WO2018035748A1 - 一种三角履带轮机器人 - Google Patents

一种三角履带轮机器人 Download PDF

Info

Publication number
WO2018035748A1
WO2018035748A1 PCT/CN2016/096518 CN2016096518W WO2018035748A1 WO 2018035748 A1 WO2018035748 A1 WO 2018035748A1 CN 2016096518 W CN2016096518 W CN 2016096518W WO 2018035748 A1 WO2018035748 A1 WO 2018035748A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
driving
motor
shaft
wheel
Prior art date
Application number
PCT/CN2016/096518
Other languages
English (en)
French (fr)
Inventor
李玉婷
Original Assignee
李玉婷
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 李玉婷 filed Critical 李玉婷
Priority to PCT/CN2016/096518 priority Critical patent/WO2018035748A1/zh
Publication of WO2018035748A1 publication Critical patent/WO2018035748A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof

Definitions

  • the present invention relates to the field of robots, and more particularly to a triangular track wheel robot.
  • the existing robots are mainly wheeled and tracked.
  • Wheel-type robots have fast moving speed and flexible control. Especially the steering is easier to implement, but it is inconvenient to handle complex road conditions.
  • the crawler robot has strong adaptability, large contact area and fast moving speed, but it is not flexible enough, and the driving force required for steering is difficult to turn.
  • the technical problem to be solved by the present invention is to provide a triangular crawler wheel robot with strong adaptability and convenient steering.
  • a triangular crawler wheel robot comprising a main body and four triangular crawler wheels disposed on the main body, wherein the main body is provided with a first motor, a second motor, and a third a motor and a fourth motor, the third motor driving the first triangular crawler wheel by a first driving mechanism, the first motor driving the second triangular crawler wheel by a second driving mechanism, and the second motor passing the second driving mechanism
  • the second triangular track wheel is driven, and the fourth motor drives the fourth triangular track wheel through the fourth drive mechanism.
  • the first motor, the second motor, the third motor and the fourth motor are disposed in the main body, the third motor drives the first triangular track wheel through the first driving mechanism, and the first motor drives the second triangle through the second driving mechanism.
  • the crawler wheel, the second motor drives the second triangular track wheel through the second driving mechanism, and the fourth motor drives the fourth triangular track wheel through the fourth driving mechanism, and drives a triangular track wheel through the four motors respectively, which is convenient to control and flexible in steering. Powerful, climbing performance and obstacle performance have been significantly improved.
  • FIG. 1 is a schematic view of a triangular crawler wheel robot according to an embodiment of the present invention
  • FIG. 2 is a front elevational view of a triangular crawler wheel robot according to an embodiment of the present invention
  • FIG. 3 is a schematic view of a triangular crawler wheel of a triangular crawler wheel robot according to an embodiment of the present invention
  • FIG. 4 is another schematic view of a triangular crawler wheel of a triangular crawler wheel robot according to an embodiment of the present invention
  • FIG. 5 is a schematic view of the cam track wheel of the triangular track wheel robot according to the embodiment of the present invention after removing the track;
  • FIG. 6 is a schematic view showing the removal of the lower shell on the back side of a triangular crawler robot according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram of an imaging mechanism of a triangular crawler wheel robot according to an embodiment of the present invention.
  • FIG. 8 is another schematic diagram of a camera mechanism of a triangular crawler wheel robot according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a driving device of a triangular crawler wheel robot according to an embodiment of the present invention.
  • FIG. 10 is another schematic view of a driving mechanism of a triangular crawler wheel robot according to an embodiment of the present invention.
  • FIG. 11 is a schematic view of a bracket of a triangular crawler wheel robot according to an embodiment of the present invention.
  • FIG. 12 is a schematic view showing a second convex side of a first day convex side of a triangular crawler robot according to an embodiment of the present invention
  • Figure 13 is a schematic view showing the removal of the upper and lower casings of a triangular crawler robot according to an embodiment of the present invention.
  • a triangular crawler wheel robot includes a main body 1 and a cam track wheel 2 disposed on the main body 1.
  • the cam track wheel 2 includes a driving wheel 21 and is triangularly arranged around the driving wheel 21.
  • the three driven wheels 22, the support frame 23, the crawler belt 24, the support frame 23 are triangular, the three corners of the support frame 23 are respectively fixed to the center of one driven wheel 22, and the three driven wheels 22 are connected by the crawler belt 24.
  • the driven wheel 22 has a high intermediate low on both sides of the outer surface of the driven wheel 22, and the crawler belt 24 is disposed in the driven wheel groove 221, and the outer surface of the crawler belt 24 is provided with a plurality of gripping protrusions 241. .
  • each wheel of the robot is crawler-type, it can handle all kinds of roads with ease, can go up and down the stairs, can smoothly pass the uneven road, has a gully field, and has multiple wheels at the same time, which is convenient for control, such as steering, etc.
  • the outer surface of the crawler belt 24 has a gripping protrusion 241 to enhance the grip and climbing performance.
  • the inner surface of the driven wheel groove 221 is provided with a radial rib. Enhances friction and facilitates the drive of the track 24.
  • the driven wheel 22 includes an intermediate groove wheel 222, and is respectively disposed on both sides of the intermediate groove wheel 222.
  • the ring 223 has a diameter larger than the diameter of the intermediate groove wheel 222. It is convenient to fix the track 24.
  • the driving wheel and the first driven wheel 22 are drivingly connected by a belt.
  • a driving groove 224 is disposed in the middle of the driven wheel groove 221 of the first driven wheel 22, and the belt is disposed in the driving groove 224. It is convenient to drive the triangular track wheel 2.
  • the surface of the driving wheel 21 is provided with a radial rib, and the surface of the driving groove 224 is provided with a radial rib. Increase friction.
  • the number of the cam tracks 2 is even and symmetrically disposed on both sides of the main body 1. It is convenient to control the movement of the robot, such as climbing stairs and passing uneven roads.
  • the main body 1 is provided with an imaging mechanism 3.
  • Image data can be obtained and then viewed by users for use in more dangerous places such as underground tunnels, underground coal mines, earthquake sites, etc.
  • a triangular crawler wheel robot includes a main body 1 and a cam track wheel 2 disposed on the main body 1.
  • the main body 1 is provided with an image pickup mechanism 3, and the image pickup mechanism 3 includes an image pickup device.
  • a driving device comprising a first imaging driving device 32 connected to the main body 1, the first imaging driving device 32 driving the imaging device 31 to move up and down, the driving device further comprising a second imaging driving device 33,
  • the second imaging driving device 33 drives the imaging device 31 to rotate.
  • the camera body 3 includes an imaging device 31 and a driving device.
  • the driving device includes a first imaging driving device 32 connected to the main body 1.
  • the driving mechanism drives the imaging device 31 to move up and down.
  • the driving device further includes The second image capturing driving device 33 drives the image capturing device 31 to rotate, so that the camera device 31 can be controlled to move up and down, the images of different heights can be acquired, and the camera device 31 can be controlled to rotate to obtain different viewing angles.
  • the images can be used to meet the needs of users. It is possible to acquire images in all directions without driving robot movements, especially for underground mines and earthquake sites.
  • the first imaging driving device 32 includes a base 321 connected to the main body 1.
  • the base 321 is provided with a first imaging motor.
  • the first imaging motor drives one end of the connecting mechanism 322, and the other end of the connecting mechanism 322 is connected to the camera. Device 31.
  • a support 324 is disposed on the base 321 , a first imaging drive shaft 325 of the first imaging motor passes through the support 324 , and the connection mechanism 322 includes two parallel connection plates 323 , and the two connection plates One end of the 323 is provided with a through hole through which the first imaging driving shaft 325 passes.
  • the first imaging driving shaft 325 is further provided with a height driving wheel 326.
  • the height driving wheel 326 is disposed between the two connecting plates 323.
  • a latching wheel 327 is disposed in the middle of the other end of the connecting plate 323, and the height driving wheel 326 and the engaging wheel 327 are connected by a belt.
  • the support 324 is disposed between two connecting plates 323 disposed between the connecting plate 323 and the support 324 on the side close to the motor.
  • the height driving wheel 326 and the outer surface of the engaging wheel 327 are provided with radial ribs. Enhance the friction wheel.
  • the camera device 31 is fixedly connected to the other end of the connecting plate 323 by a fixing bracket 328.
  • the fixing frame 328 is provided with two fixing legs 329, and the two fixing legs 329 are disposed on both sides of the engaging wheel 327.
  • the two fixing legs 329, the catching wheel 327 and the two connecting plates 323 are fixedly connected.
  • the mounting bracket 328 includes a mounting plate 331 that connects the two fixing legs 329.
  • the mounting plate 331 is provided with a bracket 332.
  • the bracket 332 is provided with a second imaging rotating shaft 333, and the second imaging rotating shaft 333 is end.
  • An imaging device 31 is disposed, a first rotating gear 334 is disposed in the middle of the second imaging rotating shaft 333, a second imaging motor 336 is disposed on the fixing frame 328, and a second imaging driving shaft 337 of the second imaging motor 336 is connected.
  • a second rotating gear 335 is coupled to the first rotating gear 334.
  • An illumination lamp is disposed on the imaging device 31. Suitable for darker environments.
  • a wireless communication circuit is further disposed in the main body 1.
  • the main body 1 is further provided with one or more external antennas 7 connected to the wireless communication circuit.
  • the acquired image can be directly transmitted through the external antenna 7.
  • Another preferred embodiment of the present invention is a triangular crawler wheel robot comprising a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a first motor 41, the first motor
  • the first rotating shaft 411 of the 41 is provided with a concentric first gear 412 and a second gear 413.
  • the first gear 412 drives the first triangular crawler wheel 25 through the first driving mechanism 51, and the two gears pass the first
  • the second driving mechanism 52 drives the second triangular crawler wheel 26, and the first driving mechanism 51 is driven by the first linkage shaft 61.
  • the third driving mechanism 53 drives the third triangular crawler wheel 27, and the second driving mechanism 52 drives the fourth driving mechanism 54 through the second interlocking shaft 62, and the fourth driving mechanism 54 drives The fourth triangular track wheel 28.
