CN109305239A - A kind of compound moving platform device of sealed wheel leg - Google Patents
A kind of compound moving platform device of sealed wheel leg Download PDFInfo
- Publication number
- CN109305239A CN109305239A CN201811168725.6A CN201811168725A CN109305239A CN 109305239 A CN109305239 A CN 109305239A CN 201811168725 A CN201811168725 A CN 201811168725A CN 109305239 A CN109305239 A CN 109305239A
- Authority
- CN
- China
- Prior art keywords
- swing arm
- wheel
- walking
- bearing
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of compound moving platform device of sealed wheel leg, it is related to a kind of moving platform device.The present invention causes presence that can not adapt to the environment complicated and changeable such as humidity, miriness to solve the problem of existing specialized robot since sealing performance is bad.Shell side plate of the invention is mounted on the two sides composition matrix of parts in car body, front swing arm and drive assembly and rear-swing arm, walking and drive assembly are mounted on matrix, and rear-swing arm, walking and drive assembly drive front swing arm and drive assembly to constitute travelling platform by traveling crawler；Arm attachment base and body rear end cover board are mounted in car body on parts, and parts in car body and shell side plate, matrix installation rear-swing arm, walking and drive assembly, front swing arm and drive assembly, body rear end cover board and arm attachment base are formed and seal anti-water chamber by left and right shell side plate sealing ring, arm attachment base sealing ring and body rear end cover plate for sealing ring.The present invention is for the robot ambulation field under moist, muddy environment.
Description
Technical field
Transmission is carried out the present invention relates to a kind of wheel and swing arm swings a kind of mobile platform of composite construction, and in particular to Yi Zhongmi
The compound moving platform device of envelope formula wheel leg belongs to specialized robot walking technology application field.
Background technique
Specialized robot be it is in addition to industrial robot, for nonmanufacturing industry and serve the mankind various robots it is total
Claim.In particular surroundings operation, specialized robot has more and more been used.Because specialized robot has precision high, stablize
Property it is good, flexibility is high, and cross-country power is strong, leakproofness and the good advantage of harmony.It improves application range: can nimbly and freely keep away
Barrier, obstacle detouring, adapt to environment complicated and changeable.
In mobile robot mobile platform field, the mobile platform that specialized robot needs usually has several transmission sides
Formula: a kind of crawler type mode, one is wheeled mode, carry out leg complex method.Based on the above circumstances, in practical work process when
It is just restricted when encountering particular surroundings, such as needs adaptation humidity, various road conditions and environment complicated and changeable, and current spy
Kind robot since sealing performance is bad causes that the environment complicated and changeable such as humidity, miriness can not be adapted to.
In conclusion existing specialized robot since sealing performance is bad, causes presence that can not adapt to humidity, miriness etc.
The problem of environment complicated and changeable.
Summary of the invention
The purpose of the present invention is to solve existing specialized robot since sealing performance is bad, cause presence that can not fit
The problem of answering the environment complicated and changeable such as humidity, miriness.And then provide a kind of compound moving platform device of sealed wheel leg.
The technical scheme is that a kind of compound moving platform device of sealed wheel leg, a kind of its sealed wheel leg is multiple
Moving platform device is closed, it includes rear-swing arm, walking and drive assembly, traveling crawler, shell side plate, front swing arm and drive assembly
With parts in car body, shell side plate is mounted on the two sides composition matrix of parts in car body, and front swing arm and drive assembly are with after
Swing arm, walking and drive assembly are mounted on matrix, rear-swing arm, walking and drive assembly by traveling crawler drive front swing arm and
Drive assembly constitutes travelling platform；It further includes arm attachment base, left and right shell side plate sealing ring, body rear end cover board, arm
Attachment base sealing ring and body rear end cover plate for sealing ring, arm attachment base and body rear end cover board are mounted on parts in car body
On, left and right shell side plate sealing ring, arm attachment base sealing ring and body rear end cover plate for sealing ring are by parts in car body and shell
Side plate, matrix installation rear-swing arm, walking and drive assembly, front swing arm and drive assembly, body rear end cover board are connected with arm
Seat, which is formed, seals anti-water chamber.
