CN221233910U - Crawler-type swing arm robot running gear - Google Patents

Abstract

The utility model provides a crawler-type swing arm robot walking mechanism which comprises a chassis, two main tracks, two front swing arms and two rear swing arms, wherein five motors are fixedly connected in the chassis, and one front swing arm driving motor is connected to drive the two front swing arms to swing synchronously; the two crawler driving motors are respectively positioned at the left side and the right side of the front part in the chassis, and each crawler driving motor is connected with and drives the front swing arm crawler, the main crawler and the rear swing arm crawler at the same side to synchronously rotate in the same direction; the two rear swing arm motors are respectively positioned at the left side and the right side of the rear part in the chassis, and each rear swing arm motor is connected with and drives a group of rear swing arms to swing through a transmission unit for reducing speed and increasing torque; and on a flat hard road surface, the crawler belt of the front swing arm and the crawler belt of the rear swing arm which are positioned below the chassis are in direct contact with the road surface. The utility model has simple and compact structure, reliable performance and low cost, can realize large-load driving, and has stronger obstacle surmounting, soft ground trafficability and stronger stair climbing function.

Description

Crawler-type swing arm robot running gear

Technical Field

The utility model belongs to the technical field of robots, and particularly relates to a traveling mechanism of a crawler-type swing arm robot.

Background

The crawler-type swing arm robot has better power and cross-country capability under severe and complex environments such as muddy, sandy soil, ravines and other types of ground working conditions. How to integrate the layout of the travelling mechanism in design, and realize heavy load driving and stronger complex road condition passing capability under the conditions of lowest cost and simplified structure is a problem to be solved by the utility model.

Disclosure of utility model

In view of this, the present utility model proposes a crawler-type swing arm robot walking mechanism, specifically:

The crawler-type swing arm robot walking mechanism comprises a chassis, two main tracks, two front swing arms and two rear swing arms, wherein five motors are fixedly connected in the chassis:

a front swing arm driving motor connected to drive the two front swing arms to swing synchronously;

The two crawler driving motors are respectively positioned at the left side and the right side of the front part in the chassis, and each crawler driving motor is connected with and drives the front swing arm crawler, the main crawler and the rear swing arm crawler at the same side to synchronously rotate in the same direction;

The two rear swing arm motors are respectively positioned at the left side and the right side of the rear part in the chassis, and each rear swing arm motor is connected with and drives a group of rear swing arms to swing through a transmission unit for reducing speed and increasing torque;

And the ground plane of the main track below the chassis is higher than the ground planes of the front swing arm track and the rear swing arm track.

The front swing arm driving motor and the two rear swing arm motors are respectively and matched and connected with a worm gear reducer.

The worm gear reducer is RV30 and has one input and two outputs.

The front swing arm driving motor and the worm gear reducer which are connected in a matching way are fixed in the center of the front part of the chassis, two output ends of the worm gear reducer are respectively and coaxially fixedly connected with one end of a front swing arm transmission shaft, and the other end of each front swing arm transmission shaft is fixedly connected with one end of a front swing arm assembly through a front swing arm flange plate;

Each front swing arm transmission shaft is respectively sleeved with a flange bearing seat, the inner ring part of each flange bearing seat is fixedly connected with the front swing arm transmission shaft, and the outer ring part is respectively fixedly connected with the chassis and the worm gear reducer through bolts;

A front hub is rotatably connected between the flange bearing seat and the front swing arm flange plate through a bearing on each front swing arm transmission shaft, and a main crawler front wheel, a main crawler driving large wheel and a front swing arm large wheel are sequentially and fixedly sleeved on the front hubs;

The two crawler driving motors are respectively fixed on the left side and the right side of the front part in the chassis, the end part of the motor shaft of each crawler driving motor extending out of the chassis is coaxially and fixedly connected with a main crawler driving small wheel, and the main crawler driving small wheels on the same side are in transmission connection with the main crawler driving large wheel through a traveling driving synchronous belt;

the front swing arm big wheel on each side is in transmission connection with the front swing arm small wheel of the front swing arm assembly on the same side through a front swing arm crawler belt;

the two rear swing arm motors are respectively fixed at the left side and the right side of the rear part in the chassis, the motor shaft of each rear swing arm motor is coaxially and drivingly connected with the input end of a matched worm gear reducer, two output ends of the worm gear reducer are coaxially and fixedly connected with an output shaft, and the end part of the output shaft extending out of the chassis is coaxially and fixedly connected with a rear swing arm driving small wheel;

