the differential speed of the right front movement module, the right rear movement module, the left front movement module and the left rear movement module; the motion module comprises a power source, a transmission module and a multifunctional wheel, wherein the power source is arranged in the sealed shell, and an output shaft of the power source is connected with the multifunctional wheel through the transmission module; the multifunctional wheel outer contour envelope is of a wheel type structure, a plurality of legs are separated from the center at equal intervals, the tail end of each leg forms a foot structure, crawler track teeth are arranged on the outer side face of each leg, and a spoke plate is connected between every two adjacent legs.

Wherein: the foot structure is characterized in that legs extend outwards along the outer contour envelope and then are cut off, the section of the foot structure is expanded outwards to form square feet, and when the walking mechanism performs climbing action, the foot structure is used for realizing large-area contact with an object to be climbed.

The crawler track teeth gradually decrease in height from the tail ends of the legs to the foot structure area, and the roundness of the whole outer contour envelope is achieved.

The web is a propeller blade.

The transmission module comprises a motion shaft, a bearing cover, a rotary bevel gear, a shaft sleeve, a drive bevel gear, a drive bearing and a fixing frame, wherein the bottom of the fixing frame is fixedly connected with the sealing shell, the power source is arranged on one side of the top of the fixing frame, the drive bearing is embedded into the other side of the top of the fixing frame, and the drive bevel gear is rotatably arranged on the fixing frame through the drive bearing and is connected with an output shaft of the power source; the movable shaft is rotatably arranged on the sealing shell, the movable shaft is respectively connected with a rotary bevel gear and a multifunctional wheel which rotate along with the movable shaft, the multifunctional wheel is positioned outside the sealing shell, and the rotary bevel gear is positioned inside the sealing shell and meshed with the driving bevel gear to realize power transmission.

The inner ring of the driving bearing is abutted with a boss on the driving bevel gear to realize axial positioning, and the inner hole of the driving bearing is connected with the output shaft of the power source through a key.

The front end and the rear end of the sealing shell are respectively provided with a connecting bearing seat, the connecting bearing seat at the front end is rotationally connected with a moving shaft in the right front moving module and a moving shaft in the left front moving module, so that a supporting effect is realized, and the connecting bearing seat at the rear end is rotationally connected with the moving shaft in the right rear moving module and the moving shaft in the left rear moving module, so that a supporting effect is realized.

One end of the moving shaft is rotationally connected with a bearing in the connecting bearing seat, the moving shaft sequentially penetrates through the shaft sleeve, the rotary bevel gear and the bearing cover and is rotationally connected with the sealing shell through the bearing, the other end of the moving shaft is connected with the multifunctional wheel, driving force generated by the rotary bevel gear is transmitted to the multifunctional wheel, and the shaft sleeve and the bearing cover are used for connecting the bearing in the bearing seat and axially limiting the bearing rotating with the sealing shell.

The sealing shell is divided into a top cover and a base, the top cover and the base are sealed by an O-shaped ring, and the right front movement module, the right rear movement module, the left rear movement module and the left front movement module are respectively arranged on the base and respectively with the base by adopting a Style sealing structure, so that the whole sealing of the travelling mechanism is realized.

The utility model has the advantages and positive effects that:

1. the amphibious vehicle has strong environmental adaptability, can realize good adaptability under application scenes such as multiple terrains, unstructured and the like, can be further expanded to amphibious motion modes, and is simple in structure and easy to control.

2. The utility model can realize multiple driving modes, integrates the advantages of multiple conventional motion modes such as wheels, tracks, legs, paddles, propellers and the like, and can automatically adapt to multiple environments such as horizontal planes, obstacles, gravel, water and the like according to actual operation scenes.

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is a schematic view of the internal structure of the present utility model;

FIG. 3 is a schematic diagram of a motion module according to the present utility model;

FIG. 4 is a second schematic diagram of the motion module of the present utility model;

FIG. 5 is a schematic view of the structure of the multi-function wheel of the present utility model;

wherein: 1 is a top cover, 2 is a base, 3 is a right front movement module, 4 is a right rear movement module, 5 is a left rear movement module, 6 is a left front movement module, 7 is a connecting bearing seat, 8 is a transmission module, 9 is a motor, 10 is a speed reducer, 11 is a movement shaft, 12 is a bearing cover, 13 is a rotary bevel gear, 14 is a shaft sleeve, 15 is a drive bevel gear, 16 is a drive bearing, 17 is a fixed frame, 18 is a multifunctional wheel, 19 is a leg, 20 is a foot structure, 21 is a crawler track, and 22 is a web.

