CN100396451C - Means for driving active turning-up crawler robot to walk - Google Patents
Means for driving active turning-up crawler robot to walk Download PDFInfo
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- CN100396451C CN100396451C CNB2006100468816A CN200610046881A CN100396451C CN 100396451 C CN100396451 C CN 100396451C CN B2006100468816 A CNB2006100468816 A CN B2006100468816A CN 200610046881 A CN200610046881 A CN 200610046881A CN 100396451 C CN100396451 C CN 100396451C
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- escapement
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- wheel
- crawler
- swing
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Abstract
The present invention relates to a robot, particularly to a device for driving an autonomous turnover type crawler type robot to walk. The present invention comprises a machine body, a driving wheel, a driven wheel and a walk crawler, wherein the driving wheel and the driven wheel are left and right symmetrical; an outer rotor motor without a brush is arranged in the driving wheel; a hollow shaft is arranged in the center of the outer rotor motor with a brush; an outer rotor is fixed on the hollow shaft through a bearing and drives the driving wheel to rotate. A swing wheel is fixedly connected with the outer rotor motor without a brush; the swing wheel coaxially rotates with the outer rotor without a brush and drives a swing wheel crawler; the swing wheel drives the crawler to extend and shrink; a sliding bearing and a rolling bearing are arranged in the hollow shaft; a swing arm shaft penetrates through the sliding bearing and the rolling bearing; a support arm for the swing wheel is arranged outside an upper swing wheel of the swing arm shaft; a drive wheel for the swing wheel is arranged outside the support arm of the upper swing wheel of the swing arm shaft; the middle part of the swing wheel is connected with a drive device for the swing arm. Simultaneously, the present invention has the advantages of the weight of a robot reduction, running speed increase, failure rate reduction and convenient maintenance.
Description
Technical field
The present invention relates to a kind of robot, relate in particular to and a kind ofly have the level land and walk domatic ascending, the means for driving active turning-up crawler robot to walk of handling capacities such as leap of obstacle trench and wetland, muddy ground, rubble ground at a high speed.
Background technology
The walking mechanism of robot is divided into crawler type, wheeled, sufficient formula now, but the robot of wheeled and sufficient formula is ascended domatic, walking is subjected to certain restriction on leap of obstacle trench and wetland, muddy ground, the rubble ground, and caterpillar type robot can be walked on such road conditions and had certain superiority, make present caterpillar type robot be widely used, but caterpillar type robot China great majority form for copying according to foreign technology in fields such as army's investigation, the removal of mines, cooperation and People's Armed Police, public security, fire-fighting and nuclear industry.Its walking driving mechanism generally has following shortcoming: weight is big, and mobility is poor, and general weight is about 150～200 kilograms, and transportation is difficult, and energy consumption is very fast; Complex structure, maintainability is poor, adopts motor acceleration and deceleration device mode to export torque, causes the complexity of system like this, and the speed of travel is slow, makes maintenance difficulty especially.
Summary of the invention
For solve the problems of the technologies described above the invention provides a kind of can be on ground complicated and changeable, the small space walking, can means for driving active turning-up crawler robot to walk, purpose is to reduce the instructions for use of robot to environment, to overcome the variation that existing technology adapts to Different Ground in the process of walking, defectives such as space size, change of shape and domatic angle, enlarge the application of robot, weight reduction makes that to carry carrying simpler, improve the speed of travel, cut down the consumption of energy.
For solving the problems of the technologies described above the technical solution used in the present invention be: a kind of means for driving active turning-up crawler robot to walk, comprise body, the driving wheel that is symmetrical set, driven pulley, traveling crawler, the inside of driving wheel is provided with outer rotor brushless motor, the center of outer rotor brushless motor is provided with quill shaft, outer rotor by bearing fixing on quill shaft, outer rotor drives driving wheel and rotates, escapement is fixedlyed connected with outer rotor brushless motor, escapement and outer rotor brushless motor coaxial rotation, escapement drives the escapement crawler belt, the escapement crawler belt is by escapement regulating wheel and the tensioning of escapement back-up block, in quill shaft, be provided with sliding bearing and rolling bearing, arm shaft passes sliding bearing and rolling bearing, the outside of escapement is provided with the escapement support arm on the arm shaft, and the outside of escapement support arm is provided with the escapement driving wheel on the arm shaft, and the centre of escapement is connected with swing arm drive device.