A rear wheel support frame is fixedly connected to the left side and the right side outside the case body at the rear end of the case, the rear wheel support frame is rotationally connected with a traveling transmission shaft, a main crawler rear wheel and a rear swing arm large wheel are coaxially fixedly connected with the traveling transmission shaft, a rear swing arm driving large wheel is clamped between the main crawler rear wheel and the rear swing arm large wheel, the traveling transmission shaft is coaxially fixedly connected with the inner ring part of a bearing flange seat, and the outer ring part of the bearing flange seat is fixedly connected with one end of a rear swing arm assembly and the rear swing arm driving large wheel;

The front wheels of the main tracks on the same side are in transmission connection with the rear wheels of the main tracks through a main track;

The rear swing arm driving small wheel and the rear swing arm driving large wheel on the same side are in transmission connection through a rear swing arm swing synchronous belt;

the rear swing arm big wheel on the same side is in transmission connection with the rear swing arm small wheel of the rear swing arm assembly through a rear swing arm crawler belt.

The motor shaft of the crawler driving motor is perpendicular to the motor shaft of the front swing arm driving motor and the motor shaft of the rear swing arm motor, and the motor shaft of the crawler driving motor is parallel to the front swing arm transmission shaft and the traveling transmission shaft.

The wheel diameters of the front wheel, the rear wheel, the front swing arm large wheel and the rear swing arm large wheel of the main track are equal, and the overall tooth height of the main track is smaller than that of the front swing arm track and the rear swing arm track.

The rear wheel support frame is 匚, and the middle bottom plate passes through bolt fastener and quick-witted case box rigid coupling, and the walking transmission shaft passes through and rotates two otic placodes of connecting the rear wheel support frame.

The walking transmission shaft limits the movement of the walking transmission shaft on the rear wheel support frame along the axial direction of the walking transmission shaft through the self step, the groove and the brass bearing, and the brass bearing is fixed with the rear wheel support frame.

The utility model has simple and compact structure, reliable performance and low cost, can realize large-load driving, and has stronger obstacle surmounting and ladder stand functions.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and to enable a person skilled in the pertinent art to make and use the utility model.

Fig. 1 is a schematic perspective view of an embodiment of the present utility model;

FIG. 2 is a schematic top view of a layout of a transmission structure according to an embodiment of the present utility model;

FIG. 3 is a schematic cross-sectional view of A-A of FIG. 2;

FIG. 4 is a schematic cross-sectional view of B-B of FIG. 2;

FIG. 5 is a perspective and exploded view of the front swing arm and adjacent component combination;

FIG. 6 is a perspective and exploded view of the rear swing arm and adjacent component combination;

FIG. 7 is a schematic diagram of a conventional obstacle detouring process of the present utility model;

fig. 8 is a schematic diagram of the limit obstacle crossing process of the utility model.

Reference numerals in the drawings: 100. a chassis; 200. a front swing arm; 300. a rear swing arm;

1. A front swing arm transmission shaft; 2. a front swing arm assembly; 201; front swing arm small wheel 3, front swing arm big wheel; 4. the main track drives the large wheel; 5. a front swing arm flange connecting disc; 6. a main track front wheel; 7. a front hub; 8. a flange bearing seat; 9. a worm gear reducer; 91. a front swing arm driving motor; 10. a walking driving synchronous belt; 11. a track drive motor; 12. a rear swing arm driving motor; 13. the rear swing arm swings the synchronous belt; 14. a main track; 15. a front swing arm track; 16. a rear swing arm track; 18. a walking transmission shaft; 19. a rear wheel support; 20. a brass bearing; 21. a flange bearing seat; 22. a rear swing arm assembly; 221. a rear swing arm small wheel; 23. the rear swing arm drives a large wheel; 231. the rear swing arm drives the small wheel; 24. a main track rear wheel; 25. a rear swing arm large wheel;

Detailed Description

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other.

In the description of the embodiments of the present utility model, it should be noted that, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship conventionally put in use of the product of the application, or the orientation or positional relationship conventionally understood by those skilled in the art, is merely for convenience of describing the present utility model or simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured or operated in a specific orientation, and should not be construed as limiting the present utility model.

The term "plurality" as used herein refers to more than two (including two). The terms "first," "second," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

Unless specifically stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either directly or indirectly via an intermediary.

The utility model will be described in detail below with reference to the drawings in connection with embodiments.

As shown in fig. 1, the running mechanism of the robot of the present utility model adopts a double main track-four swing arm arrangement, including a chassis 100, two main tracks 14, and two front swing arms 200 and two rear swing arms 300.