  • first driving mechanism 51 and the second driving mechanism 52 are driven by the concentric first gear 412 and the second gear 413 provided on the first rotating shaft 411 of the first motor 41, the first driving mechanism 51 passes through The first linkage shaft 61 drives the third driving mechanism 53, and the second driving mechanism 52 drives the fourth driving mechanism 54 through the second linkage shaft 62. Only one motor can drive the four triangular crawler pulleys 2 at the same time, and the structure is fine. The design is ingenious and practical, suitable for climbing and obstacles.
  • the first drive mechanism 51 includes a first driven gear 511 that is coupled to the first gear 412.
  • the first driving mechanism 51 further includes a first driving shaft 512 fixedly connected to the center of the first driving gear 511, and the outer end of the first driving shaft 512 is engaged with the center of the first triangular crawler wheel 25, the first driving shaft A first drive gear 514 is disposed on the 512.
  • the first drive gear 514 is geared to the first intermediate gear 515.
  • the first intermediate gear 515 is centrally coupled to the first linkage shaft 61.
  • the first driving mechanism 51 further includes a first frame 516, the first driving shaft 512 passes through two sides of the first frame 516, and the first driving gear 514 and the first relay gear 515 are disposed.
  • the first driving gear 511 is disposed outside the first frame 516 and fixedly connected to the inner end of the first driving shaft 512, and the first linkage shaft 61 passes through the first frame.
  • 516 is fixedly coupled to the center of the first intermediate gear 515.
  • the first linkage shaft 61 includes a first connection portion 611 fixedly connected to the center of the first relay gear 515, an intermediate adapter portion 612, and a second connection portion 613 connected to the third drive mechanism 53, the first connection portion 611.
  • the two ends of the second connecting portion 613 are hollow cylinders, and the two ends of the intermediate connecting portion 612 are hooked into the hollow cylinder.
  • a protruding portion 513 is disposed on the outer circumference of the first driving shaft 512.
  • the first triangular crawler wheel 25 is centrally provided with a driving hole that cooperates with the outer end of the first driving shaft 512.
  • the first linkage shaft 61 passes through two sides of the first frame body 516 , and the inner end of the first linkage shaft 61 is engaged with the first connection portion 611 .
  • the first drive shaft 512 is rotatably coupled to both sides of the first frame 516 by bearings.
  • a triangular crawler wheel robot includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1, and a third motor 43 is disposed in the main body 1, the third motor
  • the third rotating shaft 431 of the 43 drives the first triangular crawler wheel 25 via the first driving mechanism 51
  • the first driving mechanism 51 drives the second driving mechanism 52 through the belt
  • the second driving mechanism 52 drives the second triangular crawler wheel 26
  • the first driving mechanism 51 drives the third driving mechanism 53 through the first linkage shaft 61
  • the third driving mechanism 53 drives the third triangular crawler wheel 27, and the third driving mechanism 53 drives the fourth driving through the belt
  • the mechanism 54, the fourth drive mechanism 54 drives the fourth cam track 28 .
  • the third rotating shaft 431 of the third motor 43 drives the first driving mechanism 51
  • the second driving mechanism 52 is driven by the first driving mechanism 51
  • the third driving mechanism is driven by the first driving mechanism 51 through the first linkage shaft 61. 53.
  • the third driving mechanism 54 is driven by the third driving mechanism 53 to drive the four triangular crawler wheels 2 at the same time by a single motor.
  • the structure is fine, the design is ingenious, and the utility model is strong, and is suitable for climbing and obstacles.
  • the first driving mechanism 51 includes a fifth driving gear 517 fixedly coupled to the third rotating shaft 431, the fifth driving gear 517 is geared to the first linking gear 518, and the first linking gear 518 drives the first
  • the intermediate gear 515 drives the first driving gear 514.
  • the first driving gear 514 drives the first driving gear 511.
  • the first driving gear 511 is connected to the second driving mechanism 52.
  • the first driving mechanism 51 further includes a first frame 516, and the first frame 516 is provided with a first driving shaft 512 and a first linkage shaft 61, and the first driving shaft 512 passes through the first Two sides of the frame 516, the first linkage shaft 61 passes through two sides of the first frame 516, and the first linkage gear 518 and the first relay gear 515 are disposed on the first linkage shaft 61.
  • the first driving gear 514 and the first driving gear 511 are disposed on the first driving shaft 512, and the first driving shaft 512 is rotatably connected to the two sides of the first frame 516 by bearings, the first The linkage shaft 61 is rotatably coupled to both sides of the first frame 516 by bearings.
  • the first linkage shaft 61 includes a first connection portion that is fixedly coupled to the center of the first relay gear 515 611, the intermediate connecting portion 612 and the second connecting portion 613 connected to the third driving mechanism 53.
  • the two ends of the first connecting portion 611 and the second connecting portion 613 are hollow cylinders, and the two ends of the intermediate connecting portion 612 Snap into the hollow cylinder.
  • a protruding portion 513 is disposed on the outer circumference of the first driving shaft 512.
  • the first triangular crawler wheel 25 is centrally provided with a driving hole that cooperates with the outer end of the first driving shaft 512.
  • the first linkage shaft 61 passes through two sides of the first frame body 516 , and the inner end of the first linkage shaft 61 is engaged with the first connection portion 611 .
  • the second driving mechanism 52 includes a second frame 521 , and the second frame 521 is provided with a second driving shaft 522 , and the second driving shaft 522 passes through two sides of the second frame 521 .
  • a second driving gear 523 is disposed on the second driving shaft 522.
  • the second driving gear 523 is disposed outside the second frame 521 and is connected to the first driving gear 511.
  • the second driving gear 523 is coupled to the second driving gear 523.
  • the second drive shaft 522 is fixedly coupled, and the second drive shaft 522 drives the second triangular track wheel 26.
  • the second driving mechanism 52 further includes a second driving gear 525 sleeved on the second driving shaft 522 and fixedly connected to the second driving shaft 522, and the second driving gear 525 is connected to the second intermediate gear 524,
  • the second intermediate gear 524 drives the fourth drive mechanism 54 through the second linkage shaft 62.
  • the second drive gear 525 and the second intermediate gear 524 are disposed in the second frame 521, and the second linkage shaft 62 passes through the The two sides of the second frame 521 are described.
  • the third driving mechanism 53 includes a third frame 531.
  • the third frame 531 is provided with a third driving shaft 532.
  • the first linking shaft 61 passes through two sides of the third frame 531.
  • a third intermediate gear 533 is disposed on the first linkage shaft 61.
  • the third intermediate gear 533 is coupled to the third driving gear 534.
  • the third driving gear 534 is sleeved on the third driving shaft 532 and is coupled to the third driving gear 532.
  • the third drive shaft 532 is fixedly coupled, and the outer end of the third drive shaft 532 drives the third triangular track wheel 27.
  • the third driving shaft 532 passes through two sides of the third frame 531, the third driving shaft 532 is provided with a third driving gear 535, and the third driving gear 535 is disposed at the third frame.
  • the third driving shaft 532 is fixedly connected to the third driving shaft 532, and the third driving gear 535 drives the fourth driving mechanism 54 through the belt.
  • a triangular crawler wheel robot includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a first motor 41 and a second motor 42.
  • the first rotating shaft 411 of the first motor 41 is provided with a concentric first gear 412 and a second gear 413, and the second rotating shaft 421 of the second motor 42 is provided with a concentric third.
  • gear 422 and a fourth gear 423 the first gear 412 driving the first triangular track wheel 25 through the first drive mechanism 51, and the second gear 413 driving the second triangular track wheel 26 via the second drive mechanism 52
  • the third gear 422 drives the third cam track wheel 27 via the third drive mechanism 53
  • the fourth gear wheel 423 drives the fourth cam track wheel 28 via the fourth drive mechanism 54.
  • the first rotating shaft 411 of the first motor 41 is provided with the concentric first gear 412 and the second gear 413
  • the second rotating shaft 421 of the second motor 42 is provided with a concentric third gear 422 and The fourth gear 423
  • the first gear 412 drives the first triangular crawler wheel 25 through the first drive mechanism 51
  • the second gear 413 drives the second triangular crawler wheel 26 through the second drive mechanism 52
  • the third gear 422 passes through the third drive mechanism 53 drives a third triangular track wheel 27, which drives the fourth triangular track wheel 28 through the fourth drive mechanism 54
  • a triangular track wheel 2 is convenient for steering control, with stronger power, and the climbing ability and obstacle performance are significantly improved.
  • the first driving mechanism 51 includes a first driving gear 511 coupled to the first gear 412
  • the second driving mechanism 52 includes a second driving gear 523 coupled to the second gear 413
  • the third driving mechanism 53 includes a third driven gear 535 coupled to a third gear 422 belt
  • the fourth drive mechanism 54 including a fourth driven gear 541 coupled to the fourth gear 423.
  • the first driving mechanism 51 further includes a first driving shaft 512 fixedly connected to the center of the first driving gear 511, and the outer end of the first driving shaft 512 is engaged with the center of the first triangular crawler wheel 25.
  • a first driving gear 514 is further disposed on the first driving shaft 512, the first driving gear 514 is geared to the first intermediate gear 515, and the first intermediate gear 515 is centrally connected to the first linkage shaft 61.
  • a relay gear 515 drives the third drive mechanism 53 through the first linkage shaft 61.
  • the first drive mechanism 51 further includes a first frame 516 through which the first drive shaft 512 passes
  • the first driving gear 514 and the first intermediate gear 515 are disposed in the first frame 516
  • the first driving gear 511 is disposed outside the first frame 516 and is opposite to the first frame 516 .
  • a driving shaft 512 is fixedly connected at an inner end thereof, and the first linkage shaft 61 is fixedly connected to the center of the first intermediate gear 515 through the first frame 516.
  • the second driving mechanism 52 further includes a second driving shaft 522 fixedly connected to the center of the second driving gear 523.
  • the outer end of the second driving shaft 522 is engaged with the center of the second triangular crawler wheel 26, and the second driving shaft
  • a second drive gear 525 is further disposed on the 522.
  • the second drive gear 525 is coupled to the second intermediate gear 524.
  • the second intermediate gear 524 is centrally coupled to the second linkage shaft 62.
