CN101007548A - Small-sized four-peddrail mobile robot driving device - Google Patents
Small-sized four-peddrail mobile robot driving device Download PDFInfo
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- CN101007548A CN101007548A CN 200710063135 CN200710063135A CN101007548A CN 101007548 A CN101007548 A CN 101007548A CN 200710063135 CN200710063135 CN 200710063135 CN 200710063135 A CN200710063135 A CN 200710063135A CN 101007548 A CN101007548 A CN 101007548A
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Abstract
The invention involves a small-sized four-crawler movable robot drive device which can run on the rough ground or complex ground driven by engine and has high maneuverability and strong over-obstacle capability. The device consists of box body, walking crawler drive device installed left and right symmetrically, swing arm drive device and swing arm crawler components. The crawler and swing arm both are driven by DC servo motor directly, the complex driving devices are eliminated, swing arm drive DC servo motor is installed in the interior of driven wheel and swing arm wheel; it ensures robot has high maneuverability and strong over-obstacle capability, at the same time it overcomes the disadvantages of traditional drive and transmission system, such as a lot of elements, complex structure and low efficiency, it reduces energy consumption, saves interior space, reduces overall weight, increases the work reliability and running stability of robot and provides new design programs and new technology channels for small-sized crawler ground movable robot drive device.
Description
Technical field
The invention belongs to the ground mobile robot technical field, be specifically related to a kind of can be under rugged road surface or MODEL OVER COMPLEX TOPOGRAPHY powered travel, have small-sized four-peddrail mobile robot driving device than high maneuverability and strong obstacle detouring power.
Background technology
In recent years, ground mobile robot has been widely used in the every field of social life, and the miniature mobile robot with advantage such as light, little, fast especially is subjected to people's favor.Existing Small Ground Mobile Robot is applied to fields such as military surveillance, safety explosive, special region detection usually, on function, manoevreability and alerting ability there is higher requirement, and on drive configuration, pursue miniaturization, simplification, lightweight, how to coordinate function and structure relation between the two from design, be the difficult problem of Small Ground Mobile Robot design field.Make a general survey of existing Small Ground Mobile Robot actuating device both at home and abroad, what extensively adopt is the type of drive that motor adds transmission system, there are shortcomings such as complex structure, bulky, inefficiency, especially for four-peddrail mobile robot, walking, swing arm two cover drive transmissions can take the space resources of robot preciousness, and empty weight, volume and the energy consumption that increases robot system, limited its miniaturization development.
Summary of the invention
The invention provides a kind of can be under rugged road surface or MODEL OVER COMPLEX TOPOGRAPHY powered travel, has small-sized four-peddrail mobile robot driving device than high maneuverability and strong obstacle detouring power, purpose is when guaranteeing that robot has high maneuverability and strong obstacle detouring power, overcome conventional drive, the driving system part is numerous, complex structure, the shortcoming of inefficiency, reduce system energy consumption, save the inner space, alleviate overall weight, improve the functional reliability and the riding stability of robot, for small-sized caterpillar belt formula ground mobile robot actuating device provides new design plan and new technological approaches.
For solving the problems of the technologies described above the technical solution used in the present invention be: a kind of small-sized four-peddrail mobile robot driving device comprises casing, the travel driving unit that is symmetrically arranged, swing arm drive device and swing arm assembly.Wherein travel driving unit is positioned at the casing rear portion, comprise the driving wheel, flower wheel, the traveling crawler that are symmetrically arranged in the casing both sides, driving wheel inside is with travel driving motor, and travel driving motor is driving the effect of playing drive sprocket axle when driving wheel rotates; The travel driving motor mouth inserts in the driving wheel drive coupling, and drives the drive coupling rotation by holding screw and key, and the driving wheel drive coupling connects the drive driving wheel by key, and the driving wheel outside is provided with circlip; Travel driving motor is fixed on by holding screw and moves in the seat, and mobile seat can move forward and backward in the drive sprocket axle permanent seat at casing rear portion, thereby regulates the front and back position of driving wheel, plays the effect that tensioning is regulated.Swing arm drive device comprises that being arranged in the coaxial swing arm in the flower wheel outside takes turns, and flower wheel guarantees that by four swing arms wheel pin drive synchronously swing arm wheels around the circumferential symmetric arrangement of wheel shaft the swing arm wheel is identical with secondary speed; The swing arm axle bed runs through flower wheel and swing arm wheel center, and by screw retention on wall box; Be with the swing arm driving motor in the swing arm axle bed, motor output shaft drives the swing arm assembly by the swing arm drive coupling and rotates.Swing arm crawler components comprises inner arm, outer arm, and the swing arm tension assembly, the leading portion support plate, swing arm steamboat and swing arm crawler belt, wherein inner arm is socketed between flower wheel and the swing arm wheel; The outer arm center of turn is coaxial with the swing arm wheel, and is connected with the swing arm drive coupling; The swing arm tension assembly has connected inside and outside arm and leading portion support plate, and the swing arm crawler belt is played tension.
