CN2925779Y - Arm and walking mechanism of portable caterpillar robot - Google Patents
Arm and walking mechanism of portable caterpillar robot Download PDFInfo
- Publication number
- CN2925779Y CN2925779Y CN 200620000975 CN200620000975U CN2925779Y CN 2925779 Y CN2925779 Y CN 2925779Y CN 200620000975 CN200620000975 CN 200620000975 CN 200620000975 U CN200620000975 U CN 200620000975U CN 2925779 Y CN2925779 Y CN 2925779Y
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- CN
- China
- Prior art keywords
- semi
- girder
- wheel
- driving wheel
- axle
- 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.)
- Expired - Fee Related
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Abstract
A portable caterpillar robot overhanging and walk device, the main technical characteristics are that a box body is equipped on the vehicle body, an overhanging electric motor and a walk driving electrical motor are equipped on the rear side of the box body. A driving wheel support is equipped on the front side of the box body, an overhanging deceleration system and a walk driving deceleration system are respectively equipped on the corresponding axles of the box body. The driving wheel axle is equipped in the inner hole of the driving wheel support, the driving wheel driving gear is connected with the driving wheel axle key, the driving wheel is equipped on the driving wheel support, the overhanging axle is equipped in the inner hole of the driving wheel axle, and the overhanging axle driving gear and the overhanging arm are connected with the overhanging axle. An overhanging driving wheel balance semi-wheel is equipped on the overhanging axle, an overhanging small wheel, an overhanging small wheel balance semi-wheel and an load-bearing wheel are equipped on the overhanging arm, a walking tread caterpillar is sleeved on the driving wheel and the rear wheel, the overhanging tread caterpillar is sleeved on the driving wheel and the overhanging small wheel, the overhanging driving semi-axle is equipped on the box body, and a coupling band is sleeved on the overhanging driving semi-axle. The device is characterized in effectively running in the complex environments such as climbing a ladder, crossing an obstacle or a ditch, etc.
Description
Technical field: the utility model relates to a kind of creeper truck formula robot semi-girder and walking mechanism.
Background technology: common portable caterpillar robot, is developed portable creeper truck formula robot semi-girder and walking mechanism for overcoming these defectives because the restriction of its structure can not be travelled in complex environments such as needs cat ladder, obstacle detouring, mistake ditch.
Summary of the invention: technical problem to be solved in the utility model is that a kind of portable creeper truck formula robot semi-girder and walking mechanism will be provided, and it can travel in complex environments such as cat ladder, obstacle detouring, mistake ditch effectively.
The technical scheme that its technical problem that solves the utility model adopts is that it comprises semi-girder axle driven wheel, driving wheel driven wheel, driving wheel bearing, drive sprocket axle, the semi-girder crawler belt, semi-girder steamboat, semi-girder steamboat balance half wheel, BOGEY WHEEL, semi-girder, semi-girder driving wheel balance half wheel, driving wheel, semi-girder axle, end cap, car body, semi-girder motor, travel driving motor, the semi-girder deceleration system, walking drives deceleration system, the semi-girder jack shaft, coupling band, trailing wheel, casing, traveling crawler, rolling bearing
Casing is installed on the car body, the semi-girder motor, travel driving motor is installed in the trailing flank of casing, the driving wheel bearing is installed in the leading flank of casing, semi-girder deceleration system and walking drive deceleration system and are installed in respectively on the casing corresponding axis, drive sprocket axle is installed in the driving wheel bearing endoporus, driving wheel driven wheel and end cap and drive sprocket axle key connecting, end cap and driving wheel thread connection, driving wheel is installed on the driving wheel bearing by rolling bearing, the semi-girder axle is installed in the drive sprocket axle endoporus, semi-girder axle driven wheel, semi-girder and semi-girder axle key, thread connection, semi-girder driving wheel balance half wheel is installed on the semi-girder axle, the semi-girder steamboat, semi-girder steamboat balance half wheel, BOGEY WHEEL is installed on the semi-girder, traveling crawler is enclosed within on driving wheel and the trailing wheel, the semi-girder crawler belt is enclosed within on driving wheel and the semi-girder steamboat, and the semi-girder jack shaft is installed on the casing, and coupling band is enclosed within on the semi-girder jack shaft.
The utility model is compared the beneficial effect that is produced with background technology:
1, because the utility model is provided with the semi-girder transmission, according to the varying environment of walking, semi-girder changes (pendulum) moving different angles, cooperates with main running gear, be implemented in cat ladder, obstacle detouring, travel in the complex environments such as ditch.
2, because traveling crawler and semi-girder crawler belt adopt same driving wheel to drive, simplify the structure.
Description of drawings: Fig. 1 is a structure chart of the present utility model.
Fig. 2 is the upward view of Fig. 1.