  • the second intermediate gear 524 passes through the The second linkage shaft 62 drives the fourth drive mechanism 54.
  • the first linkage shaft 61 includes a first connection portion 611 fixedly connected to the center of the first relay gear 515, an intermediate adapter portion 612, and a second connection portion 613 connected to the third drive mechanism 53, the first connection portion 611.
  • the two ends of the second connecting portion 613 are hollow cylinders.
  • the two ends of the intermediate connecting portion 612 are inserted into the hollow cylinder, and the first linkage shaft 61 passes through the two sides of the first frame 516.
  • the inner end of the interlocking shaft 61 is engaged with the first connecting portion 611.
  • a triangular crawler wheel robot includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a third motor 43 and a fourth motor 44.
  • the third rotating shaft 431 of the third motor 43 drives the first triangular crawler wheel 25 through the first driving mechanism 51, and the first driving mechanism 51 drives the third driving mechanism 53 through the first linkage shaft 61, the third
  • the driving mechanism 53 drives the third triangular crawler wheel 27, and the fourth rotating shaft 441 of the fourth motor 44 drives the fourth triangular crawler wheel 28 through the fourth driving mechanism 54, and the fourth driving mechanism 54 passes through the second interlocking shaft 62.
  • the second drive mechanism 52 is driven, and the second drive mechanism 52 drives the second cam track wheel 26.
  • the third rotating shaft 431 of the third motor 43 drives the first driving mechanism 51, and then the first driving mechanism 51 drives the third driving mechanism through the first linkage shaft 61.
  • the fourth rotating shaft 441 of the fourth motor 44 drives the fourth driving mechanism 54, and then the fourth driving mechanism 54 drives the second driving mechanism 52 through the second linking shaft 62 to drive the four triangular crawler wheels 2 through two motors.
  • Two motors respectively control two triangular track wheels 2 in front of or behind the robot, which is convenient The steering is controlled, the power is stronger, the climbing ability and the obstacle performance are significantly improved.
  • the first driving mechanism 51 includes a fifth driving gear 517 fixedly coupled to the third rotating shaft 431, the fifth driving gear 517 is geared to the first linking gear 518, and the first linking gear 518 drives the first
  • the intermediate gear 515 is geared to the first drive gear 514.
  • the first drive gear 514 drives the first drive shaft 512, and the first drive shaft 512 drives the first triangular track wheel 25.
  • the first driving mechanism 51 further includes a first frame 516, the first driving shaft 512 passes through two sides of the first frame 516, and the first linkage shaft 61 passes through the first frame
  • the first interlocking gear 518 and the first intermediate gear 515 are disposed on the first linkage shaft 61, and the first driving gear 514 and the first driving gear 511 are disposed on the first driving shaft 512.
  • the fifth driving gear 517 is disposed in the first frame 516.
  • the first driving shaft 512 is rotatably coupled to the two sides of the first frame 516 by bearings.
  • the first linkage shaft 61 passes through the bearing and the bearing. The two sides of the first frame 516 are rotatably connected.
  • the first linkage shaft 61 includes a first connection portion 611 fixedly connected to the center of the first relay gear 515, an intermediate adapter portion 612, and a second connection portion 613 connected to the third drive mechanism 53, the first connection portion 611.
  • the two ends of the second connecting portion 613 are hollow cylinders, and the two ends of the intermediate connecting portion 612 are hooked into the hollow cylinder.
  • a protruding portion 513 is disposed on the outer circumference of the first driving shaft 512.
  • the first triangular crawler wheel 25 is centrally provided with a driving hole that cooperates with the outer end of the first driving shaft 512.
  • the first linkage shaft 61 passes through two sides of the first frame body 516 , and the inner end of the first linkage shaft 61 is engaged with the first connection portion 611 .
  • the second driving mechanism 52 includes a second frame 521 , and the second frame 521 is provided with a second driving shaft 522 , and the second driving shaft 522 passes through two sides of the second frame 521 .
  • the second driving gear 522 is provided with a second driving gear 523.
  • the second driving gear 523 is disposed outside the second frame 521 and is connected to the first driving gear 511.
  • the second driving gear 523 and the The two drive shafts 522 are fixedly coupled, and the second drive shaft 522 drives the second triangular track wheel 26.
  • the second driving mechanism 52 further includes a second driving gear 525 sleeved on the second driving shaft 522 and fixedly connected to the second driving shaft 522, and the second driving gear 525 is connected to the second intermediate gear 524,
  • the second intermediate gear 524 drives the fourth drive mechanism 54 through the second linkage shaft 62.
  • the second drive gear 525 and the second intermediate gear 524 are disposed in the second frame 521, and the second linkage shaft 62 passes through the The two sides of the second frame 521 are described.
  • the third driving mechanism 53 includes a third frame 531.
  • the third frame 531 is provided with a third driving shaft 532.
  • the first linking shaft 61 passes through two sides of the third frame 531.
  • the first linkage shaft 61 is provided with a third intermediate gear 533.
  • the third gear 422 is geared to the third driving gear 534.
  • the third driving gear 534 is sleeved on the third driving and is driven by the third driving.
  • the shaft 532 is fixedly coupled, and the outer end of the third drive shaft 532 drives the third triangular track wheel 27.
  • the third driving shaft 532 passes through two sides of the third frame 531, the third driving shaft 532 is provided with a third driving tooth, and the third driving gear 535 is disposed at the third frame 531.
  • the third driving shaft 532 is fixedly connected to the inner end of the third driving shaft 532, and the third driving gear 535 drives the fourth driving mechanism 54 through the belt.
  • a triangular crawler wheel robot includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a first motor 41 and a third motor 43.
  • a first gear 412 and a second gear 413 are disposed on the first rotating shaft 411 of the first motor 41, and the first gear 412 drives the first triangular track wheel 25 through the first driving mechanism 51.
  • the second gear 413 drives the second cam track 26 through the second drive mechanism 52.
  • the third rotating shaft 431 of the third motor 43 drives the first drive mechanism 51, and the first drive mechanism 51 passes the first link shaft.
  • the third driving mechanism 53 drives the third triangular crawler wheel 27, and the second driving mechanism 52 and/or the third driving mechanism 53 drives the fourth driving mechanism 54, the fourth driving Mechanism 54 drives fourth triangular track wheel 28.
  • the first rotating shaft 411 of the first motor 41 is provided with a concentric first gear 412 and a second gear 413, and the first gear 412 passes the first
  • the driving mechanism 51 drives the first triangular crawler wheel 25, and the second gear 413 drives the second driving mechanism 52.
  • the triangular crawler wheel 26, the third rotating shaft 431 of the third motor 43 drives the first driving mechanism 51, the first driving mechanism 51 drives the third driving mechanism 53 through the first linkage shaft 61, and the third driving mechanism 53 drives the third
  • the triangular crawler wheel 27, the second driving mechanism 52 and/or the third driving mechanism 53 drive the fourth driving mechanism 54 to drive four triangular crawler wheels 2 through two motors, and the two motors simultaneously drive a triangular crawler wheel 2 for convenient control Steering, more power, climbing ability and obstacle performance have been significantly improved.
  • the first driving mechanism 51 includes a first driving gear 511 connected to the first gear 412 and a first driving shaft 512 fixedly connected to the center of the first driving gear 511. The outer end of the first driving shaft 512 is engaged with the first driving shaft 512. a first crawler wheel 25 is disposed on the first drive shaft 512.
  • the first drive gear 514 is coupled to the first intermediate gear 515.
  • the first intermediate gear 515 is coupled to the first linkage.
  • a shaft 61, a third gear shaft 532 of the third motor 43 is provided with a fifth gear, the fifth gear gear is coupled to the first linkage gear 518, and the first linkage gear 518 is fixedly sleeved at the first Linked to the shaft 61.
  • the first driving mechanism 51 further includes a first frame 516, the first driving shaft 512 passes through two sides of the first frame 516, and the first linkage shaft 61 passes through the first frame
  • the two sides of the body 516, the fifth driving gear 517 is disposed in the first frame 516, and the first driving shaft 512 is rotatably connected to the two sides of the first frame 516 by bearings, the first linkage
  • the shaft 61 is rotatably coupled to both sides of the first frame 516 by bearings.
  • the second drive mechanism 52 drives the fourth drive mechanism 54 through the second linkage shaft 62.
  • the second driving mechanism 52 includes a second driving gear 523 connected to the belt of the second gear 413, a second driving shaft 522 and a second frame 521 fixedly connected to the center of the second driving gear 523, and the second driving shaft 522.
  • a second driving gear 525 is disposed, the second driving gear 525 is geared to the second interlocking gear, the second interlocking gear drives the second linkage shaft 62, and the second linkage shaft 62 drives the fourth driving mechanism. 54.
  • the third drive mechanism 53 drives the fourth drive mechanism 54 through the crawler belt 24 .
  • the third driving mechanism 53 includes a third housing 531 and a third driving shaft 532.
  • the third driving shaft 532 is provided with a third driving gear 535.
  • the third driving gear 535 is disposed on the third housing 531.
  • the third driving gear 535 is connected to the fourth driving mechanism 54.
  • a triangular crawler wheel robot in another preferred embodiment, includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a first motor 41 and a second motor 42.
  • a third motor 43 and a fourth motor 44 that drive the first triangular track wheel 25 through the first drive mechanism 51
  • the first motor 41 drives the second triangular track wheel 26 through the second drive mechanism 52
  • the second motor 42 drives the second cam track wheel 26 via the second drive mechanism 52
  • the fourth motor 44 drives the fourth cam track wheel 28 via the fourth drive mechanism 54.
  • the third motor 43 drives the first triangular crawler wheel 25 through the first driving mechanism 51, and the first motor 41 passes the first motor 41.
  • the second driving mechanism 52 drives the second triangular crawler wheel 26
  • the second motor 42 drives the second triangular crawler wheel 26 through the second driving mechanism 52
  • the fourth motor 44 drives the fourth triangular crawler wheel 28 through the fourth driving mechanism 54 through the fourth
  • Each of the motors drives a triangular track wheel 2, which is convenient to control, flexible in steering, strong in power, and has significantly improved climbing performance and obstacle performance.
  • the first drive mechanism 51 is coupled to the third drive mechanism 53 via the first linkage shaft 61.