The outer face of described travel driving motor output shaft and the driving wheel outside is concordant, reduced travel driving motor shared space in casing to greatest extent.
Described swing arm driving motor is completely contained in the swing arm axle bed, has saved the space.
Described mobile seat by with the affixed formation I-shaped of mobile flap plate slide block, and then embed in the guide rail that drive sprocket axle permanent seat and wall box form.
Respectively there is a tight fixed bolt at the two ends of described drive sprocket axle permanent seat, are used to limit the position of moving seat, and then limit the tension position of driving wheel, realize the tensioning to traveling crawler.
Between described flower wheel and the swing arm wheel two spacer rings are housed also, the spacer ring of dress have been fixed the position of swing arm bearing.
Described swing arm wheel pin synchronously runs through two spacer rings, and insert respectively in flower wheel and the swing arm wheel at its two ends.
Described swing arm tension assembly comprises the seat that holds out against that is fixed between inner arm and the outer arm, two axis of guides insert and hold out against in the seat, cliding seat inserts in two axis of guides, and can move along the axis of guide, cliding seat limits the relative position of itself and the axis of guide by holding screw, two leading portion support plates are fixed on the two ends of cliding seat, and the swing arm steamboat is installed in the leading portion support plate foremost.
Beneficial effect of the present invention: motor to the multiple action that driving wheel plays support, location and drives, has been simplified transmission device as drive sprocket axle, has saved the bearing part in traditional type of drive, has alleviated the weight of actuating device; In addition, driving wheel and swing arm all are by the drive motor direct drive, have saved loaded down with trivial details transmission device, have saved the space to greatest extent, have reduced system failure rate, for the further miniaturization of mobile robot, lightweight provide solution.
Description of drawings
Accompanying drawing 1 is a small-sized four-peddrail robot overall structure scheme drawing;
Accompanying drawing 2 (a) is a small-sized four-peddrail robot ambulation actuating device cutaway view; Accompanying drawing 2 (b) is a small-sized four-peddrail robot ambulation actuating device decomposing schematic representation;
Accompanying drawing 3 is small-sized four-peddrail robot swinging arm actuating device cutaway views;
Accompanying drawing 4 is small-sized four-peddrail robot swinging arm unit construction scheme drawings;
Accompanying drawing 5 is small-sized four-peddrail robot birds-eye vieies.
In the accompanying drawing, 1-casing, 2-driving wheel, 3-traveling crawler, 4-flower wheel, 5-swing arm wheel, 6-swing arm crawler belt, 7-swing arm steamboat, 8-circlip, 9-driving wheel drive coupling, 10-tight fixed bolt, 11-travel driving motor, 12-mobile flap plate, 13-drive sprocket axle permanent seat, 14-mobile seat, 15-spacer ring, 16-swing arm wheel is pin synchronously, 17-swing arm drive coupling, 18-outer arm, 19-inner arm, 20-swing arm bearing, 21-swing arm driving motor, 22-swing arm axle bed, 23-leading portion support plate, 24-hold out against seat, 25-cliding seat, 26-axis of guide.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
Small-sized four-peddrail mobile robot driving device of the present invention, the traveling crawler actuating device, swing arm drive device and the swing arm crawler components that comprise casing 1, are symmetrically arranged.Wherein the traveling crawler actuating device is positioned at casing 1 rear portion, comprises the driving wheel 2, traveling crawler 3, flower wheel 4, circlip 8, driving wheel drive coupling 9, adjusting bolt 10, traveling crawler drive motor 11, mobile flap plate 12, drive sprocket axle permanent seat 13, mobile seat 14 and the some standard fastenerss that are arranged symmetrically in casing 1 both sides external.The front end of traveling crawler drive motor 11 and output shaft insert in the central through hole of driving wheel drive coupling 9, the outer face of motor output shaft is concordant with the outer face of driving wheel drive coupling 9 central through holes, fixes by the relative circumferential and axial of holding screw and flat key realization traveling crawler drive motor 11 and driving wheel drive coupling 9 again; Then traveling crawler drive motor 11 and the driving wheel drive coupling 9 that is connected as a single entity together inserted in the central through hole of driving wheel 2, have the circlip draw-in groove on the driving wheel drive coupling 9, by circlip 8 just driving wheel 2 be implemented in axial location on the driving wheel drive coupling 9, driving wheel drive coupling 9 connects drive driving wheel 2 by flat key again, when traveling crawler drive motor 11 was driving driving wheels 2 and rotates by driving wheel drive coupling 9, motor output shaft will play the wheel shaft effect of driving wheel 2 together with driving wheel drive coupling 9 like this.Traveling crawler drive motor 11 is fixed on by holding screw and moves in the seat 14, and moving seat 14 can move forward and backward in the drive sprocket axle permanent seat 13 at casing 1 rear portion, to regulate the front and back position of driving wheel 2, plays the effect of regulating the traveling crawler tensioning degree.