Further, front swing arm and drive assembly include symmetrical two front driving units, two front drivings
Unit is symmetrically mounted on the front of matrix.
Further, front driving unit includes preceding walking component and front swing arm assembly, before front swing arm assembly is mounted on
It walks on component.
Preferably, preceding walking component include preceding walking from wheeling support, preceding walking from wheel gasket, move ahead bearing running seat, preceding
Traveling wheel, front driven wheel support, first bearing, follower shaft pressure cap and preceding walking foaming wheel, preceding walking is from wheeling support with before
It is tightly connected by preceding walking from wheel gasket between the lower end of swing arm unit, the upper end of front driven wheel support and front swing arm assembly
Connection, the bearing running seat that moves ahead are rotatably installed in front driven wheel support by first bearing, and front walking wheel is sleeved on preceding walking axle
It holds on seat, follower shaft pressure cap is fitted on forward bearing running seat, and preceding walking foaming wheel is connect with follower shaft pressure cap.
Further, front swing arm assembly includes front swing arm motor, the first retarder, second bearing, swing arm driving wheel, third
Bearing, front swing arm, swing arm driven wheel, swing arm crawler belt and preceding lip-type packing, the side of front swing arm and preceding walking component move ahead
It walks and is connected from wheeling support, from wheeling support, front swing arm motor is walked before being mounted on from wheel for walking before preceding lip-type packing is mounted on
On support, the first retarder is mounted on the output end of front swing arm motor, and swing arm driving wheel is mounted on front swing arm by second bearing
Side on, swing arm driven wheel is sleeved in the other side shaft of front swing arm by 3rd bearing, swing arm driving wheel and swing arm from
It is connected between driving wheel by swing arm crawler belt.
Further, rear-swing arm, walking and drive assembly include hoofing part unit after rear-swing arm driving unit and two,
Hoofing part unit is symmetrically mounted on the rear portion of matrix after two, hoofing part unit after rear-swing arm driving unit is mounted on two
Between.
Further, rear-swing arm driving unit includes driving pulley, belt, driven pulley, worm type of reduction gearing, snail
Worm and gear output shaft, rear-swing arm motor and two groups of transmission components, rear-swing arm motor are mounted on matrix, driving pulley and rear-swing arm
The output end of motor connects, and worm type of reduction gearing is mounted on matrix, the output end of driven pulley and worm type of reduction gearing
Connection is connected between driving pulley and driven pulley by belt；The both ends of the worm and gear output shaft of worm type of reduction gearing
It is connect respectively with one group of transmission component.
Preferably, every group of transmission component of rear-swing arm driving unit includes driven gear mounting base, driven gear, active
Gear, 7th bearing, worm screw mounting base, 6th bearing and rear-swing arm assembly, worm screw mounting base are mounted on snail by 6th bearing
The side of worm and gear output shaft, driving gear is mounted on one end of worm and gear output shaft, after driven gear mounting base is mounted on
On hoofing part unit, driven gear is mounted in driven gear mounting base by 7th bearing, and driven gear and driving tooth
Wheel is meshed, and rear-swing arm assembly is connect with driven gear mounting base.