  • the fourth drive mechanism 54 is coupled to the second drive mechanism 52 via the second linkage shaft 62.
  • the first rotating shaft 411 of the first motor 41 is provided with a concentric first gear 412 and a second gear 413.
  • the first gear 412 drives the first driving mechanism 51 through the belt, and the two gears pass the belt.
  • the second drive mechanism 52 is driven.
  • the second rotating shaft 421 of the second motor 42 is provided with a concentric third gear 422 and a fourth gear 423.
  • the third gear 422 drives the third driving mechanism 53 through the belt, and the four gears pass the belt.
  • the fourth drive mechanism 54 is driven.
  • the first driving mechanism 51 is connected to the third driving mechanism 53 through the first linkage shaft 61.
  • the fourth driving mechanism 54 is connected to the second driving mechanism 52 through the second linkage shaft 62.
  • the first rotation of the first motor 41 The shaft 411 is provided with a concentric first gear 412 and a second gear 413.
  • the first gear 412 drives the first driving mechanism 51 through a belt, and the two gears drive the second driving mechanism 52 through the belt.
  • the second rotating shaft 421 of the second motor 42 is provided with a concentric third gear 422 and a fourth gear 423.
  • the third gear 422 drives a third drive mechanism 53 through a belt that drives the fourth drive mechanism 54 through the belt.
  • a first belt rotation mechanism 63 is disposed between the second gear 413 and the second driving mechanism 52, and the fourth motor 44 is disposed between the second gear 413, the second driving mechanism 52, and a belt connected therebetween.
  • a second belt rotation mechanism 64 is disposed between the third gear 422 and the third drive mechanism 53, and the third motor 43 is disposed between the third gear 422, the third drive mechanism 53, and the belt connected to the two.
  • the first linkage shaft 61 is disposed between the third gear 422, the third driving mechanism 53, and the belt connected to the two, and the second linkage shaft 62 is disposed at the second gear 413, the second driving mechanism 52, and both Between the connected belts.
  • the first belt rotation mechanism 63 includes three intermediate rotation shafts 631.
  • the three intermediate rotation shafts 631 are disposed in an inverted shape, and the fourth motor 44 and the second linkage shaft 62 are respectively disposed on the two intermediate rotation shafts 631. Between the belts.
  • a triangular crawler wheel robot in another preferred embodiment, includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a first motor 41 and a second motor 42. a third motor 43 and a fourth motor 44 that drive the first triangular track wheel 25 through the first drive mechanism 51, and the first motor 41 drives the second triangular track wheel 26 through the second drive mechanism 52,
  • the second motor 42 drives the second cam track 26 through the second drive mechanism 52, and the fourth motor 44 drives the fourth cam track 28 through the fourth drive mechanism 54, the first rotation of the first motor 41
  • a second gear 413 is disposed on the shaft 411. The two gears drive the second driving mechanism 52.
  • the second rotating shaft 421 of the second motor 42 is provided with a third gear 422.
  • the third gear 422 passes through The belt drives the third driving mechanism 53, and between the second gear 413 and the second driving mechanism 52, a first belt rotation mechanism 63 that expands the belt range, and the fourth motor 44 is disposed at the second gear 413 and the second Within the range of the belt between the drive mechanisms 52, the third A second belt intermediate rotation mechanism 64 that expands the belt range is provided between the gear 422 and the third drive mechanism 53, and the third motor 43 is disposed within a belt range between the third gear 422 and the third drive mechanism 53.
  • a first gear 412 coaxial with the second gear 413 is disposed on the first rotating shaft 411 of the first motor 41, and the first gear 412 drives the first driving mechanism 51 through a belt, and the second motor 42
  • the second rotating shaft 421 is provided with a fourth gear 423 concentric with the third gear 422, and the four gears drive the fourth driving mechanism 54 through the belt.
  • the first belt intermediate rotation mechanism 63 includes a relay rotation shaft 631, and the upper surface of the intermediate rotation shaft 631 is higher than the upper surface of the second gear 413.
  • the first drive mechanism 51 is connected to the third drive mechanism 53 through the first linkage shaft 61
  • the fourth drive mechanism 54 is connected to the second drive mechanism 52 through the second linkage shaft 62.
  • the first belt rotation mechanism 63 includes three intermediate rotation shafts 631, and the three intermediate rotation shafts 631 are arranged in an inverted shape, wherein the upper surfaces of the two upper intermediate rotation shafts 631 are higher than the upper surface of the second gears 413,
  • the four motors 44 and the second interlocking shafts 62 are respectively disposed between the belts on which the two intermediate rotating shafts 631 are raised.
  • the second belt rotation mechanism 64 includes three intermediate rotation shafts 631, and the three intermediate rotation shafts 631 are disposed in an inverted shape, wherein the upper surfaces of the two upper intermediate rotation shafts 631 are higher than the upper surface of the third gears 422,
  • the three motors 43 and the first interlocking shafts 61 are respectively disposed between the belts on which the two intermediate rotating shafts 631 are raised.
  • the first linkage shaft 61 and the second linkage shaft 62 are disposed at the front and rear ends, the first motor 41 and the second motor 42 are disposed in the middle, and the third motor 43 is disposed at the first motor 41 and the first linkage Between the shafts 61, the third motor 43 is disposed between the second motor 42 and the second linkage shaft 62.
  • the first belt intermediate rotation mechanism 63 and the fourth motor 44 are respectively disposed on both sides of the robot.
  • Another preferred embodiment of the present invention is a triangular crawler wheel robot comprising a main body 1 and four triangular crawler wheels 2 disposed on the main body 1, the main body 1 including an upper casing 11, a middle casing 12 and a lower casing 13,
  • the upper casing 11 and the lower casing 13 are fixed on the middle frame 12, and the upper casing 11 is provided with an imaging mechanism 3, and the rear end of the middle frame 12 is provided with an external antenna 7, and the middle frame 12 includes an intermediate portion.
  • bracket plate 121 of the hollow portion the bracket plate 121 is provided with an upward first convex edge 122 and a downward second convex edge 123, the bracket plate A circuit board is disposed on an upper side of the 121, and a lower side of the bracket plate 121 is fixedly connected to the driving motor and the gear set.
  • the cam track 2 robot includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1, the main body 1 includes an upper casing 11, a middle casing 12, and a lower casing 13, and the upper casing 11 and the lower casing 13 are fixed to the middle casing 12
  • the upper housing 11 is provided with an imaging mechanism 3, and the rear end of the middle frame 12 is provided with an external antenna 7.
  • the middle frame 12 includes a bracket plate 121 having a hollow portion in the middle, and the first flange 122 is provided around the bracket plate 121.
  • the bracket plate 121 has a hollow portion in the middle, which reduces the weight, is convenient to fix, and is firmly fixed.
  • the first flange 122 includes a first side edge that is coincident with the bracket plate 121 and is fixedly connected, and a second side edge that is perpendicularly connected to the first side edge.
  • the first side edge and the second side edge are provided with a plurality of Screw holes.
  • the bracket plate 121 is provided with a horizontally and vertically staggered bracket strip, the bracket strip is provided with a fixing hole, the gear set includes a frame body, and the frame body is fixedly connected with the bracket strip by a bolt, and the driving motor passes through the The gear set drives the cam track wheel 2.
  • the driving motor includes a first motor 41 and a second motor 42.
  • the lower side of the bracket plate 121 is provided with a first bearing 45 that cooperates with the first motor 41 and a second bearing 46 that cooperates with the second motor 42.
  • the gear set includes four gear sets corresponding to four triangular crawler wheels 2, the gear set includes a frame body, and the main body 1 further includes a first cover plate covering two gear sets corresponding to the front wheels, covering the corresponding a second cover of the two gear sets of the wheel, the frame being fixedly coupled to the cover bolt.
  • the upper side of the bracket plate 121 is provided with a backing plate, and the circuit board is disposed on the backing plate.
  • the imaging mechanism 3 includes an imaging device 31 and a driving device.
  • the driving device includes a first driving mechanism 51 connected to the main body 1.
  • the first driving mechanism 51 drives the imaging device 31 to move up and down.
  • the driving device further includes The second drive mechanism 52 drives the imaging device 31 to rotate.
  • the first driving mechanism 51 includes a base 321 and a connecting mechanism 322 connected to the main body 1.
  • the base 321 is provided with a first imaging motor, the first imaging motor drives one end of the connecting mechanism 322, and the connecting mechanism 322 One end is connected to the camera device 31, and the base 321 is provided with a support 324.
  • the first imaging driving shaft 325 of the first imaging motor passes through the support 324, and the connecting mechanism 322 includes two parallel connecting plates 323.
  • the two connecting plates 323 are provided with a first imaging driving shaft 325 at one end.
  • the first imaging drive shaft 325 is further provided with a height driving wheel 326.
  • the height driving wheel 326 is disposed between the two connecting plates 323, and the other ends of the two connecting plates 323 are provided with a card.
  • the wheel 327 is connected between the height drive wheel 326 and the catching wheel 327 by a belt.
  • the camera device 31 is fixedly connected to the other end of the connecting plate 323 by a fixing bracket 328.
  • the fixing frame 328 is provided with two fixing legs 329, and the two fixing legs 329 are disposed on both sides of the engaging wheel 327.
  • the two fixing legs 329, the locking wheel 327 and the two connecting plates 323 are fixedly connected.
  • the fixing frame 328 includes a placing plate 331 connecting the two fixing legs 329.
  • the placing plate 331 is provided with a bracket 332.
  • a second imaging rotating shaft 333 is disposed on the 332, an imaging device 31 is disposed at an end of the second imaging rotating shaft 333, a first rotating gear 334 is disposed between the second imaging rotating shaft 333, and a second is disposed on the fixing frame 328.
  • the imaging motor 336 is coupled to the second rotation gear 335 of the second imaging motor 336, and the second rotation gear 335 is coupled to the first rotation gear 334.
  • the camera mechanism 3 is disposed on the side of the upper casing 11, and the upper casing 11 is further provided with an anti-shake device 8, and the anti-shake device 8 is disposed in the middle of the front side of the upper casing 11.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种三角履带轮机器人，包括主体（1）和设置在主体（1）上的四个三角履带轮（2），所述主体（1）内设有第一电机（41）、第二电机（42）、第三电机（43）和第四电机（44），所述第三电机（43）通过第一驱动机构（51）驱动第一三角履带轮（25），所述第一电机（41）通过第二驱动机构（52）驱动第二三角履带轮（26），所述第二电机（42）通过第三驱动机构（53）驱动第三三角履带轮（27），所述第四电机（44）通过第四驱动机构（54）驱动第四三角履带轮（28）。通过四个电机驱动三角履带轮，控制方便，转向灵活，动力强劲，爬坡能力和过障碍性能得到显著提高。