Swing arm drive device comprises swing arm wheel 5, spacer ring 15, swing arm wheel pin 16, swing arm drive coupling 17, swing arm driving motor 21, swing arm axle bed 22 and some gauge members synchronously.Swing arm wheel 5 is positioned at flower wheel 4 outsides, and coaxial with flower wheel 4; Flower wheel 4 drives swing arm wheel 5 by selling 16 synchronously around four swing arm wheels of the circumferential symmetric arrangement of wheel shaft, guarantees that swing arm wheel 5 is identical with flower wheel 4 rotating speeds; Swing arm axle bed 22 on casing 1 sidewall, and runs through flower wheel 4 and 5 centers are taken turns in swing arm by screw retention, plays the effect of wheel shaft when flower wheel 4 and swing arm wheel 5 rotate; The output shaft of swing arm driving motor 21 inserts in the through hole of swing arm drive coupling 17, fixes by the relative circumferential and axial of holding screw and flat key realization swing arm driving motor 21 and swing arm drive coupling 17 again; Then swing arm driving motor 21 and the swing arm drive coupling 17 that is connected as a single entity together inserted in the through hole of swing arm axle bed 22, and then by the fixing circumferential and axial position of swing arm driving motor 21 in swing arm axle bed 22 of holding screw; Outer arm 18 in swing arm drive coupling 17 outer ends, is done 360 ° rotations thereby make swing arm drive device can drive the swing arm assembly by screw retention.
Swing arm crawler components comprises swing arm crawler belt 6, outer arm 18, inner arm 19, swing arm bearing 20, swing arm tension assembly, leading portion support plate 23 and some gauge members.Wherein inner arm 19 is socketed on the swing arm bearing 20 between flower wheel 4 and the swing arm wheel 5; It is 5 coaxial that the center of turn of outer arm 18 and swing arm are taken turns, and be connected with swing arm drive coupling 17; The swing arm tension assembly has connected inner arm 19, outer arm 18 and leading portion support plate 23, to 6 tension of swing arm crawler belt.
Described swing arm driving motor 21 is completely contained in the swing arm axle bed 22.
Described mobile seat 14 by with mobile flap plate 12 affixed formation I-shaped slide blocks, and then embed in the guide rail that drive sprocket axle permanent seat 13 and casing 1 sidewall form.
Respectively there is a tight fixed bolt 10 at the two ends of described drive sprocket axle permanent seat 13, are used to limit the position of moving seat 14, and then limit the tension position of driving wheel 2, realize the tensioning to traveling crawler 3.
Between described flower wheel 4 and the swing arm wheel 5 two spacer rings 15 are housed also, the spacer ring 15 of dress have been fixed the position of swing arm bearing 20.
Described swing arm wheel pin 16 synchronously runs through two spacer rings 15, and insert respectively in flower wheel 4 and the swing arm wheel 5 at its two ends.