Detailed Description

The utility model is described in further detail below with reference to the accompanying drawings.

As shown in fig. 1 and 2, the utility model comprises a sealed shell and a motion module, wherein the front end and the rear end of the left side and the right side of the sealed shell are respectively provided with the motion modules with the same structure in a sealing way, namely, the front end of the right side of the sealed shell is provided with a front right motion module 3, the rear end of the right side is provided with a rear right motion module 4, the front end of the left side of the sealed shell is provided with a front left motion module 6, the rear left end of the sealed shell is provided with a rear left motion module 5, and the motion and the steering of a travelling mechanism are realized through the motion and the differential speed of the front right motion module 3, the rear right motion module 4, the front left motion module 6 and the rear left motion module 5.

The seal housing of this embodiment is divided into top cap 1 and base 2, adopts the seal structure of O type circle between top cap 1 and the base 2, and right front movement module 3, right back movement module 4, left back movement module 5, left front movement module 6 are installed respectively on base 2 to adopt the sealing structure of stoneley between respectively and the base 2, realize running gear's whole seal, in order to guarantee running gear holistic underwater environment adaptability. In this embodiment, the front and rear ends of the base 2 are respectively provided with the connecting bearing seats 7, the connecting bearing seat 7 at the front end is rotationally connected with the front right movement module 3 and the front left movement module 6, so as to realize a supporting function, and the connecting bearing seat 7 at the rear end is rotationally connected with the rear right movement module 4 and the rear left movement module 5, so as to realize a supporting function.

As shown in fig. 1 to 3, the motion module of the present embodiment includes a power source, a transmission module 8 and a multifunctional wheel 18, the power source is installed in a sealed housing, and an output shaft of the power source is connected with the multifunctional wheel 18 through the transmission module 8. The power source of this embodiment includes motor 9 and reduction gear 10, and the output of motor 9 links firmly with the input of reduction gear 10, realizes the transmission of power, and transmission module 8's one end links to each other with the output of reduction gear 10, and the other end links to each other with multi-functional wheel 18, makes the transmission of driving moment to the terminal.

As shown in fig. 1 to 4, the transmission module 8 of the present embodiment includes a moving shaft 11, a bearing cover 12, a rotary bevel gear 13, a shaft sleeve 14, a drive bevel gear 15, a drive bearing 16 and a fixing frame 17, the bottom of the fixing frame 17 is fixedly connected with the base 2, one side of the top of the fixing frame 17 is connected with the speed reducer 10, the drive bearing 16 is embedded in the other side of the top of the fixing frame 17, the drive bevel gear 15 is rotatably mounted on the fixing frame 17 through the drive bearing 16, an inner ring of the drive bearing 16 is abutted with a boss on the drive bevel gear 15 to realize axial positioning, and an inner hole of the drive bearing 16 is connected with an output shaft of the speed reducer 10 through a key. The connecting bearing seat 7 at the front end is rotationally connected with the moving shaft 11 in the right front moving module 3 and the moving shaft 11 in the left front moving module 6, so that a supporting effect is realized, and the connecting bearing seat 7 at the rear end is rotationally connected with the moving shaft 11 in the right rear moving module 4 and the moving shaft 11 in the left rear moving module 5, so that a supporting effect is realized. One end of a moving shaft 11 is rotationally connected with a bearing in a connecting bearing seat 7, the moving shaft 11 sequentially passes through a shaft sleeve 14, a rotary bevel gear 13 and a bearing cover 12 and is rotationally connected with a base 2 through the bearing, the other end of the moving shaft 11 is connected with a multifunctional wheel 18, and the driving force generated by the rotary bevel gear 13 is transmitted to the multifunctional wheel 18; the rotary bevel gear 13 and the multifunctional wheel 18 rotate along with the motion shaft 11, the multifunctional wheel 18 is positioned outside the sealed shell, the rotary bevel gear 13 is positioned inside the sealed shell and meshed with the driving bevel gear 15, and power transmission is realized. The shaft sleeve 14 and the bearing cover 12 are used for connecting the bearing in the bearing seat 7 and limiting the axial direction of the bearing rotating with the base 2.