Description

一种三角履带轮机器人 【技术领域】
本发明涉及机器人领域，更具体的说，涉及一种三角履带轮机器人。
【背景技术】
现有的机器人主要为轮式和履带式。车轮式机器人，移动速度快、控制灵活，尤其转向比较容易实现，但是应对复杂路况使用不方便。履带式机器人，适应性强，接触面积大，运动速度较快，但不够灵活，且转向所需驱动力大即不易转向。
【发明内容】
本发明所要解决的技术问题是提供一种适应力强且转向方便的三角履带轮机器人。
本发明的目的是通过以下技术方案来实现的：一种三角履带轮机器人，包括主体和设置在主体上的四个三角履带轮，所述主体内设有第一电机、第二电机、第三电机和第四电机，所述第三电机通过第一驱动机构驱动第一三角履带轮，所述第一电机通过第二驱动机构驱动第二三角履带轮，所述第二电机通过第二驱动机构驱动第二三角履带轮，所述第四电机通过第四驱动机构驱动第四三角履带轮。
本发明由于主体内设有第一电机、第二电机、第三电机和第四电机，第三电机通过第一驱动机构驱动第一三角履带轮，第一电机通过第二驱动机构驱动第二三角履带轮，第二电机通过第二驱动机构驱动第二三角履带轮，第四电机通过第四驱动机构驱动第四三角履带轮，通过四个电机分别驱动一个三角履带轮，控制方便，转向灵活，动力强劲，爬坡能力和过障碍性能得到显著提高。
【附图说明】
图1是本发明实施例的一种三角履带轮机器人示意图；
图2是本发明实施例的一种三角履带轮机器人正面示意图；
图3是本发明实施例的一种三角履带轮机器人的三角履带轮示意图；
图4是本发明实施例的一种三角履带轮机器人的三角履带轮另一示意图；
图5是本发明实施例的一种三角履带轮机器人的三角履带轮去除履带后示意图；
图6是本发明实施例的一种三角履带轮机器人背面去掉下壳示意图；
图7是本发明实施例的一种三角履带轮机器人的摄像机构示意图；
图8是本发明实施例的一种三角履带轮机器人摄像机构另一示意图；
图9是本发明实施例的一种三角履带轮机器人驱动装置示意图；
图10是本发明实施例的一种三角履带轮机器人驱动机构另一示意图；
图11是本发明实施例的一种三角履带轮机器人支架板示意图；
图12是本发明实施例的一种三角履带轮机器人第一天凸边第二凸边示意图；
图13是本发明实施例的一种三角履带轮机器人去掉上壳和下壳示意图。
其中：1、主体，11、上壳，12、中框，121、支架板，122、第一凸边，123、第二凸边，13、下壳，2、三角履带轮，21、驱动轮，22、从动轮，221、从动轮凹槽，222、中间凹槽轮，223、固定环，224、驱动凹槽，23、支撑架，24、履带，241、抓地凸起，25、第一三角履带轮，26、第二三角履带轮，27、第三三角履带轮，28、第四三角履带轮，3、摄像机构，31、摄像装置，32、第一摄像驱动装置，321、底座，322、连接机构，323、连接板，324、支撑板，325、第一摄像驱动轴，326、高度驱动轮，327、卡接轮，328、固定架，329、固定脚，33、第二摄像驱动装置，331、放置板，332、支架，333、第二摄像转轴，334、第一旋转齿轮，335、第二旋转齿轮，336、第二摄像电机，337、第二摄像驱动轴，41、第一电机，411、第一转动轴，412、第一齿轮，413、第二齿轮， 42、第二电机，421、第二转动轴，422、第三齿轮，423、第四齿轮，43、第三电机，431、第三转动轴，44、第四电机，441、第四转动轴，45、第一轴承，46、第二轴承，51、第一驱动机构，511、第一带动齿轮，512、第一驱动轴，513、突出部，514、第一驱动齿轮，515、第一中转齿轮，516、第一框体，517、第五驱动齿轮，518、第一连动齿轮，52、第二驱动机构，521、第二框体，522、第二驱动轴，523、第二带动齿轮，524、第二中转齿轮，525、第二驱动齿轮，53、第三驱动机构，531、第三框体，532、第三驱动轴，533、第三中转齿轮，534、第三驱动齿轮，535、第三带动齿轮，54、第四驱动机构，541、第四带动齿轮，61、第一联动轴，611、第一连接部，612、中间转接部，613、第二连接部，62、第二联动轴，63、第一皮带中转机构，631、中转转轴，64、第二皮带中转机构，7、外置天线，8、防抖装置。
【具体实施方式】
下面结合附图和较佳的实施例对本发明作进一步说明。
如图1至图13所示，一种三角履带轮机器人，包括主体1、设置在主体1上的三角履带轮2，所述三角履带轮2包括驱动轮21、围绕驱动轮21成三角型设置的三个从动轮22、支撑架23、履带24，所述支撑架23呈三角形，所述支撑架23三个角分别与一个从动轮22中心固定，所述三个从动轮22通过履带24连接，所述从动轮22外表面两侧高中间低形成从动轮凹槽221，所述履带24设置在所述从动轮凹槽221内，所述履带24外表面设有多个抓地凸起241。
由于机器人的每个车轮都是履带式的，可以从容应对各种路面，可以上下楼梯，可以顺利的路过不平整路面，具有沟壑的场地，又同时具有多个车轮，方便控制，如转向等，履带24外表面具有抓地凸起241，加强抓地力、爬坡性能。
所述从动轮凹槽221内表面设有径向凸条。增强摩擦力，方便带动履带24。
所述从动轮22包括中间凹槽轮222、分别设置在中间凹槽轮222两侧的固 定环223，所述固定环223直径大于所述中间凹槽轮222直径。方便固定履带24。
所述主动轮与第一从动轮22通过皮带驱动连接，所述第一从动轮22的从动轮凹槽221中间设有驱动凹槽224，所述皮带设置在驱动凹槽224内。方便驱动三角履带轮2。
所述驱动轮21表面设有径向凸条，驱动凹槽224表面设有径向凸条。增强摩擦力。
所述三角履带轮2个数为偶数，且对称设置在主体1两侧。方便控制机器人运动，如爬楼梯、路过不平整路面。
所述主体1上设有摄像机构3。可以获取影像资料，然后给用户查看，适用于比较危险的地方，如地下隧道、地下煤矿、地震现场等。
本发明的另一优选实施例，一种三角履带轮机器人，包括主体1、设置在主体1上的三角履带轮2，所述主体1上设有摄像机构3，所述摄像机构3包括摄像装置31和驱动装置，所述驱动装置包括与主体1连接的第一摄像驱动装置32，所述第一摄像驱动装置32驱动摄像装置31上下运动，所述驱动装置还包括第二摄像驱动装置33，所述第二摄像驱动装置33驱动摄像装置31旋转。
由于机器人主体1上设有摄像机构3，摄像机构3包括摄像装置31和驱动装置，驱动装置包括与主体1连接的第一摄像驱动装置32，驱动机构驱动摄像装置31上下运动，驱动装置还包括第二摄像驱动装置33，第二摄像驱动装置33驱动摄像装置31旋转，这样就可以控制摄像装置31如摄像头上下运动，获取不同高度的图像，还可以控制摄像装置31旋转，就可以获取不同视角的图像，两者配合使用可以充分满足用户的需求，不需要驱动机器人运动就能全方位的获取图像，尤其适合地下矿洞、地震现场等现场。
所述第一摄像驱动装置32包括与主体1连接的底座321，所述底座321内设有第一摄像电机，所述第一摄像电机驱动连接机构322一端，所述连接机构322另一端连接摄像装置31。
所述底座321上设有支撑324，所述第一摄像电机的第一摄像驱动轴325穿过所述支撑324，所述连接机构322包括两块并列的连接板323，两块所述连接板323一端设有第一摄像驱动轴325穿过的通孔，所述第一摄像驱动轴325上还设有高度驱动轮326，所述高度驱动轮326设置在两块连接板323之间，两块所述连接板323另一端中间设有卡接轮327，所述高度驱动轮326与卡接轮327之间通过皮带连接。
所述支撑324设置在两块连接板323之间，所述高度驱动轮326设置在靠近电机一侧的连接板323和支撑324之间。
所述高度驱动轮326与卡接轮327外表面设有径向凸条。增强摩擦轮。
所述摄像装置31通过固定架328与连接板323另一端固定连接，所述固定架328设有向下的两个固定脚329，所述两个固定脚329设置在卡接轮327两侧，两个固定脚329、卡接轮327和两块连接板323固定连接。
所述固定架328包括连接两个固定脚329的放置板331，所述放置板331上设有支架332，所述支架332上设有第二摄像转轴333，所述第二摄像转轴333端部设置摄像装置31，所述第二摄像转轴333中间设有第一旋转齿轮334，所述固定架328上设有第二摄像电机336，所述第二摄像电机336的第二摄像驱动轴337连接第二旋转齿轮335，所述第二旋转齿轮335连接第一旋转齿轮334。
所述摄像装置31上设有照明灯。适合比较暗的环境。
所述主体1内还设有无线通信电路，所述主体1侧边还设有一条或多条与无线通信电路连接的外置天线7。可以直接将获取的图像通过外置天线7发送出去。
本发明的另一优选实施例，一种三角履带轮机器人，包括主体1和设置在主体1上的四个三角履带轮2，所述主体1内设有第一电机41，所述第一电机41的第一转动轴411上设有同轴心的第一齿轮412和第二齿轮413，所述第一齿轮412通过第一驱动机构51驱动第一三角履带轮25，所述二齿轮通过第二驱动机构52驱动第二三角履带轮26，所述第一驱动机构51通过第一联动轴61驱 动第三驱动机构53，所述第三驱动机构53驱动第三三角履带轮27，所述第二驱动机构52通过第二联动轴62驱动第四驱动机构54，所述第四驱动机构54驱动第四三角履带轮28。
由于通过第一电机41的第一转动轴411上设有的同轴心的第一齿轮412和第二齿轮413驱动第一驱动机构51和第二驱动机构52，再经第一驱动机构51通过第一联动轴61驱动第三驱动机构53，再经第二驱动机构52通过第二联动轴62驱动第四驱动机构54，只需一个电机就能同时驱动四个三角履带轮2，结构精细，设计巧妙，实用性强，适合爬坡、过障碍。
所述第一驱动机构51包括与第一齿轮412皮带连接的第一带动齿轮511。
所述第一驱动机构51还包括与第一带动齿轮511中心固定连接的第一驱动轴512，所述第一驱动轴512外端卡入第一三角履带轮25中心，所述第一驱动轴512上设有第一驱动齿轮514，所述第一驱动齿轮514齿轮连接第一中转齿轮515，所述第一中转齿轮515中心连接第一联动轴61。
所述第一驱动机构51还包括第一框体516，所述第一驱动轴512穿过所述第一框体516的两个侧面，所述第一驱动齿轮514、第一中转齿轮515设置在第一框体516内，所述第一带动齿轮511设置在第一框体516外并与第一驱动轴512內端固定连接，所述第一联动轴61穿过所述第一框体516与第一中转齿轮515中心固定连接。
所述第一联动轴61包括与第一中转齿轮515中心固定连接的第一连接部611、中间转接部612和与第三驱动机构53连接的第二连接部613，所述第一连接部611、第二连接部613两端为空心圆柱，所述中间转接部612两端卡入空心圆柱。
所述第一驱动轴512外端圆周上设有突出部513，所述第一三角履带轮25中心设有与第一驱动轴512外端配合的驱动孔。
所述第一联动轴61穿过第一框体516的两个侧面，所述第一联动轴61內端卡入第一连接部611。
所述第一驱动轴512通过轴承与第一框体516的两个侧面转动连接。
本发明的另一优选实施例，一种三角履带轮机器人，包括主体1和设置在主体1上的四个三角履带轮2，所述主体1内设有第三电机43，所述第三电机43的第三转动轴431通过第一驱动机构51驱动第一三角履带轮25，所述第一驱动机构51通过皮带驱动第二驱动机构52，所述第二驱动机构52驱动第二三角履带轮26，所述第一驱动机构51通过第一联动轴61驱动第三驱动机构53，所述第三驱动机构53驱动第三三角履带轮27，所述第三驱动机构53通过皮带驱动第四驱动机构54，所述第四驱动机构54驱动第四三角履带轮28。