Preferably, rear hoofing part unit includes movable motor, rear lip-type packing, walking driver gear bearing block, the 4th
Bearing, rear wheel support, 5th bearing, the second retarder, O-shaped rubber seal, drive sprocket axle pressure cap, walking foaming wheel, after
Traveling wheel, drive shaft, hoofing part end gasket and movable motor mounting base, movable motor mounting base is mounted on matrix and position
On the inner sidewall of driven gear mounting base and rear-swing arm assembly, movable motor is mounted in movable motor mounting base, drive shaft
It is mounted on the output end of movable motor, rear wheel support is installed on the driving shaft by 5th bearing, rear wheel support and movable motor
It is tightly connected between mounting base by hoofing part end gasket, the second retarder is mounted on the output end of drive shaft, walking master
Driving wheel bearing block is sleeved on rear wheel support by fourth bearing, passes through posterior lip between walking driver gear bearing block and rear wheel support
Shape sealing ring sealing, drive sprocket axle pressure cap are fitted on walking driver gear bearing block, walking foaming wheel and drive sprocket axle pressure-bearing
Lid connection, and walk by O-shaped rubber seal rings for seal between foaming wheel and drive sprocket axle pressure cap, rear walking wheel suit is expert at
It walks on drive wheel bearing seat.
Further, crawler belt guiding tensioning wheel is equipped in front swing arm assembly and rear-swing arm driving unit.
The present invention has the effect that compared with prior art
1, the present invention in order to provide it is a kind of be adapted to the environment complicated and changeable such as humidity, miriness, the compound movement of wheel leg is put down
The travelling platform of platform is sealed by a variety of sealing rings, seals anti-water chamber to be formed.The seal form is simple, sealing effect
Good, sealing is low in cost, meanwhile, convenient for the maintenance of each components, prevent because using the maintenance of other seal form brings and more
Change inconvenient problem.
2, present invention is particularly suitable for the robot manipulating tasks under the wet environments such as rainwater, miriness.
3, present invention employs the work for walking and swinging the both of which realization compound mobile platform of wheel leg, the mobile platforms
Driving is stablized, and creep speed is fast.The control member in mobile platform is effectively prevented because moist, water inlet and booty bring are mobile
It walks insensitive, the problems such as electrical accessorie service life is short.
4, mobile platform of the invention is rigidly good, by the swing arm unit being made of an independent swing arm, passes through support
Swing arm main wheel and from wheel makes it traveling is in obstacle detouring and rigidity of support is good when across Special Roads such as gullies, and bearing capacity is strong.
Detailed description of the invention
Fig. 1 is top view of the invention；Fig. 2 is cross-sectional view of the Fig. 1 along A-A；Fig. 3 is the office of front swing arm and drive assembly
Portion's cross-sectional view；Fig. 4 is the partial sectional view of rear-swing arm, walking and drive assembly；Fig. 5 is the structural representation of swing arm monnolithic case
Figure.
Specific embodiment
Specific embodiment 1: illustrating present embodiment, a kind of sealed wheel leg of present embodiment in conjunction with Fig. 1 to Fig. 5
Compound moving platform device, including rear-swing arm, walking and drive assembly 1-1, traveling crawler 1-2, shell side plate 1-3, front swing arm
And parts 1-6 in drive assembly 1-4 and car body, shell side plate 1-3 are mounted on the two sides composition base of parts 1-6 in car body
Body, front swing arm and drive assembly 1-4 and rear-swing arm, walking and drive assembly 1-1 are mounted on matrix, rear-swing arm, walking and drive
Dynamic assembly 1-1 drives front swing arm and drive assembly 1-4 to constitute travelling platform by traveling crawler 1-2；It further includes arm connection
Seat 1-5, left and right shell side plate sealing ring 1-7, body rear end cover board 1-8, arm attachment base sealing ring 1-9 and body rear end cover board
Sealing ring 1-10, arm attachment base 1-5 and body rear end cover board 1-8 are mounted in car body on parts 1-6, left and right shell side plate
Sealing ring 1-7, arm attachment base sealing ring 1-9 and body rear end cover plate for sealing ring 1-10 are by parts 1-6 and shell in car body
Side plate 1-3, matrix installation rear-swing arm, walking and drive assembly 1-1, front swing arm and drive assembly 1-4, body rear end cover board 1-8
It is formed with arm attachment base 1-5 and seals anti-water chamber.