Referring to fig. 2, five motors are fixedly connected in the chassis 100 as power sources of the travelling mechanism:

a front swing arm driving motor 91 responsible for driving the two front swing arms 200 to swing synchronously;

The two crawler driving motors 11 are respectively positioned at the left side and the right side of the front part in the chassis, and each crawler driving motor 11 is responsible for driving the front swing arm crawler 15, the main crawler 14 and the rear swing arm crawler 16 at the same side to synchronously rotate in the same direction;

two rear swing arm motors 12 are respectively positioned at the left side and the right side of the rear part in the chassis, and each rear swing arm motor 12 respectively drives a group of rear swing arms 300 to swing.

In the present utility model, the front swing arm driving motor 91 mainly swings the front swing arm 200 to a proper position before crossing the obstacle, so that the two front swing arms share one motor (front swing arm driving motor 91) to reduce the weight of the machine body and raise the internal space. The rear swing arms 300 need to support the robot body when crossing higher obstacles or turning over, and the required driving torque is large, so that each group of rear swing arms 300 is independently matched with a motor (rear swing arm motor 12), and the swing posture of each rear swing arm 300 can be independently adjusted, so that the robot can smoothly complete the overall posture adjustment task of the robot.

Referring to fig. 2, the front swing arm driving motor 91 and the two rear swing arm motors 12 are respectively and correspondingly connected with a worm gear reducer 9, preferably, the worm gear reducer 9 is of a model RV30 and has an input end and two output ends, the motor is a stepping motor, a motor shaft of the stepping motor is coaxially and fixedly connected with the input end of the worm gear reducer 9, and power is output to the next stage connected with the output end after the worm gear reducer 9 is used for reducing speed and increasing torque.

As shown in fig. 1 to 3 and 5, the front swing arm driving motor 91 and the worm gear reducer 9 connected in a matching manner are fixed in the center of the front part of the chassis, two output ends of the worm gear reducer are respectively and coaxially fixedly connected with one end of a front swing arm transmission shaft 1, and the other end of each front swing arm transmission shaft 1 is fixedly connected with one end of a front swing arm assembly 2 through a front swing arm flange 5, so that the swing of the two front swing arm assemblies 2 is synchronously controlled by the front swing arm driving motor 91 through two output ends of the worm gear reducer 9.

Each front swing arm transmission shaft 1 is respectively sleeved with a flange bearing seat 8, the inner ring part of each flange bearing seat 8 is fixedly connected with the front swing arm transmission shaft 1, and the outer ring part of each flange bearing seat 8 is respectively and fixedly connected with the case 100 and the worm gear reducer 9 through bolts.

A front hub 7 is also rotatably connected between the flange bearing seat 8 and the front swing arm flange 5 on each front swing arm transmission shaft 1 through a bearing, and each front hub 7 limits the movement of the front swing arm transmission shaft 1 in the axial direction through a step and a limiting shaft clamp on the front swing arm transmission shaft 1; the front wheel hub 7 is fixedly sleeved with a main crawler front wheel 6, a main crawler driving large wheel 4 and a front swing arm large wheel 3; referring to fig. 3, the main track drive bull wheel 4 is located between the main track front wheel 6 and the front swing arm bull wheel 3.

The two crawler driving motors 11 are respectively fixed on the left side and the right side of the front part in the chassis, the end part of the motor shaft of each crawler driving motor 11 extending out of the chassis is coaxially and fixedly connected with a main crawler driving small wheel 114, and the main crawler driving small wheel 114 on the same side is in transmission connection with the main crawler driving large wheel 4 through a walking driving synchronous belt 10 (see figure 1).

The front swing arm big wheel 3 on each side is in transmission connection with the front swing arm small wheel 201 of the front swing arm assembly 2 on the same side through one front swing arm track 15 (see fig. 1).

As shown in fig. 2 and fig. 4, two rear swing arm motors 12 are respectively fixed on the left and right sides of the rear part in the chassis, the motor shaft of each rear swing arm motor 12 is coaxially connected with the input end of a matched worm gear reducer 9 in a transmission manner, two output ends of the worm gear reducer 9 are coaxially fixedly connected with an output shaft 121, and the end part of the output shaft 121 extending out of the chassis 100 is coaxially fixedly connected with a rear swing arm driving small wheel 231;