由于第三电机43的第三转动轴431驱动第一驱动机构51，经第一驱动机构51通过皮带驱动第二驱动机构52，经第一驱动机构51通过第一联动轴61驱动第三驱动机构53，经第三驱动机构53通过皮带驱动第四驱动机构54，只需一个电机就能同时驱动四个三角履带轮2，结构精细，设计巧妙，实用性强，适合爬坡、过障碍。
所述第一驱动机构51包括与第三转动轴431固定连接的第五驱动齿轮517，所述第五驱动齿轮517齿轮连接第一连动齿轮518，所述第一连动齿轮518带动第一中转齿轮515，所述第一中转齿轮515驱动第一驱动齿轮514，所述第一驱动齿轮514带动第一带动齿轮511，所述第一带动齿轮511皮带连接第二驱动机构52。
所述第一驱动机构51还包括第一框体516，所述第一框体516上设有第一驱动轴512和第一联动轴61，所述第一驱动轴512穿过所述第一框体516的两个侧面，所述第一联动轴61穿过所述第一框体516的两个侧面，所述第一连动齿轮518和第一中转齿轮515设置在第一联动轴61上，所述第一驱动齿轮514与第一带动齿轮511设置在第一驱动轴512上，所述第一驱动轴512通过轴承与第一框体516的两个侧面转动连接，所述第一联动轴61通过轴承与第一框体516的两个侧面转动连接。
所述第一联动轴61包括与第一中转齿轮515中心固定连接的第一连接部 611、中间转接部612和与第三驱动机构53连接的第二连接部613，所述第一连接部611、第二连接部613两端为空心圆柱，所述中间转接部612两端卡入空心圆柱。
所述第一驱动轴512外端圆周上设有突出部513，所述第一三角履带轮25中心设有与第一驱动轴512外端配合的驱动孔。
所述第一联动轴61穿过第一框体516的两个侧面，所述第一联动轴61內端卡入第一连接部611。
所述第二驱动机构52包括第二框体521，所述第二框体521上设有第二驱动轴522，所述第二驱动轴522穿过所述第二框体521的两个侧面，所述第二驱动轴522上设有第二带动齿轮523，所述第二带动齿轮523设置在第二框体521外并与第一带动齿轮511皮带连接，所述第二带动齿轮523与第二驱动轴522固定连接，所述第二驱动轴522驱动第二三角履带轮26。
所述第二驱动机构52还包括套设在第二驱动轴522上并与第二驱动轴522固定连接的第二驱动齿轮525，所述第二驱动齿轮525连接第二中转齿轮524，所述第二中转齿轮524通过第二联动轴62驱动第四驱动机构54，所述第二驱动齿轮525和第二中转齿轮524设置在第二框体521内，所述第二联动轴62穿过所述第二框体521的两个侧面。
所述第三驱动机构53包括第三框体531，所述第三框体531上设有第三驱动轴532，所述第一联动轴61穿过所述第三框体531的两个侧面，所述第一联动轴61上设有第三中转齿轮533，所述第三中转齿轮533齿轮连接第三驱动齿轮534，所述第三驱动齿轮534套设在第三驱动轴532上并与第三驱动轴532固定连接，所述第三驱动轴532外端部驱动第三三角履带轮27。
所述第三驱动轴532穿过所述第三框体531的两个侧面，所述第三驱动轴532上设有第三带动齿轮535，所述第三带动齿轮535设置在第三框体531外并于第三驱动轴532內端固定连接，所述第三带动齿轮535通过皮带驱动第四驱动机构54。
本发明的另一优选实施例，一种三角履带轮机器人，包括主体1和设置在主体1上的四个三角履带轮2，所述主体1内设有第一电机41和第二电机42，所述第一电机41的第一转动轴411上设有同轴心的第一齿轮412和第二齿轮413，所述第二电机42的第二转动轴421上设有同轴心的第三齿轮422和第四齿轮423，所述第一齿轮412通过第一驱动机构51驱动第一三角履带轮25，所述第二齿轮413通过第二驱动机构52驱动第二三角履带轮26，所述第三齿轮422通过第三驱动机构53驱动第三三角履带轮27，所述第四齿轮423通过第四驱动机构54驱动第四三角履带轮28。
由于第一电机41的第一转动轴411上设有同轴心的第一齿轮412和第二齿轮413，第二电机42的第二转动轴421上设有同轴心的第三齿轮422和第四齿轮423，第一齿轮412通过第一驱动机构51驱动第一三角履带轮25，第二齿轮413通过第二驱动机构52驱动第二三角履带轮26，第三齿轮422通过第三驱动机构53驱动第三三角履带轮27，所述第四齿轮423通过第四驱动机构54驱动第四三角履带轮28，通过两个电机驱动四个三角履带轮2，两个电机分别控制一侧的两个三角履带轮2，方便控制转向，动力更强，爬坡能力和过障碍性能得到显著提高。
所述第一驱动机构51包括与第一齿轮412皮带连接的第一带动齿轮511，所述第二驱动机构52包括与第二齿轮413皮带连接的第二带动齿轮523，所述第三驱动机构53包括与第三齿轮422皮带连接的第三带动齿轮535，所述第四驱动机构54包括与第四齿轮423皮带连接的第四带动齿轮541。
所述第一驱动机构51还包括与第一带动齿轮511中心固定连接的第一驱动轴512，所述第一驱动轴512外端卡入第一三角履带轮25中心。
所述第一驱动轴512上还设有第一驱动齿轮514，所述第一驱动齿轮514齿轮连接第一中转齿轮515，所述第一中转齿轮515中心连接第一联动轴61，所述第一中转齿轮515通过第一联动轴61驱动第三驱动机构53。
所述第一驱动机构51还包括第一框体516，所述第一驱动轴512穿过所述 第一框体516的两个侧面，所述第一驱动齿轮514、第一中转齿轮515设置在第一框体516内，所述第一带动齿轮511设置在第一框体516外并与第一驱动轴512內端固定连接，所述第一联动轴61穿过所述第一框体516与第一中转齿轮515中心固定连接。
所述第二驱动机构52还包括与第二带动齿轮523中心固定连接的第二驱动轴522，所述第二驱动轴522外端卡入第二三角履带轮26中心，所述第二驱动轴522上还设有第二驱动齿轮525，所述第二驱动齿轮525齿轮连接第二中转齿轮524，所述第二中转齿轮524中心连接第二联动轴62，所述第二中转齿轮524通过第二联动轴62驱动第四驱动机构54。
所述第一联动轴61包括与第一中转齿轮515中心固定连接的第一连接部611、中间转接部612和与第三驱动机构53连接的第二连接部613，所述第一连接部611、第二连接部613两端为空心圆柱，所述中间转接部612两端卡入空心圆柱，所述第一联动轴61穿过第一框体516的两个侧面，所述第一联动轴61內端卡入第一连接部611。
本发明的另一优选实施例，一种三角履带轮机器人，包括主体1和设置在主体1上的四个三角履带轮2，所述主体1内设有第三电机43和第四电机44，所述第三电机43的第三转动轴431通过第一驱动机构51驱动第一三角履带轮25，所述第一驱动机构51通过第一联动轴61驱动第三驱动机构53，所述第三驱动机构53驱动第三三角履带轮27，所述第四电机44的第四转动轴441通过第四驱动机构54驱动第四三角履带轮28，所述第四驱动机构54通过第二联动轴62驱动第二驱动机构52，所述第二驱动机构52驱动第二三角履带轮26。
由于主体1内设有第三电机43和第四电机44，第三电机43的第三转动轴431驱动第一驱动机构51，然后第一驱动机构51通过第一联动轴61驱动第三驱动机构53，第四电机44的第四转动轴441驱动第四驱动机构54，然后第四驱动机构54通过第二联动轴62驱动第二驱动机构52，通过两个电机驱动四个三角履带轮2，两个电机分别控制机器人前面或后面的两个三角履带轮2，方便 控制转向，动力更强，爬坡能力和过障碍性能得到显著提高。
所述第一驱动机构51包括与第三转动轴431固定连接的第五驱动齿轮517，所述第五驱动齿轮517齿轮连接第一连动齿轮518，所述第一连动齿轮518带动第一中转齿轮515，所述第一中转齿轮515齿轮连接第一驱动齿轮514，所述第一驱动齿轮514带动第一驱动轴512，所述第一驱动轴512驱动第一三角履带轮25。
所述第一驱动机构51还包括第一框体516，所述第一驱动轴512穿过所述第一框体516的两个侧面，所述第一联动轴61穿过所述第一框体516的两个侧面，所述第一连动齿轮518和第一中转齿轮515设置在第一联动轴61上，所述第一驱动齿轮514与第一带动齿轮511设置在第一驱动轴512上，所述第五驱动齿轮517设置在第一框体516内，所述第一驱动轴512通过轴承与第一框体516的两个侧面转动连接，所述第一联动轴61通过轴承与第一框体516的两个侧面转动连接。
所述第一联动轴61包括与第一中转齿轮515中心固定连接的第一连接部611、中间转接部612和与第三驱动机构53连接的第二连接部613，所述第一连接部611、第二连接部613两端为空心圆柱，所述中间转接部612两端卡入空心圆柱。
所述第一驱动轴512外端圆周上设有突出部513，所述第一三角履带轮25中心设有与第一驱动轴512外端配合的驱动孔。
所述第一联动轴61穿过第一框体516的两个侧面，所述第一联动轴61內端卡入第一连接部611。
所述第二驱动机构52包括第二框体521，所述第二框体521上设有第二驱动轴522，所述第二驱动轴522穿过所述第二框体521的两个侧面，所述第二驱动轴522上设有第二带动齿，所述第二带动齿轮523设置在第二框体521外并与第一带动齿轮511皮带连接，所述第二带动齿轮523与第二驱动轴522固定连接，所述第二驱动轴522驱动第二三角履带轮26。
所述第二驱动机构52还包括套设在第二驱动轴522上并与第二驱动轴522固定连接的第二驱动齿轮525，所述第二驱动齿轮525连接第二中转齿轮524，所述第二中转齿轮524通过第二联动轴62驱动第四驱动机构54，所述第二驱动齿轮525和第二中转齿轮524设置在第二框体521内，所述第二联动轴62穿过所述第二框体521的两个侧面。
所述第三驱动机构53包括第三框体531，所述第三框体531上设有第三驱动轴532，所述第一联动轴61穿过所述第三框体531的两个侧面，所述第一联动轴61上设有第三中转齿轮533，所述第三齿轮422齿轮连接第三驱动齿轮534，所述第三驱动齿轮534套设在第三驱动上并与第三驱动轴532固定连接，所述第三驱动轴532外端部驱动第三三角履带轮27。
所述第三驱动轴532穿过所述第三框体531的两个侧面，所述第三驱动轴532上设有第三带动齿，所述第三带动齿轮535设置在第三框体531外并于第三驱动轴532內端固定连接，所述第三带动齿轮535通过皮带驱动第四驱动机构54。
本发明的另一优选实施例，一种三角履带轮机器人，包括主体1和设置在主体1上的四个三角履带轮2，所述主体1内设有第一电机41和第三电机43，所述第一电机41的第一转动轴411上设有同轴心的第一齿轮412和第二齿轮413，所述第一齿轮412通过第一驱动机构51驱动第一三角履带轮25，所述第二齿轮413通过第二驱动机构52驱动第二三角履带轮26，所述第三电机43的第三转动轴431驱动第一驱动机构51，所述第一驱动机构51通过第一联动轴61带动第三驱动机构53，所述第三驱动机构53驱动第三三角履带轮27，所述第二驱动机构52和/或第三驱动机构53带动第四驱动机构54，所述第四驱动机构54驱动第四三角履带轮28。