The anti-water chamber of the sealing of present embodiment can be effectively solved the prior art since sealing performance is bad, cause to deposit
The problem of can not adapt to the environment complicated and changeable such as humidity, miriness.Meanwhile present embodiment structure is simple, it is easily operated.
Specific embodiment 2: illustrating present embodiment in conjunction with Fig. 1 to Fig. 3, the front swing arm of present embodiment and driving are total
It include symmetrical two front driving units at 1-4, two front driving units are symmetrically mounted on the front of matrix.So
Setting, the manufacture easy to produce of two identical front driving units and installation, other compositions and connection relationship and specific embodiment party
Formula one is identical.
Specific embodiment 3: illustrating present embodiment, the front driving unit packet of present embodiment in conjunction with Fig. 1 to Fig. 5
Walking component and front swing arm assembly before including, before front swing arm assembly is mounted on walking component.So set, being easily installed.It is other
Composition and connection relationship are the same as one or two specific embodiments.
Specific embodiment 4: illustrating present embodiment in conjunction with Fig. 1 to Fig. 5, the preceding walking component of present embodiment includes
It is preceding walking from wheeling support 2-3, it is preceding walking from wheel gasket 2-4, move ahead bearing running seat 2-5, front walking wheel 2-6, front driven wheel branch
2-7, first bearing 2-8, follower shaft pressure cap 2-9 and preceding walking foaming wheel 2-10 are supportted, it is preceding to walk from wheeling support 2-3 and forward swing
It is tightly connected by preceding walking from wheel gasket 2-4 between the lower end of arm component, front driven wheel supports 2-7 and front swing arm assembly
Upper end connection, the bearing running seat 2-5 that moves ahead are rotatably installed in front driven wheel by first bearing 2-8 and support on 2-7, front walking wheel 2-
6 are sleeved on forward bearing running seat 2-5, and follower shaft pressure cap 2-9 is fitted on forward bearing running seat 2-5, preceding walking foaming
Wheel 2-10 is connect with follower shaft pressure cap 2-9.So set, preceding walking foaming wheel 2-1 can adapt to the walking of rough ground,
Cushion performance is good.It prevents from generating bumpiness damage to the device in mobile platform when by muddy and rough ground.Other groups
At and connection relationship it is identical as specific embodiment one, two or three.
Specific embodiment 5: illustrating that present embodiment, the front swing arm assembly of present embodiment include in conjunction with Fig. 1 to Fig. 5
Front swing arm motor 2-1, the first retarder 2-2, second bearing 2-11, swing arm driving wheel 2-12,3rd bearing 2-13, front swing arm 2-
14, swing arm driven wheel 2-15, swing arm crawler belt 2-16 and preceding lip-type packing 2-17, the side of front swing arm 2-14 and preceding walking component
Preceding walking from wheeling support 2-3 connection, preceding lip-type packing 2-17 be mounted on before walking from wheeling support 2-3, front swing arm motor
From wheeling support 2-3, the first retarder 2-2 is mounted on the output end of front swing arm motor 2-1, swing arm master for walking before 2-1 is mounted on
Driving wheel 2-12 is mounted on the side of front swing arm 2-14 by second bearing 2-11, and swing arm driven wheel 2-15 passes through 3rd bearing 2-
13 are sleeved in the other side shaft of front swing arm 2-14, are carried out between swing arm driving wheel 2-12 and swing arm driven wheel 2-15 by swing arm
Band 2-16 connection.So set, being sealed between each component, good seal performance.Other compositions and connection relationship and tool
Body embodiment one, two, three or four are identical.
The crawler belt that present embodiment uses carries out swing arm walking, and rigidity is good, avoids and brings skidding etc. using V belt translation
Phenomenon.Meanwhile crawler haulage is more applicable for the walking of complex road surface, slippage is small.