Described quill shaft is fixedlyed connected with left side plate, and the winding of outer rotor brushless motor is fixed on the quill shaft by the winding seat.
The outer face of described outer rotor brushless motor is provided with the installation seam.
Described escapement crawler belt is identical with the linear velocity of traveling crawler.
Described escapement driving wheel is fixed on the arm shaft by ring flange.
Described arm shaft can rotate by 360 degree.
Described swing arm drive device is the worm gear that is connected by with the swing arm axle key, the worm screw that is connected with worm gear, and swing arm driving motor that is connected with worm screw and decelerator constitute.
Advantageous effect of the present invention: motor adopts outer rotor brushless motor, make arm shaft pass outer rotor brushless motor, motor combines driving with escapement like this, the transmission application of the characteristics of the torque motor slow-speed of revolution, big torque and worm and gear in the walking mechanism at caterpillar type robot, is reduced the parts of robot, reduced cost, alleviated the weight of robot simultaneously, improve the speed of service, reduced fault rate, easy-maintaining.In addition, the built-in braking mechanism of the outer rotor brushless motor braking that effectively solved walking mechanism.
Description of drawings
Fig. 1 is autonomous turning-up crawler robot composition diagram
Fig. 2 is the running gear part cut-away view of autonomous turning-up crawler robot.
Fig. 3 is autonomous turning-up crawler robot vertical view.
Fig. 4 is autonomous turning-up crawler robot side view.
Fig. 5 is the autonomous rollover states of autonomous turning-up crawler robot.
Fig. 6 is the autonomous turning-up crawler robot state of going upstairs.
Among Fig. 1: 1, body; 2, driven pulley; 3, walking pinch roller; 4, battery; 5, driving wheel; 6, escapement driving wheel; 7, escapement crawler belt; 8, traveling crawler; 9, communication antenna; 10, outer rotor brushless motor; 11, swing arm drive device; 12, arm shaft; 13, back-up ring; 14, sliding bearing; 15, decelerator limited block; 16, quill shaft; 17, spring washer; 18, screw; 19, preceding railway carriage sealing gasket; 20, right plate; 21, left plate; 22, escapement; 23, bolt; 24, rolling bearing; 25, sealing ring; 26, deep groove ball bearing; 27, shoulder block; 28, ring flange; 29, shoulder block; 30, circlip for shaft; 31, deep groove ball bearing; 32, escapement support arm; 33, seam is installed; 34, swing arm driving motor; 35, decelerator; 36, worm screw; 37, worm gear; 38, escapement regulating wheel; 39, escapement back-up block.
The specific embodiment
The present invention is further described below in conjunction with accompanying drawing.
Means for driving active turning-up crawler robot to walk of the present invention, comprise body 1, the driving wheel 5 that is symmetrical set, driven pulley 2, traveling crawler 8, the inside of driving wheel 5 is provided with outer rotor brushless motor 10, the center of outer rotor brushless motor 10 is provided with quill shaft 16, outer rotor by bearing fixing on quill shaft 16, outer rotor drives driving wheel 5 and rotates, escapement 22 is fixedlyed connected with outer rotor brushless motor 10 usefulness bolts 23, escapement 22 and outer rotor brushless motor 10 coaxial rotation, escapement 22 drives escapement crawler belt 7, escapement crawler belt 7 is by escapement regulating wheel 38 and 39 tensionings of escapement back-up block, two ends are provided with sliding bearing 14 and rolling bearing 24 in quill shaft 16, arm shaft 12 passes sliding bearing 14 and rolling bearing 24, the outside of escapement 22 is provided with escapement support arm 32 on the arm shaft 12, and the outside of escapement support arm 32 is provided with escapement driving wheel 6 on the arm shaft 12, and the centre of arm shaft 12 is connected with swing arm drive device 11.
Described quill shaft 16 is fixedlyed connected with left side plate 20,21, and the winding of outer rotor brushless motor 10 is fixed on the quill shaft 16 by the winding seat.
The outer face of described outer rotor brushless motor 10 is provided with installs seam 33.
Described escapement crawler belt 7 is identical with the linear velocity of traveling crawler 8.