由于主体1内设有第一电机41和第三电机43，第一电机41的第一转动轴411上设有同轴心的第一齿轮412和第二齿轮413，第一齿轮412通过第一驱动机构51驱动第一三角履带轮25，第二齿轮413通过第二驱动机构52驱动第二 三角履带轮26，第三电机43的第三转动轴431驱动第一驱动机构51，所述第一驱动机构51通过第一联动轴61带动第三驱动机构53，第三驱动机构53驱动第三三角履带轮27，第二驱动机构52和/或第三驱动机构53带动第四驱动机构54，通过两个电机驱动四个三角履带轮2，两个电机同时驱动一个三角履带轮2，方便控制转向，动力更强，爬坡能力和过障碍性能得到显著提高。
所述第一驱动机构51包括与第一齿轮412皮带连接的第一带动齿轮511、与第一带动齿轮511中心固定连接的第一驱动轴512，所述第一驱动轴512外端卡入第一三角履带轮25中心，所述第一驱动轴512上设有第一驱动齿轮514，所述第一驱动齿轮514齿轮连接第一中转齿轮515，所述第一中转齿轮515中心连接第一联动轴61，所述第三电机43的第三驱动轴532上设有第五齿轮，所述第五齿轮齿轮连接第一连动齿轮518，所述第一连动齿轮518固定套设在第一联动轴61上。
所述第一驱动机构51还包括第一框体516，所述第一驱动轴512穿过所述第一框体516的两个侧面，所述第一联动轴61穿过所述第一框体516的两个侧面，所述第五驱动齿轮517设置在第一框体516内，所述第一驱动轴512通过轴承与第一框体516的两个侧面转动连接，所述第一联动轴61通过轴承与第一框体516的两个侧面转动连接。
所述第二驱动机构52通过第二联动轴62带动第四驱动机构54。
所述第二驱动机构52包括第二齿轮413皮带连接的第二带动齿轮523、与第二带动齿轮523中心固定连接的第二驱动轴522和第二框体521，所述第二驱动轴522上设有第二驱动齿轮525，所述第二驱动齿轮525齿轮连接第二连动齿轮，所述第二连动齿轮带动第二联动轴62，所述第二联动轴62带动第四驱动机构54。
所述第三驱动机构53通过履带24带动第四驱动机构54。
所述第三驱动机构53包括第三框体531和第三驱动轴532，所述第三驱动轴532上设置有第三带动齿轮535，所述第三带动齿轮535设置在第三框体531 外，所述第三带动齿轮535皮带连接第四驱动机构54。
本发明的另一优选实施例，一种三角履带轮机器人，包括主体1和设置在主体1上的四个三角履带轮2，所述主体1内设有第一电机41、第二电机42、第三电机43和第四电机44，所述第三电机43通过第一驱动机构51驱动第一三角履带轮25，所述第一电机41通过第二驱动机构52驱动第二三角履带轮26，所述第二电机42通过第二驱动机构52驱动第二三角履带轮26，所述第四电机44通过第四驱动机构54驱动第四三角履带轮28。
由于主体1内设有第一电机41、第二电机42、第三电机43和第四电机44，第三电机43通过第一驱动机构51驱动第一三角履带轮25，第一电机41通过第二驱动机构52驱动第二三角履带轮26，第二电机42通过第二驱动机构52驱动第二三角履带轮26，第四电机44通过第四驱动机构54驱动第四三角履带轮28，通过四个电机分别驱动一个三角履带轮2，控制方便，转向灵活，动力强劲，爬坡能力和过障碍性能得到显著提高。
所述第一驱动机构51通过第一联动轴61连接第三驱动机构53。
所述第四驱动机构54通过第二联动轴62连接第二驱动机构52。
所述第一电机41的第一转动轴411上设有同轴心的第一齿轮412和第二齿轮413，所述第一齿轮412通过皮带驱动第一驱动机构51，所述二齿轮通过皮带驱动第二驱动机构52。
所述第二电机42的第二转动轴421上设有同轴心的第三齿轮422和第四齿轮423，所述第三齿轮422通过皮带驱动第三驱动机构53，所述四齿轮通过皮带驱动第四驱动机构54。
所述第一驱动机构51通过第一联动轴61连接第三驱动机构53，所述第四驱动机构54通过第二联动轴62连接第二驱动机构52，所述第一电机41的第一转动轴411上设有同轴心的第一齿轮412和第二齿轮413，所述第一齿轮412通过皮带驱动第一驱动机构51，所述二齿轮通过皮带驱动第二驱动机构52，所述第二电机42的第二转动轴421上设有同轴心的第三齿轮422和第四齿轮423， 所述第三齿轮422通过皮带驱动第三驱动机构53，所述四齿轮通过皮带驱动第四驱动机构54。
所述第二齿轮413与第二驱动机构52之间设有第一皮带中转机构63，所述第四电机44设置在第二齿轮413、第二驱动机构52和两者连接的皮带之间，所述第三齿轮422与第三驱动机构53之间设有第二皮带中转机构64，所述第三电机43设置在第三齿轮422、第三驱动机构53和两者连接的皮带之间。
所述第一联动轴61设置在第三齿轮422、第三驱动机构53和两者连接的皮带之间，所述第二联动轴62设置在第二齿轮413、第二驱动机构52和两者连接的皮带之间。
所述第一皮带中转机构63包括三个中转转轴631，所述三个中转转轴631成倒品字形设置，所述第四电机44、第二联动轴62分别设置在两个中转转轴631抬高的皮带之间。
本发明的另一优选实施例，一种三角履带轮机器人，包括主体1和设置在主体1上的四个三角履带轮2，所述主体1内设有第一电机41、第二电机42、第三电机43和第四电机44，所述第三电机43通过第一驱动机构51驱动第一三角履带轮25，所述第一电机41通过第二驱动机构52驱动第二三角履带轮26，所述第二电机42通过第二驱动机构52驱动第二三角履带轮26，所述第四电机44通过第四驱动机构54驱动第四三角履带轮28，所述第一电机41的第一转动轴411上设有第二齿轮413，所述二齿轮通过皮带驱动第二驱动机构52，所述第二电机42的第二转动轴421上设有第三齿轮422，所述第三齿轮422通过皮带驱动第三驱动机构53，所述第二齿轮413与第二驱动机构52之间设有扩大皮带范围的第一皮带中转机构63，所述第四电机44设置在第二齿轮413和第二驱动机构52之间的皮带范围内，所述第三齿轮422与第三驱动机构53之间设有扩大皮带范围的第二皮带中转机构64，所述第三电机43设置在第三齿轮422和第三驱动机构53之间的皮带范围内。
通过第一皮带中转机构63和第二皮带中转机构64将皮带的范围扩大，将 四个电机都能放置在一起，节约空间，同时又能限制皮带位置，提高稳定性。
所述第一电机41的第一转动轴411上设有与第二齿轮413同轴心的第一齿轮412，所述第一齿轮412通过皮带驱动第一驱动机构51，所述第二电机42的第二转动轴421上设有与第三齿轮422同轴心的第四齿轮423，所述四齿轮通过皮带驱动第四驱动机构54。
所述第一皮带中转机构63包括一个中转转轴631，所述中转转轴631上表面高于第二齿轮413上表面。
所述第一驱动机构51通过第一联动轴61连接第三驱动机构53，所述第四驱动机构54通过第二联动轴62连接第二驱动机构52.
所述第一皮带中转机构63包括三个中转转轴631，所述三个中转转轴631成倒品字形设置，其中两个上面的中转转轴631上表面高于第二齿轮413上表面，所述第四电机44、第二联动轴62分别设置在两个中转转轴631抬高的皮带之间。
所述第二皮带中转机构64包括三个中转转轴631，所述三个中转转轴631成倒品字形设置，其中两个上面的中转转轴631上表面高于第三齿轮422上表面，所述第三电机43、第一联动轴61分别设置在两个中转转轴631抬高的皮带之间。
所述第一联动轴61和第二联动轴62设置在前后两端，所述第一电机41和第二电机42设置在中间，所述第三电机43设置在第一电机41和第一联动轴61之间，所述第三电机43设置在第二电机42与第二联动轴62之间。
所述第一皮带中转机构63与第四电机44分别设置在机器人内两侧。
本发明的另一优选实施例，一种三角履带轮机器人，包括主体1和设置在主体1上的四个三角履带轮2，所述主体1包括上壳11、中框12和下壳13，所述上壳11和下壳13固定在中框12上，所述上壳11上设有摄像机构3，所述中框12尾端设有外置天线7，所述中框12包括中间具有镂空部的支架板121，所述支架板121周边设有向上的第一凸边122和向下的第二凸边123，所述支架板 121上侧设有电路板，所述支架板121下侧固定连接驱动电机和齿轮组。
由于三角履带轮2机器人包括主体1和设置在主体1上的四个三角履带轮2，主体1包括上壳11、中框12和下壳13，上壳11和下壳13固定在中框12上，上壳11上设有摄像机构3，中框12尾端设有外置天线7，中框12包括中间具有镂空部的支架板121，支架板121周边设有向上的第一凸边122和向下的第二凸边123，支架板121上侧设有电路板，支架板121下侧固定连接驱动电机和齿轮组，上壳11和下壳13都固定在中框12上，方便安装，支架板121中间具有镂空部，减轻重量，固定方便，固定牢固。
所述第一凸边122包括与支架板121重合且固定连接的第一侧边、与第一侧边垂直连接的第二侧边，所述第一侧边和第二侧边上设有多个螺丝孔。
所述支架板121中间设有横竖交错的支架条，所述支架条上设有固定孔，所述齿轮组包括框体，所述框体通过螺栓与支架条固定连接，所述驱动电机通过所述齿轮组驱动三角履带轮2。
所述驱动电机包括第一电机41和第二电机42，所述支架板121下侧设有与第一电机41配合的第一轴承45、与第二电机42配合的第二轴承46。
所述齿轮组包括对应四个三角履带轮2的四个齿轮组，所述齿轮组包括框体，所述主体1还包括覆盖对应前轮的两个齿轮组的第一盖板，覆盖对应后轮的两个齿轮组的第二盖板，所述框体与盖板螺栓固定连接。
所述支架板121上侧设有垫板，所述电路板设置在垫板上。
所述摄像机构3包括摄像装置31和驱动装置，所述驱动装置包括与主体1连接的第一驱动机构51，所述第一驱动机构51驱动摄像装置31上下运动，所述驱动装置还包括第二驱动机构52，所述第二驱动机构52驱动摄像装置31旋转。
所述第一驱动机构51包括与主体1连接的底座321和连接机构322，所述底座321内设有第一摄像电机，所述第一摄像电机驱动连接机构322一端，所述连接机构322另一端连接摄像装置31，所述底座321上设有支撑324，所述 第一摄像电机的第一摄像驱动轴325穿过所述支撑324，所述连接机构322包括两块并列的连接板323，两块所述连接板323一端设有第一摄像驱动轴325穿过的通孔，所述第一摄像驱动轴325上还设有高度驱动轮326，所述高度驱动轮326设置在两块连接板323之间，两块所述连接板323另一端中间设有卡接轮327，所述高度驱动轮326与卡接轮327之间通过皮带连接。
所述摄像装置31通过固定架328与连接板323另一端固定连接，所述固定架328设有向下的两个固定脚329，所述两个固定脚329设置在卡接轮327两侧，两个固定脚329、卡接轮327和两块连接板323固定连接，所述固定架328包括连接两个固定脚329的放置板331，所述放置板331上设有支架332，所述支架332上设有第二摄像转轴333，所述第二摄像转轴333端部设置摄像装置31，所述第二摄像转轴333中间设有第一旋转齿轮334，所述固定架328上设有第二摄像电机336，所述第二摄像电机336的第二摄像驱动轴337连接第二旋转齿轮335，所述第二旋转齿轮335连接第一旋转齿轮334。
所述摄像机构3设置在上壳11侧边，所述上壳11上还设有防抖装置8，所述防抖装置8设置在上壳11前侧中间。
以上内容是结合具体的优选实施方式对本发明所作的进一步详细说明，不能认定本发明的具体实施只局限于这些说明。对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本发明的保护范围。