Specific embodiment 6: it is illustrated in combination with fig. 1 and fig. 4 present embodiment, rear-swing arm, walking and the drive of present embodiment
Dynamic assembly 1-1 includes hoofing part unit after rear-swing arm driving unit and two, and hoofing part unit is symmetrically mounted on after two
The rear portion of matrix, after rear-swing arm driving unit is mounted on two between hoofing part unit.Other compositions and connection relationship and tool
Body embodiment one, two, three, four or five are identical.
Two groups of walking manners that the present invention uses are parallel, wherein one group using the walking motion in flat road surface, it should
As long as walking motion is driven by rear-swing arm, walking and drive assembly 1-1, by traveling crawler 1-2 drive front swing arm and
Drive assembly 1-4 walks；Another set walking manner it is targeted be to walk in rough ground, which is
It adapts to and guarantees that the ability of the speed of travel and obstacle detouring using the walking manner of swing arm passes through forward and backward two groups of swing arm forms
To realize obstacle detouring, the walking of crossing property.But no matter which kind of walking manner, the present invention is each provided with a kind of sealing mobile platform, only
Under air-proof condition, the walking operations that are just able to achieve under the special operation conditions such as rainwater, miriness.
Specific embodiment 7: it is illustrated in combination with fig. 1 and fig. 4 present embodiment, the rear-swing arm driving unit of present embodiment
Including driving pulley 3-21, belt 3-22, driven pulley 3-23, worm type of reduction gearing 3-25, worm and gear output shaft 3-20,
Rear-swing arm motor 3-24 and two groups of transmission components, rear-swing arm motor 3-24 are mounted on matrix, driving pulley 3-21 and rear-swing arm
The output end of motor 3-24 connects, and worm type of reduction gearing 3-25 is mounted on matrix, and driven pulley 3-23 subtracts with worm and gear
The output end of fast device 3-25 connects, and is connected between driving pulley 3-21 and driven pulley 3-23 by belt 3-22；Worm and gear
The both ends of the worm and gear output shaft 3-20 of retarder 3-25 are connect with one group of transmission component respectively.So set, driving power
Foot.Other compositions and connection relationship and specific embodiment one, two, three, four, five or six are identical.
Specific embodiment 8: it is illustrated in combination with fig. 1 and fig. 4 present embodiment, the rear-swing arm driving unit of present embodiment
Every group of transmission component include driven gear mounting base 3-16, driven gear 3-18, driving gear 3-19,7th bearing 3-
27, worm screw mounting base 3-29,6th bearing 3-26 and rear-swing arm assembly 3-14, worm screw mounting base 3-29 pass through 6th bearing 3-26
It is mounted on the side of worm and gear output shaft 3-20, driving gear 3-19 is mounted on one end of worm and gear output shaft 3-20, from
Moving gear mounting base 3-16 is mounted on rear hoofing part unit, and driven gear 3-18 is mounted on driven by 7th bearing 3-27
On gear installation base 3-16, and driven gear 3-18 is meshed with driving gear 3-19, rear-swing arm assembly 3-14 and driven gear
Mounting base 3-16 connection.Other compositions and connection relationship and specific embodiment one, two, three, four, five, six or seven are identical.
The rear-swing arm driving unit of present embodiment realizes swing arm in such a way that one group of driving drives two groups of transmissions, saves
One group of driving assembly is saved.Movement while being easy to implement rear-swing arm, consistency are good.