A rear wheel supporting frame 19 is fixedly connected to the left side and the right side outside the rear end box body of the chassis 100 respectively, the rear wheel supporting frame 19 is 匚, a middle bottom plate is fixedly connected with the chassis 100 box body through a bolt fastener, two lug plates penetrate through and are rotationally connected with a traveling transmission shaft 18, the traveling transmission shaft 18 limits the movement of the traveling transmission shaft 18 in the axial direction on the rear wheel supporting frame 19 through the cooperation of steps, grooves and brass bearings 20, the brass bearings 20 are fixed on the rear wheel supporting frame 19, a main crawler rear wheel 24 and a rear swing arm large wheel 25 are coaxially fixedly connected with the traveling transmission shaft 18 through keys and key grooves, a rear swing arm driving large wheel 23 is clamped between the main crawler rear wheel 24 and the rear swing arm large wheel 25, an inner ring part of a bearing flange seat 21 is coaxially fixedly connected with the traveling transmission shaft 18, and an outer ring part of the bearing flange seat 21 is fixedly connected with one end of a rear swing arm assembly 22 and the rear swing arm driving large wheel 23; the other end of the rear swing arm assembly 22 is rotatably connected with a rear swing arm small wheel 221;

the front wheels 6 of the main tracks on the same side are in transmission connection with the rear wheels 24 of the main tracks through a main track 14;

The rear swing arm driving small wheel 231 and the rear swing arm driving large wheel 23 on the same side are in transmission connection through a rear swing arm swing synchronous belt 13;

the rear swing arm big wheel 25 on the same side is in transmission connection with the rear swing arm small wheel 221 of the rear swing arm assembly 22 through a rear swing arm crawler 16.

The large reduction ratio and torque-increasing transmission unit consisting of the main track driving small wheel 114, the main track driving large wheel 4 and the walking driving synchronous belt 10 enables the track driving motor 11 on each side to drive the main track front wheel 6 and the front swing arm large wheel 3 on the same side to synchronously rotate through the transmission unit, and further drives the main track 14, the front swing arm track 15 and the rear swing arm track 16 to synchronously and co-rotate.

The large reduction ratio and torque increasing transmission unit consisting of the rear swing arm driving small wheel 231, the rear swing arm driving large wheel 23 and the rear swing arm swing synchronous belt 13, and the large reduction ratio and torque increasing characteristic of the worm gear reducer 9 matched with the rear swing arm driving motor at each side can enable each rear swing arm to obtain larger torque by only using a smaller motor, and in the limit obstacle crossing process in the mode shown in fig. 8, the rear swing arm can easily lift the whole robot, so that the high requirement of corresponding power performance is met with lower cost and compact structure.

As can be seen from fig. 2, the motor shafts of the track drive motor 11 are perpendicular to the motor shafts of the front swing arm drive motor 91 and the rear swing arm motor 12, and the motor shafts of the track drive motor 11 are parallel to the front swing arm drive shaft 1 and the travel drive shaft 18. Such an arrangement minimizes the space within the chassis that these power source components occupy and can be made as thin and narrow as possible, resulting in better passability.

In addition, in the utility model, the wheel diameters of the front wheel 6, the rear wheel 24, the front swing arm large wheel 3 and the rear swing arm large wheel 25 of the main track are equal, the overall tooth height of the main track 14 is smaller than that of the front swing arm track 15 and the rear swing arm track 16, namely the ground contact surface of the main track below the chassis is higher than that of the front swing arm track (15) and the rear swing arm track (16), so when the robot walks and turns on a flat and hard ground, the main track 14 below the chassis is not in direct contact with the ground, but is in contact with the ground by the front swing arm track 15 and the rear swing arm track 16 with small ground contact areas, thereby reducing walking and turning resistance and increasing flexibility; when the robot runs on muddy, sandy or other ground, the two main tracks are likely to contact the ground due to sinking of the robot, and the robot is supported by the large ground contact area of the main tracks to prevent further sinking.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.

Claims (7)

1. Crawler-type swing arm robot walking mechanism, its characterized in that includes quick-witted case (100), two main tracks (14), two preceding swing arm (200) and two back swing arm (300), has five motors at quick-witted incasement rigid coupling:

A front swing arm driving motor (91) which is connected with and drives the two front swing arms (200) to swing synchronously;

The two crawler driving motors (11) are respectively positioned at the left side and the right side of the front part in the chassis, and each crawler driving motor (11) is connected with and drives a front swing arm crawler (15), a main crawler (14) and a rear swing arm crawler (16) at the same side to synchronously rotate in the same direction;

The two rear swing arm motors (12) are respectively positioned at the left side and the right side of the rear part in the chassis, and each rear swing arm motor (12) is connected with and drives a group of rear swing arms (300) to swing through a transmission unit for reducing speed and increasing torque;

And the ground plane of the main track below the chassis is higher than the ground planes of the front swing arm track (15) and the rear swing arm track (16).

2. Crawler-type swing arm robot walking mechanism according to claim 1, characterized in that the front swing arm driving motor (91) and the two rear swing arm motors (12) are respectively connected with a worm gear reducer in a matching way.