Claims (9)

  1. 一种三角履带轮机器人，其特征在于，包括主体和设置在主体上的四个三角履带轮，所述主体内设有第一电机、第二电机、第三电机和第四电机，所述第三电机通过第一驱动机构驱动第一三角履带轮，所述第一电机通过第二驱动机构驱动第二三角履带轮，所述第二电机通过第二驱动机构驱动第二三角履带轮，所述第四电机通过第四驱动机构驱动第四三角履带轮。
  2. 根据权利要求1所述的一种三角履带轮机器人，其特征在于，所述第一驱动机构通过第一联动轴连接第三驱动机构。
  3. 根据权利要求1所述的一种三角履带轮机器人，其特征在于，所述第四驱动机构通过第二联动轴连接第二驱动机构。
  4. 根据权利要求1所述的一种三角履带轮机器人，其特征在于，所述第一电机的第一转动轴上设有同轴心的第一齿轮和第二齿轮，所述第一齿轮通过皮带驱动第一驱动机构，所述二齿轮通过皮带驱动第二驱动机构。
  5. 根据权利要求1所述的一种三角履带轮机器人，其特征在于，所述第二电机的第二转动轴上设有同轴心的第三齿轮和第四齿轮，所述第三齿轮通过皮带驱动第三驱动机构，所述四齿轮通过皮带驱动第四驱动机构。
  6. 根据权利要求1所述的一种三角履带轮机器人，其特征在于，所述第一驱动机构通过第一联动轴连接第三驱动机构，所述第四驱动机构通过第二联动轴连接第二驱动机构，所述第一电机的第一转动轴上设有同轴心的第一齿轮和第二齿轮，所述第一齿轮通过皮带驱动第一驱动机构，所述二齿轮通过皮带驱动第二驱动机构，所述第二电机的第二转动轴上设有同轴心的第三齿轮和第四齿轮，所述第三齿轮通过皮带驱动第三驱动机构，所述四齿轮通过皮带驱动第四驱动机构。
  7. 根据权利要求6所述的一种三角履带轮机器人，其特征在于，所述第二齿轮与第二驱动机构之间设有第一皮带中转机构，所述第四电机设置在第二齿 轮、第二驱动机构和两者连接的皮带之间，所述第三齿轮与第三驱动机构之间设有第二皮带中转机构，所述第三电机设置在第三齿轮、第三驱动机构和两者连接的皮带之间。
  8. 根据权利要求7所述的一种三角履带轮机器人，其特征在于，所述第一联动轴设置在第三齿轮、第三驱动机构和两者连接的皮带之间，所述第二联动轴设置在第二齿轮、第二驱动机构和两者连接的皮带之间。
  9. 根据权利要求8所述的一种三角履带轮机器人，其特征在于，所述第一皮带中转机构包括三个中转转轴，所述三个中转转轴成倒品字形设置，所述第四电机、第二联动轴分别设置在两个中转转轴抬高的皮带之间。
PCT/CN2016/096518 2016-08-24 2016-08-24 一种三角履带轮机器人 WO2018035748A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/096518 WO2018035748A1 (zh) 2016-08-24 2016-08-24 一种三角履带轮机器人

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/096518 WO2018035748A1 (zh) 2016-08-24 2016-08-24 一种三角履带轮机器人

Publications (1)

Publication Number Publication Date
WO2018035748A1 true WO2018035748A1 (zh) 2018-03-01

Family

ID=61245841

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/096518 WO2018035748A1 (zh) 2016-08-24 2016-08-24 一种三角履带轮机器人

Country Status (1)

Country Link
WO (1) WO2018035748A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111703514A (zh) * 2020-06-10 2020-09-25 库宁机械贸易(宁波)有限公司 一种牵引车

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04146875A (ja) * 1990-10-05 1992-05-20 Suzuki Motor Corp クローラ走行車
CN103863423A (zh) * 2012-12-17 2014-06-18 中国科学院沈阳自动化研究所 一种三角履带式移动机构
CN205345098U (zh) * 2016-01-23 2016-06-29 哈尔滨理工大学 一种行星轮履带式排爆机器人
CN106240661A (zh) * 2016-08-24 2016-12-21 李玉婷 一种三角履带轮机器人
CN106314578A (zh) * 2016-08-24 2017-01-11 李玉婷 一种三角履带轮机器人
CN106314138A (zh) * 2016-08-24 2017-01-11 李玉婷 一种三角履带轮机器人

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04146875A (ja) * 1990-10-05 1992-05-20 Suzuki Motor Corp クローラ走行車
CN103863423A (zh) * 2012-12-17 2014-06-18 中国科学院沈阳自动化研究所 一种三角履带式移动机构
CN205345098U (zh) * 2016-01-23 2016-06-29 哈尔滨理工大学 一种行星轮履带式排爆机器人
CN106240661A (zh) * 2016-08-24 2016-12-21 李玉婷 一种三角履带轮机器人
CN106314578A (zh) * 2016-08-24 2017-01-11 李玉婷 一种三角履带轮机器人
CN106314138A (zh) * 2016-08-24 2017-01-11 李玉婷 一种三角履带轮机器人

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111703514A (zh) * 2020-06-10 2020-09-25 库宁机械贸易(宁波)有限公司 一种牵引车

Similar Documents

Publication Publication Date Title
WO2018035750A1 (zh) 一种三角履带轮机器人
WO2018035746A1 (zh) 一种三角履带轮机器人
CN107717941A (zh) 一种面向电缆沟巡检作业多功能移动机器人
CN104875798B (zh) 变电站轮履复合可切换式移动机器人
CN106114662A (zh) 一种三角履带轮机器人
CN204248880U (zh) 一种多功能救援机器人
CN106240661A (zh) 一种三角履带轮机器人
WO2018035744A1 (zh) 一种三角履带轮机器人
WO2018035745A1 (zh) 一种三角履带轮机器人
WO2018035738A1 (zh) 一种三角履带轮机器人
CN106362412A (zh) 一种履带车
CN106240662A (zh) 一种三角履带轮机器人
CN208557467U (zh) 一种面向电缆沟巡检作业多功能移动机器人
CN207344572U (zh) 行走台和防爆机器人
WO2018035748A1 (zh) 一种三角履带轮机器人
CN207593771U (zh) 排爆机器人和远程操控机器人
WO2018035747A1 (zh) 一种三角履带轮机器人
WO2018035743A1 (zh) 一种三角履带轮机器人
WO2018035742A1 (zh) 一种三角履带轮机器人
CN106314578A (zh) 一种三角履带轮机器人
WO2018035749A1 (zh) 一种三角履带轮机器人
CN106080815A (zh) 一种三角履带轮机器人
TW201637917A (zh) 高機動性載具
CN210881671U (zh) 一种轮式移动机器人行走底盘
CN106314138A (zh) 一种三角履带轮机器人

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16913772

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205 DATED 15/07/2019)

122 Ep: pct application non-entry in european phase

Ref document number: 16913772

Country of ref document: EP

Kind code of ref document: A1