Described swing arm tension assembly comprises swing arm steamboat 7, leading portion support plate 23, holds out against seat 24, cliding seat 25 and the axis of guide 26.Holding out against seat 24 is fixed between inner arm 19 and outer arm 18 both front ends, two axis of guides 26 insert and hold out against in the seat 24, cliding seat 25 inserts in two axis of guides 26, and can move along the axis of guide 26, cliding seat 25 limits the relative position of itself and the axis of guide 26 by holding screw, two leading portion support plates 23 are fixed on the two ends of cliding seat 25, and swing arm steamboat 7 is installed in leading portion support plate 23 foremost.
Below in conjunction with accompanying drawing principle of work of the present invention is described further.Small-sized four-peddrail mobile robot driving device, as shown in Figure 1, robot integral body is the left-right symmetric structure, travel driving unit drives driving wheel 2 and rotates, driving wheel 2 drives traveling crawlers 3, and rotation is passed to the flower wheel 4 of casing front portion, realizes that robot is in ground-surface walking.Simultaneously, flower wheel 4 passes to swing arm wheel 5 with rotation, rotates thereby drive swing arm crawler belt 6, realizes the climbing function of robot.When about two actuating devices when differential, can realize that robot turns to.Shown in Figure 2, travel driving motor 11 directly drives driving wheel 2 by driving wheel drive coupling 9 and rotates, and simultaneously, travel driving motor 11 is fixed on and moves in the seat 14, plays the effect of drive sprocket axle again.Can limit the position of moving seat 14 by the tight fixed bolt 10 of regulating drive sprocket axle permanent seat 13 two ends, thereby realize tensioning robot ambulation crawler belt 3.Shown in Figure 3, swing arm driving motor 21 is fixed in the swing arm axle bed 22, and rotates by swing arm drive coupling 17 direct drive outer arms 18, rotates thereby drive whole swing arm assembly.Flower wheel 4 and swing arm wheel 5 all are enclosed within swing arm axle bed 22 outsides, are separated with two spacer rings 15 therebetween, and when flower wheel rotated, four swing arms wheels were sold 16 drive swing arm wheels 5 synchronously and rotated together, have guaranteed that swing arm wheel 5 and flower wheel 4 rotate synchronously.Shown in Figure 4, hold out against seat 24 and be fixed between inner arm 19 and the outer arm 18, the two is connected, mobile seat 25 can be fixed on slip on two axis of guides 26 that hold out against on the seat 24, and by the screw latched position, thereby realization is to the tensioning of swing arm crawler belt 6.Robot driving device birds-eye view shown in Figure 5, visible the present invention has saved the inner space of robot casing to greatest extent.
Claims (7)
1, small-sized four-peddrail mobile robot driving device comprises casing 1, the travel driving unit that is symmetrically arranged, swing arm drive device and swing arm crawler components.Wherein travel driving unit is positioned at casing 1 rear portion, comprise the driving wheel 2, flower wheel 4, the traveling crawler 3 that are symmetrically arranged in casing 1 both sides, driving wheel 2 inside are with travel driving motor 11, and travel driving motor 11 is driving the effect of playing drive sprocket axle when driving wheel 2 rotates; Travel driving motor 11 mouths insert in the driving wheel drive coupling 9, and drive 9 rotations of driving wheel drive coupling by holding screw and key, and driving wheel drive coupling 9 connects drive driving wheel 2 by key, and driving wheel 2 outsides are provided with circlip 8; Travel driving motor 11 is fixed on by holding screw and moves in the seat 14, and moving seat 14 can move forward and backward in the drive sprocket axle permanent seat 13 at casing 1 rear portion, thereby regulates the front and back position of driving wheel 2, plays tensioning and regulates;
Described swing arm drive device comprises that being arranged in the coaxial swing arm in flower wheel 4 outsides takes turns 5, and flower wheel 4 is by selling 16 drive swing arm wheels 5 synchronously around four swing arms wheels of the circumferential symmetric arrangement of wheel shaft; Swing arm axle bed 22 runs through flower wheel 4 and 5 centers are taken turns in swing arm, and by screw retention on casing 1 sidewall; Be with swing arm driving motor 21 in the swing arm axle bed 22, motor output shaft drives the swing arm assembly by swing arm drive coupling 17 and rotates;
Described swing arm crawler components comprises outer arm 18, inner arm 19, and the swing arm tension assembly, leading portion support plate 23, swing arm steamboat 7 and swing arm crawler belt 6, wherein inner arm 19 is socketed on the swing arm bearing 20 between flower wheel 4 and the swing arm wheel 5; It is 5 coaxial that the center of turn of outer arm 18 and swing arm are taken turns, and be connected with swing arm drive coupling 17; The swing arm tension assembly comprise be fixed between inner arm 19 and the outer arm 18 hold out against the seat 24, two axis of guides 26 insert and hold out against in the seat 24, cliding seat 25 inserts in two axis of guides 26, and can move along the axis of guide 26, and cliding seat 25 limits the relative position of itself and the axis of guide 26 by holding screw; Two leading portion support plates 23 are fixed on the two ends of cliding seat 25, and swing arm steamboat 7 is installed in leading portion support plate 23 foremost.