Specific embodiment 9: it is illustrated in combination with fig. 1 and fig. 4 present embodiment, the rear hoofing part unit of present embodiment
Including movable motor 3-1, rear lip-type packing 3-2, walking driver gear bearing block 3-3, fourth bearing 3-4, rear wheel support 3-5,
5th bearing 3-6, the second retarder 3-7, O-shaped rubber seal 3-8, drive sprocket axle pressure cap 3-9, walking foaming wheel 3-10,
Rear walking wheel 3-11, drive shaft 3-12, hoofing part end gasket 3-13 and movable motor mounting base 3-15, movable motor installation
Seat 3-15 is mounted on the inner sidewall on matrix and positioned at driven gear mounting base 3-16 and rear-swing arm assembly 3-14, movable motor
3-1 is mounted in movable motor mounting base 3-15, and drive shaft 3-12 is mounted on the output end of movable motor 3-1, rear wheel support 3-5
It is mounted on drive shaft 3-12 by 5th bearing 3-6, passes through walking between rear wheel support 3-5 and movable motor mounting base 3-15
Gasket 3-13 in end is driven to be tightly connected, the second retarder 3-7 is mounted on the output end of drive shaft 3-12, walking driver gear bearing
Seat 3-3 is sleeved on rear wheel support 3-5 by fourth bearing 3-4, between walking driver gear bearing block 3-3 and rear wheel support 3-5
It is sealed by rear lip-type packing 3-2, drive sprocket axle pressure cap 3-9 is fitted on walking driver gear bearing block 3-3, walking foaming
Wheel 3-10 is connect with drive sprocket axle pressure cap 3-9, and by O-shaped between the foaming wheel 3-10 and drive sprocket axle pressure cap 3-9 that walks
Rubber seal 3-8 sealing, rear walking wheel 3-11 are sleeved on walking driver gear bearing block 3-3.Other compositions and connection relationship
It is identical as specific embodiment one, two, three, four, five, six, seven or eight.
Walking component is walked before the rear hoofing part unit of present embodiment drives, convenient for guaranteeing walking power.
Specific embodiment 10: embodiment is described with reference to Fig. 1, the front swing arm assembly and rear-swing arm of present embodiment are driven
Crawler belt guiding tensioning wheel is equipped in moving cell.Good, the large carrying capacity of rigidity.Other compositions and connection relationship and specific embodiment party
Formula one, two, three, four, five, six, seven, eight or nine are identical.
Working principle of the present invention is as follows:
Front swing arm and drive assembly 1-4 are swung by swing arm, with the walking electricity in rear-swing arm, walking and drive assembly 1-1
Machine 3-1, movable motor mounting base 3-15, wheel support 3-5 and 5th bearing 3-6 are support, drive shaft 3-12, the second retarder 3-
7 and drive sprocket axle pressure cap 3-9 drives walking foaming wheel 3-10 and is transferred to walking driver gear bearing block 3-3, the 4th axis
Hold 3-4 and be the rear walking wheel 3-11 of support, and drive traveling crawler 1-2 with the bearing block 2-5 that walks, driven wheel support 2-7, the
One bearing 2-8 is that the front walking wheel 2-6 and follower shaft pressure cap 2-9 of support are walking the foaming wheel 2-10, Jin Ertong of support
Crossing front walking wheel 2-6 and driving with second bearing 2-11, front swing arm 2-14 is swing arm driving wheel 2-12, the swing arm crawler belt 2- supported
16, and then driving with 3rd bearing 2-13 and front swing arm 2-14 is the swing arm driven wheel 2-15 supported, realizes that with front swing arm be branch
The crawler travel of support moves.
Front swing arm motor 2-1 is transferred to front swing arm 2- by walking from wheeling support 2-3 by the first retarder 2-2 of driving
14 realize entirely comprising front swing arm 2-14, swing arm driving wheel 2-12, swing arm crawler belt 2-16 Integral swinging to adapt to varying environment
Road conditions make the movement of entire mobile platform freely in varying environment.
Pass through the included first retarder 2-2 sealing ring and forward swing between the end and front swing arm 2-14 of the first retarder 2-2
Arm 2-14 and walking are from the gasket 2-4 between wheeling support 2-3, and the lip shape between wheeling support 2-3 and shell side plate 1-3 of walking
Sealing ring 2-17 forms the sealed chamber to platform interior, adapts to mobile platform in moist and splashing to achieve the purpose that sealing
Operation in the environment of water.