Described escapement driving wheel 6 is fixed on the arm shaft 12 by ring flange 28, and arm shaft 12 can rotate by 360 degree.
Described swing arm drive device 11 is the worm gears 37 that are connected by with arm shaft 12 keys, the worm screw 36 that is connected with worm gear 37, and swing arm driving motor 34 that is connected with worm screw 36 and decelerator 35 constitute.The outside that is connected with arm shaft 12 in swing arm drive device 11 is provided with back-up ring 13, is provided with decelerator limited block 15 on right plate 20.
Be provided with two deep groove ball bearings 26,31 on arm shaft 12, deep groove ball bearing 31 is located at the outside of ring flange 28, is provided with shoulder block 29 between deep groove ball bearing 31 and ring flange 28, and the outside of zanjon ball journal 31 is provided with circlip for shaft 30; Deep groove ball bearing 26 is located at a side of escapement support arm 32 escapements 22, is provided with shoulder block 27 between deep groove ball bearing 26 and escapement support arm 32, and a side of shoulder block 27 is provided with sealing ring 25.
Be provided with walking pinch roller 3 on traveling crawler 8, the back of driving wheel 5 is provided with battery 4, is provided with communication antenna 9 on body 1.
Below in conjunction with accompanying drawing operation principle of the present invention is described.Means for driving active turning-up crawler robot to walk, as shown in Figure 1, the left and right sides is a symmetrical structure, and driving wheel drives traveling crawler and rotates, and traveling crawler contacts with ground, produces relative motion.Driving wheel is delivered to escapement with transmission simultaneously, and the also transmission of escapement crawler belt realizes climbing function.Shown in Figure 2, when the outer rotor brushless motor energising, unofficial biography of motor rotates, and rotates thereby drive driving wheel.When left side outer rotor brushless motor clockwise rotated, left side traveling crawler also clockwise rotated, and when the right outer rotor brushless motor rotated counterclockwise simultaneously, the right traveling crawler also rotated counterclockwise, and body to overtake; Otherwise travel backward; When the right outer rotor brushless motor clockwise rotated, the right traveling crawler also clockwise rotated, and when left side outer rotor brushless motor clockwise rotated simultaneously, left side traveling crawler also clockwise rotated, and body bends to right; Otherwise turn left; Arm shaft is installed in the quill shaft of left and right sides outer rotor brushless motor by sliding bearing and rolling bearing, the arm shaft two ends are connected with the escapement support arm respectively, the centre is connected with worm gear by key, worm screw is connected with decelerator with the swing arm driving motor, when the swing arm driving motor rotates, worm screw is rotated, thereby worm gear and arm shaft also rotate, and realizes rotatablely moving of escapement support arm.Figure 5 shows that the autonomous rollover states of autonomous turning-up crawler robot, escapement rotates backward, and when the escapement regulating wheel contacted with ground, it was that the center begins rotation that body begins with the arm shaft, realizes autonomous turn over function; Shown in Figure 6 is the autonomous turning-up crawler robot state of going upstairs, and earlier escapement is rotated up certain angle, and the escapement crawler belt is contacted with stairway step, just can climb up stair to overtake.
Claims (6)
1. means for driving active turning-up crawler robot to walk, comprise body (1), the driving wheel that is symmetrical set (5), driven pulley (2), traveling crawler (8), the inside that it is characterized in that driving wheel (5) is provided with outer rotor brushless motor (10), the center of outer rotor brushless motor (10) is provided with quill shaft (16), outer rotor by bearing fixing on quill shaft (16), outer rotor drives driving wheel (5) and rotates, escapement (22) is fixedlyed connected with outer rotor brushless motor (10), escapement (22) and outer rotor brushless motor (10) coaxial rotation, escapement (22) drives escapement crawler belt (7), escapement crawler belt (7) is by escapement regulating wheel (38) and escapement back-up block (39) tensioning, in quill shaft (16), be provided with sliding bearing (14) and rolling bearing (24), arm shaft (12) passes sliding bearing (14) and rolling bearing (24), the outside that arm shaft (12) is gone up escapement (22) is provided with escapement support arm (32), the outside that arm shaft (12) is gone up escapement support arm (32) is provided with escapement driving wheel (6), and the centre of arm shaft (12) is connected with swing arm drive device (11).