The rotary bevel gear 13 and the drive bevel gear 15 of the embodiment are straight bevel gears, the transmission ratio is 1:1, and the gears are 1 die 15 teeth.

As shown in fig. 1 to 5, the multifunctional wheel 18 of the present embodiment has a composite structure of wheels, tracks, leg feet, paddles and propellers, the outer contour envelope of the multifunctional wheel 18 has a wheel structure, and the multifunctional wheel 18 walks on a horizontal plane with higher flatness to have the state characteristics of a moving wheel; the multifunctional wheel 18 is provided with a plurality of (four in the embodiment) legs 19 at equal intervals from the center, and the tail end of each leg 19 forms a foot structure 20, so that the multifunctional wheel has the leg foot movement characteristics when performing obstacle surmounting and stair climbing; foot structure 20 cuts off after leg 19 outwards extends along the outline envelope, and the section expands outward to form square foot, realizes through foot structure 20 and is climbed the large tracts of land contact of object when the mechanism is climbed the action, improves climbing performance. The outer side surface of each leg 19 is provided with crawler track teeth 21, the crawler track teeth 21 reach the region of the foot structure 20 from the tail ends of the legs 19, the height of the crawler track teeth 21 is gradually reduced, the roundness of the whole outline envelope is realized, and the crawler track has the state characteristics of crawler track motion on the road surface such as sand or gravel. The leg and foot structure on the multi-function wheel 18 can push water flow through rotation in water, and has the state characteristic that the blades move in water. A web 22 is connected between two adjacent legs 19, the web 22 is of a propeller blade structure, and the sludge or water has the state characteristic of propeller movement.

The working principle of the utility model is as follows:

the embodiment is a four-wheel drive multi-mode travelling mechanism, which can realize self-adaptive movement in a multi-medium environment, drive force is provided by a motor 9, one end of a speed reducer 10 is fixedly connected with an output shaft of the motor 9, the output shaft of the other end of the speed reducer is connected with a drive bevel gear 15 through a key, output torque is transmitted to a transmission module 8, the drive bevel gear 15 is meshed with a rotary bevel gear 13, power is deflected by 90 degrees and transmitted to the rotary bevel gear 13, a moving shaft 11 sequentially passes through a shaft sleeve 14, the rotary bevel gear 13 and a bearing cover 12, the other end of the moving shaft 11 is connected with a multifunctional wheel 18, and the moving shaft 11 is respectively matched with the rotary bevel gear 13 and the multifunctional wheel 18 through a D-shaped structure on the shaft to transmit power to the multifunctional wheel 18.

The multifunctional wheel 18 of the embodiment has a composite structure of wheels, tracks, leg feet, paddles and propellers, and when the travelling mechanism travels on the horizontal ground, wheel type movement can be realized because the overall outer contour envelope of the multifunctional wheel 18 is circular; when the obstacle is blocked in the moving process, the foot structures 20 at the tail ends of the four legs 19 of the multifunctional wheel 18 can climb on the edge of the obstacle through rotation, so that the obstacle crossing function is realized. When the travelling mechanism moves on irregular surfaces such as gravel, the tail ends of the legs on the multifunctional wheels 18 adopt crawler track structures, and the heights of the crawler track 21 are gradually reduced, so that stable movement can be realized. When the running mechanism moves underwater, the rotation of the multifunctional wheels 18 drives water flow to move so as to push the running mechanism to move forwards and backwards, and meanwhile, the web 22 of the propeller blade structure between the legs of the multifunctional wheels 18 can provide power through rotation so as to realize horizontal left-right movement of the running mechanism underwater and further realize underwater omnibearing movement of the running mechanism.