2,, it is characterized in that the outer face of described travel driving motor 11 output shafts is concordant with driving wheel 2 outsides according to the described small-sized four-peddrail mobile robot driving device of claim 1.
3,, it is characterized in that described swing arm driving motor 21 is completely contained in the swing arm axle bed 22 according to the described small-sized four-peddrail mobile robot driving device of claim 1.
4, according to the described small-sized four-peddrail mobile robot driving device of claim 1, it is characterized in that described mobile seat 14 by with mobile flap plate 12 affixed formation I-shaped slide blocks, and then embed in the guide rail that drive sprocket axle permanent seat 13 and casing 1 sidewall form.
5,, it is characterized in that the two ends of described drive sprocket axle permanent seat 13 respectively have one to limit the tight fixed bolt 10 that moves seat 14 positions according to the described small-sized four-peddrail mobile robot driving device of claim 4.
6, according to the described small-sized four-peddrail mobile robot driving device of claim 1, it is characterized in that between described flower wheel 4 and the swing arm wheel 5 two spacer rings 15 being housed also, the spacer ring 15 of dress has been fixed the position of swing arm bearing 20.
7,, it is characterized in that the synchronous pin 16 of described swing arm wheel runs through two spacer rings 15, and its two ends are inserted respectively in flower wheel 4 and the swing arm wheel 5 according to the described small-sized four-peddrail mobile robot driving device of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100631352A CN100434331C (en) | 2007-01-29 | 2007-01-29 | Small-sized four-peddrail mobile robot driving device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100631352A CN100434331C (en) | 2007-01-29 | 2007-01-29 | Small-sized four-peddrail mobile robot driving device |
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| Publication Number | Publication Date |
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| CN101007548A true CN101007548A (en) | 2007-08-01 |
| CN100434331C CN100434331C (en) | 2008-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100631352A Expired - Fee Related CN100434331C (en) | 2007-01-29 | 2007-01-29 | Small-sized four-peddrail mobile robot driving device |
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| CN106393050A (en) * | 2016-09-29 | 2017-02-15 | 国网重庆市电力公司电力科学研究院 | Robot suitable for long and narrow tunnel autonomous obstacle avoidance |
| CN106627820A (en) * | 2016-12-19 | 2017-05-10 | 安徽天裕汽车零部件制造有限公司 | Crawler robot swing arm driving device |
| CN106667383A (en) * | 2016-12-30 | 2017-05-17 | 肇庆市小凡人科技有限公司 | Climbing driving device of glass curtain wall cleaning robot |
| CN108202775A (en) * | 2018-03-12 | 2018-06-26 | 湖南中矿金禾机器人研究院有限公司 | A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis |
| CN108202775B (en) * | 2018-03-12 | 2024-02-13 | 湖南中矿金禾机器人研究院有限公司 | Double-drive double-arm concentric four-axis crawler-type mobile platform for small mining 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 |
| CN110271617A (en) * | 2019-06-24 | 2019-09-24 | 广西科技大学 | A kind of two-segment type crawler belt climbing robot |
| CN112677721A (en) * | 2020-12-28 | 2021-04-20 | 北京理工大学 | Multi-driving-mode vehicle for complex terrain and obstacle crossing method thereof |
| CN112677721B (en) * | 2020-12-28 | 2022-11-15 | 北京理工大学 | Multi-driving-mode vehicle for complex terrain and obstacle crossing method thereof |
| CN114954712A (en) * | 2022-06-02 | 2022-08-30 | 江苏迈吉易威电动科技有限公司 | Wheel hub motor crawler wheel with gait control function |
| CN114954712B (en) * | 2022-06-02 | 2023-04-11 | 江苏迈吉易威电动科技有限公司 | Wheel hub motor crawler wheel with gait control function |
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| CN100434331C (en) | 2008-11-19 |
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