The specific embodiment:
Referring to accompanying drawing 1, accompanying drawing 2, casing 22 is installed on the car body 14, driving wheel 11 has two cover transmission systems, be installed in the driving wheel bearing 3 on the car body 14 by travel driving motor 16 → walking driving deceleration system 18 → driving wheel driven wheel 2 → drive sprocket axle 4 → end cap 13 → drive, by driving wheel 11 rotations of driving wheel bearing 3 supportings.Driving wheel 11 is by traveling crawler transmission and the transmission of semi-girder crawler belt with trailing wheel 21, the identical speed of semi-girder steamboat 6 formations of traveling crawler 23, semi-girder crawler belt 5.Two semi-girder 9 shared cover drive systems are by 9 rotations (swing) of semi-girder motor 15 → semi-girder deceleration system 17 → semi-girder jack shaft 19 (by driver part jack shaft → coupling band 20 → another set of driver part jack shaft) → semi-girder axle driven wheel 1 → semi-girder axles 12 → semi-girder.In order to guarantee the reliability of semi-girder crawler belt transmission, set up in the pivoted arm outside semi-girder driving wheel balance partly take turns 10 and semi-girder steamboat balance partly take turns 7.According to the varying environment of walking, semi-girder changes (pendulum) moving different angles, cooperates with main running gear, finishes driving functions in the varying environments such as cat ladder, obstacle detouring, mistake ditch.Because traveling crawler 23 adopts same driving wheel 11 to drive with semi-girder crawler belt 5, simplifies the structure, guaranteed that two cover transmissions obtain the phase uniform velocity.Set up semi-girder driving wheel balance partly take turns 10 and semi-girder steamboat balance partly take turns 7, structure more becomes rationally, has improved the semi-girder force-bearing situation simultaneously.
Claims (1)
1, a kind of portable creeper truck formula robot semi-girder and walking mechanism, it is characterized in that it comprises semi-girder axle driven wheel (1), driving wheel driven wheel (2), driving wheel bearing (3), drive sprocket axle (4), semi-girder crawler belt (5), semi-girder steamboat (6), semi-girder steamboat balance half wheel (7), BOGEY WHEEL (8), semi-girder (9), semi-girder driving wheel balance half wheel (10), driving wheel (11), semi-girder axle (12), end cap (13), car body (14), semi-girder motor (15), travel driving motor (16), semi-girder deceleration system (17), walking drives deceleration system (18), semi-girder jack shaft (19), coupling band (20), trailing wheel (21), casing (22), traveling crawler (23), rolling bearing (24)
Casing (22) is installed on the car body (14), semi-girder motor (15), travel driving motor (16) is installed in the trailing flank of casing (22), driving wheel bearing (3) is installed in the leading flank of casing (22), semi-girder deceleration system (17) and walking drive deceleration system (18) and are installed in respectively on casing (22) corresponding axis, drive sprocket axle (4) is installed in driving wheel bearing (3) endoporus, driving wheel driven wheel (2) and end cap (13) and drive sprocket axle (4) key connecting, end cap (13) and driving wheel (11) thread connection, driving wheel (11) is installed on the driving wheel bearing (3) by rolling bearing (24), semi-girder axle (12) is installed in drive sprocket axle (4) endoporus, semi-girder axle driven wheel (1), semi-girder (9) is used key with semi-girder axle (12), thread connection, semi-girder driving wheel balance half wheel (10) is installed on the semi-girder axle (12), semi-girder steamboat (6), semi-girder steamboat balance half wheel (7), BOGEY WHEEL (8) is installed on the semi-girder (9), traveling crawler (23) is enclosed within on driving wheel (11) and the trailing wheel (21), semi-girder crawler belt (5) is enclosed within on driving wheel (11) and the semi-girder steamboat (6), semi-girder jack shaft (19) is installed on the casing (22), and coupling band (20) is enclosed within on the semi-girder jack shaft (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620000975 CN2925779Y (en) | 2006-01-17 | 2006-01-17 | Arm and walking mechanism of portable caterpillar robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620000975 CN2925779Y (en) | 2006-01-17 | 2006-01-17 | Arm and walking mechanism of portable caterpillar robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2925779Y true CN2925779Y (en) | 2007-07-25 |
Family
ID=38280013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620000975 Expired - Fee Related CN2925779Y (en) | 2006-01-17 | 2006-01-17 | Arm and walking mechanism of portable caterpillar robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2925779Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058014A (en) * | 2014-04-30 | 2014-09-24 | 黔南民族师范学院 | Semi-wheel type robot |
-
2006
- 2006-01-17 CN CN 200620000975 patent/CN2925779Y/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058014A (en) * | 2014-04-30 | 2014-09-24 | 黔南民族师范学院 | Semi-wheel type robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: JIANGNAN INDUSTRIES GROUP CO., LTD. Free format text: FORMER NAME: JIANGNAN MACHINERY (GROUP) CO., LTD. |
|
| CP03 | Change of name, title or address |
Address after: Bamboo town Yuhu District 411207 Hunan city of Xiangtan Province Patentee after: Jiangnan Industries Group Co., Ltd. Address before: 411207 Hunan city of Xiangtan Province bamboo Patentee before: Jiangnan Machinery (Group) Co., Ltd. |
|
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070725 Termination date: 20150117 |
|
| EXPY | Termination of patent right or utility model |