3. The crawler-type swing arm robot walking mechanism according to claim 1, wherein a front swing arm driving motor (91) and a worm gear reducer which is connected in a matching way are fixed in the center of the front part of the chassis, two output ends of the worm gear reducer are respectively and coaxially fixedly connected with one end of a front swing arm transmission shaft (1), and the other end of each front swing arm transmission shaft (1) is fixedly connected with one end of a front swing arm assembly (2) through a front swing arm flange plate (5);

Each front swing arm transmission shaft (1) is respectively sleeved with a flange bearing seat (8), the inner ring part of each flange bearing seat (8) is fixedly connected with the front swing arm transmission shafts (1), and the outer ring part is respectively fixedly connected with the chassis and the worm gear reducer through bolts;

A front hub (7) is rotatably connected between the flange bearing seat (8) and the front swing arm flange plate (5) on each front swing arm transmission shaft (1), and a main crawler front wheel (6), a main crawler driving large wheel (4) and a front swing arm large wheel (3) are sequentially and fixedly sleeved on the front hub (7);

The two crawler driving motors (11) are respectively fixed at the left side and the right side of the front part in the chassis, the end part of the motor shaft of each crawler driving motor (11) extending out of the chassis is coaxially and fixedly connected with a main crawler driving small wheel (114), and the main crawler driving small wheel (114) at the same side is in transmission connection with the main crawler driving large wheel (4) through a walking driving synchronous belt (10);

The front swing arm big wheel (3) at each side is in transmission connection with the front swing arm small wheel (201) of the front swing arm assembly (2) at the same side through a front swing arm crawler belt (15);

The two rear swing arm motors (12) are respectively fixed on the left side and the right side of the rear part in the chassis, a motor shaft of each rear swing arm motor (12) on each side is coaxially connected with the input end of a matched worm gear reducer in a transmission manner, the output end of the worm gear reducer is coaxially fixedly connected with an output shaft (121), and the end part of the output shaft (121) extending out of the chassis (100) is coaxially fixedly connected with a rear swing arm driving small wheel (231);

A rear wheel supporting frame (19) is fixedly connected to the left side and the right side outside the rear end box body of the chassis (100), the rear wheel supporting frame is rotationally connected with a traveling transmission shaft (18), a main crawler rear wheel (24) and a rear swing arm large wheel (25) are coaxially fixedly connected with the traveling transmission shaft (18), a rear swing arm driving large wheel (23) is clamped between the main crawler rear wheel (24) and the rear swing arm large wheel (25), the traveling transmission shaft is coaxially fixedly connected with the inner ring part of a bearing flange seat, and the outer ring part of the bearing flange seat is fixedly connected with one end of a rear swing arm assembly (22) and the rear swing arm driving large wheel (23);

The front wheels (6) of the main tracks on the same side are in transmission connection with the rear wheels (24) of the main tracks through a main track (14);

The rear swing arm driving small wheel (231) and the rear swing arm driving large wheel (23) on the same side are in transmission connection through a rear swing arm swing synchronous belt (13);

The rear swing arm big wheel (25) at the same side is in transmission connection with the rear swing arm small wheel (221) of the rear swing arm assembly (22) through a rear swing arm crawler belt (16).

4. A crawler-type swing arm robot walking mechanism according to claim 3, characterized in that the motor shaft of the crawler drive motor (11) is perpendicular to the motor shaft of the front swing arm drive motor (91) and the motor shaft of the rear swing arm motor (12), and the motor shaft of the crawler drive motor (11) is parallel to the front swing arm drive shaft (1) and the walking drive shaft (18).

5. A track-type swing arm robot walking mechanism according to claim 3, characterized in that the wheel diameters of the main track front wheel (6), the main track rear wheel (24), the front swing arm large wheel (3) and the rear swing arm large wheel (25) are equal, and the overall tooth height of the main track (14) is smaller than the overall tooth heights of the front swing arm track (15) and the rear swing arm track (16).

6. A crawler-type swing arm robot walking mechanism according to claim 3, wherein the rear wheel support frame is 匚, the middle bottom plate is fixedly connected with the box body of the machine box through a bolt fastener, and the walking transmission shaft (18) penetrates through and rotates to connect the two lug plates of the rear wheel support frame.

7. A crawler-type swing arm robot walking mechanism according to claim 3, characterized in that the walking transmission shaft (18) restricts its movement on the rear wheel support (19) in the axial direction thereof by the cooperation of its own step, groove and brass bearing (20), the brass bearing (20) being fixed with the rear wheel support (19).