Claims

1. A multi-drive mode running gear which characterized in that: the device comprises a sealing shell and a movement module, wherein the front end and the rear end of the left side and the right side of the sealing shell are respectively provided with the movement module with the same structure in a sealing way, namely the right side of the sealing shell is respectively provided with a right front movement module (3) and a right rear movement module (4), the left side of the sealing shell is respectively provided with a left front movement module (6) and a left rear movement module (5), and the movement and the steering of a running mechanism are realized through the movement and the differential speed of the right front movement module (3), the right rear movement module (4), the left front movement module (6) and the left rear movement module (5); the motion module comprises a power source, a transmission module (8) and a multifunctional wheel (18), wherein the power source is arranged in the sealed shell, and an output shaft of the power source is connected with the multifunctional wheel (18) through the transmission module (8); the multifunctional wheel (18) is characterized in that an outer contour envelope of the multifunctional wheel is of a wheel type structure, a plurality of legs (19) are separated from the center at equal intervals, foot structures (20) are formed at the tail ends of the legs (19), crawler track teeth (21) are arranged on the outer side surfaces of the legs (19), and a web plate (22) is connected between two adjacent legs (19).

2. The multi-drive mode running gear of claim 1 wherein: the foot structure (20) is characterized in that the legs (19) extend outwards along the outer contour envelope and then are cut off, the sections of the legs are expanded outwards to form square feet, and the legs are contacted with an object to be climbed in a large area through the foot structure (20) when the walking mechanism performs climbing action.

3. The multi-drive mode running gear of claim 1 wherein: the crawler track teeth (21) reach the region of the foot structure (20) from the tail ends of the legs (19), the height of the crawler track teeth (21) is gradually reduced, and the roundness of the whole outer contour wrapping line is realized.

4. The multi-drive mode running gear of claim 1 wherein: the web (22) is a propeller blade.

5. The multi-drive mode running gear of claim 1 wherein: the transmission module (8) comprises a moving shaft (11), a bearing cover (12), a rotary bevel gear (13), a shaft sleeve (14), a driving bevel gear (15), a driving bearing (16) and a fixing frame (17), wherein the bottom of the fixing frame (17) is fixedly connected with a sealing shell, the power source is arranged on one side of the top of the fixing frame (17), the driving bearing (16) is embedded into the other side of the top of the fixing frame (17), and the driving bevel gear (15) is rotatably arranged on the fixing frame (17) through the driving bearing (16) and is connected with an output shaft of the power source; the rotary bevel gear (13) rotating along with the moving shaft (11) and the multifunctional wheel (18) are respectively connected to the moving shaft (11), the multifunctional wheel (18) is located outside the sealing shell, and the rotary bevel gear (13) is located inside the sealing shell and meshed with the driving bevel gear (15) to achieve power transmission.

6. The multi-drive mode travel mechanism of claim 5, wherein: the inner ring of the driving bearing (16) is abutted with a boss on the driving bevel gear (15) to realize axial positioning, and an inner hole of the driving bearing (16) is connected with an output shaft of the power source through a key.

7. The multi-drive mode travel mechanism of claim 5, wherein: the front end and the rear end of the sealing shell are respectively provided with a connecting bearing seat (7), the connecting bearing seat (7) at the front end is rotationally connected with a moving shaft (11) in the right front moving module (3) and a moving shaft (11) in the left front moving module (6), the supporting effect is realized, and the connecting bearing seat (7) at the rear end is rotationally connected with the moving shaft (11) in the right rear moving module (4) and the moving shaft (11) in the left rear moving module (5).

8. The multi-drive mode travel mechanism of claim 7, wherein: one end of the moving shaft (11) is rotationally connected with a bearing in the connecting bearing seat (7), the moving shaft (11) sequentially penetrates through the shaft sleeve (14), the rotary bevel gear (13) and the bearing cover (12) and is rotationally connected with the sealing shell through the bearing, the other end of the moving shaft (11) is connected with the multifunctional wheel (18), driving force generated by the rotary bevel gear (13) is transmitted to the multifunctional wheel (18), and the shaft sleeve (14) and the bearing cover (12) are used for connecting the bearing in the bearing seat (7) and limiting the bearing axially rotating with the sealing shell.

9. The multi-drive mode running gear of claim 1 wherein: the sealing shell is divided into a top cover (1) and a base (2), the top cover (1) and the base (2) are sealed by an O-shaped ring, and the right front movement module (3), the right rear movement module (4), the left rear movement module (5) and the left front movement module (6) are respectively arranged on the base (2) and respectively with the base (2) by adopting a Style sealing structure, so that the whole sealing of the travelling mechanism is realized.