2. means for driving active turning-up crawler robot to walk according to claim 1, it is characterized in that described quill shaft (16) fixedlys connected with left side plate (20,21), the winding of outer rotor brushless motor (10) is fixed on the quill shaft (16) by the winding seat.
3. means for driving active turning-up crawler robot to walk according to claim 1 is characterized in that the outer face of described outer rotor brushless motor (10) is provided with installation seam (33).
4. means for driving active turning-up crawler robot to walk according to claim 1 is characterized in that described escapement crawler belt (7) is identical with the linear velocity of traveling crawler (8).
5. means for driving active turning-up crawler robot to walk according to claim 1 is characterized in that described escapement driving wheel (6) is fixed on the arm shaft (12) by ring flange (28).
6. means for driving active turning-up crawler robot to walk according to claim 1 is characterized in that arm shaft (12) can rotate by 360 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100468816A CN100396451C (en) | 2006-06-13 | 2006-06-13 | Means for driving active turning-up crawler robot to walk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100468816A CN100396451C (en) | 2006-06-13 | 2006-06-13 | Means for driving active turning-up crawler robot to walk |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1861333A CN1861333A (en) | 2006-11-15 |
| CN100396451C true CN100396451C (en) | 2008-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100468816A Expired - Fee Related CN100396451C (en) | 2006-06-13 | 2006-06-13 | Means for driving active turning-up crawler robot to walk |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US8360178B2 (en) * | 2010-01-14 | 2013-01-29 | Engineering Services Inc. | Mobile robot |
| CN103318288A (en) * | 2013-06-03 | 2013-09-25 | 上海大学 | Synchronous belt driving type full tracked robot |
| CN105059413A (en) * | 2015-08-18 | 2015-11-18 | 公安部上海消防研究所 | Fire-fighting robot moving carrier having waterproof characteristic |
| CN105902346B (en) * | 2016-05-25 | 2018-05-15 | 张家港市仁和医疗器械有限公司 | A kind of full landform scooter of disabled person |
| US10414039B2 (en) | 2016-09-20 | 2019-09-17 | Foster-Miller, Inc. | Remotely controlled packable robot |
| US10471589B2 (en) | 2016-09-20 | 2019-11-12 | Foster-Miller, Inc. | Remotely controlled packable robot |
| US10889340B2 (en) | 2017-07-07 | 2021-01-12 | Foster-Miller, Inc. | Remotely controlled packable robot with folding tracks |
| CN108248709B (en) * | 2017-12-28 | 2020-09-22 | 华中光电技术研究所（中国船舶重工集团公司第七一七研究所） | Small-size double swing arm crawler-type mobile robot platform |
| CN108045449A (en) * | 2018-01-23 | 2018-05-18 | 哈工大机器人（合肥）国际创新研究院 | Transmission mechanism applied to swing arm robot |
| CN108639169A (en) * | 2018-04-24 | 2018-10-12 | 上海钧工智能技术有限公司 | A kind of overturning arm mechanism of caterpillar robot |
| US11331818B2 (en) | 2018-10-11 | 2022-05-17 | Foster-Miller, Inc. | Remotely controlled packable robot |
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| US6431296B1 (en) * | 1998-03-27 | 2002-08-13 | Irobot Corporation | Robotic platform |
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| WO2005105388A1 (en) * | 2004-04-30 | 2005-11-10 | Korea Institute Of Science And Technology | Link-type double track mechanism for mobile robot |
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2006
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Patent Citations (10)
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|---|---|---|---|---|
| US3869011A (en) * | 1973-01-02 | 1975-03-04 | Ramby Inc | Stair climbing tracked vehicle |
| US4566551A (en) * | 1983-08-30 | 1986-01-28 | Feliz Jack M | Stair-climbing conveyance |
| US4709773A (en) * | 1985-06-21 | 1987-12-01 | Commissariat A L'energie Atomique | Variable geometry track vehicle |
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| US6431296B1 (en) * | 1998-03-27 | 2002-08-13 | Irobot Corporation | Robotic platform |
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| Publication number | Publication date |
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| CN1861333A (en) | 2006-11-15 |
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Granted publication date: 20080625 Termination date: 20120613 |