Swing arm wheel rotary motion in swing arm motion in rear-swing arm, walking and drive assembly 1-1 is by rear-swing arm, row
Walk and drive assembly 1-1 in movable motor 3-1 by shell side plate 1-3, hoofing part mounting base 3-17, movable motor mounting base
3-15, wheel support 3-5 and 5th bearing 3-6 are support, drive shaft 3-12, the second retarder 3-7 and drive sprocket axle pressure cap 3-
9, driving walking foaming wheel 3-10 and being transferred to walking driver gear bearing block 3-3, fourth bearing 3-4 is the rear walking supported
3-11 is taken turns, to drive swing arm crawler belt and drive swing arm, driven wheel realizes that with rear-swing arm be the walking movement for supporting crawler belt.
Rear-swing arm motor 3-24 in rear-swing arm, walking and drive assembly 1-1 by driving pulley 3-21, belt 3-22 and
Driven pulley 3-23 drives worm type of reduction gearing 3-25, is transferred to by worm and gear output shaft 3-20 with 6th bearing 3-
26, hoofing part mounting base 3-17 and movable motor mounting base 3-15 is the driven gear 3-18 of support, and is driven with the 6th axis
Hold the driving gear 3- that 3-27, hoofing part mounting base 3-17, movable motor mounting base 3-15 and shell side plate 1-3 are support
19, drive rear-swing arm assembly 3-14 to realize that rear-swing arm assembly 3-14 is swung by driven gear mounting base 3-16.
Pass through the lip-type packing 3-2 and drive sprocket axle pressure cap between walking driver gear bearing block 3-3 and wheel support 3-5
Row between O-shaped rubber seal 3-8, driven gear mounting base 3-16 between 3-9, walking foaming wheel 3-10 and wheel support 3-5
Walk to drive end gasket 3-13 to form the sealed chamber to platform interior, to achieve the purpose that sealing to adapt to mobile platform in tide
Operation in the environment of wet and splashing water.
Rear-swing arm, walking and drive assembly 1-1 cooperation are by second bearing 2-11, swing arm driving wheel 2-12,3rd bearing 2-
13, the walking foaming of front swing arm 2-14, swing arm driven wheel 2-15, the forward swing arm assembly of swing arm crawler belt 2-16 composition and mobile platform
Wheel 2-10, walking foaming wheel 3-10, rear walking wheel 3-11, traveling wheel 2-6, traveling crawler 1-2 move to form overall movement platform
Operation under circumstances.
Claims (10)
1. a kind of compound moving platform device of sealed wheel leg, it includes rear-swing arm, walking and drive assembly (1-1), walking shoe
Parts (1-6) in band (1-2), shell side plate (1-3), front swing arm and drive assembly (1-4) and car body, shell side plate (1-3)
It is mounted on the two sides composition matrix of parts in car body (1-6), front swing arm and drive assembly (1-4) and rear-swing arm, walking and drive
Dynamic assembly (1-1) is mounted on matrix, and rear-swing arm, walking and drive assembly (1-1) drive front swing arm by traveling crawler (1-2)
And drive assembly (1-4) constitutes travelling platform；
It is characterized by: it further includes arm attachment base (1-5), left and right shell side plate sealing ring (1-7), body rear end cover board
(1-8), arm attachment base sealing ring (1-9) and body rear end cover plate for sealing ring (1-10), after arm attachment base (1-5) and car body
End casing (1-8) is mounted on parts in car body (1-6), left and right shell side plate sealing ring (1-7), arm attachment base sealing ring
(1-9) and body rear end cover plate for sealing ring (1-10) will be after parts in car body (1-6) and shell side plate (1-3), matrix installations
Swing arm, walking and drive assembly (1-1), front swing arm and drive assembly (1-4), body rear end cover board (1-8) and arm attachment base
(1-5), which is formed, seals anti-water chamber.
2. a kind of sealed compound moving platform device of wheel leg according to claim 1, it is characterised in that: front swing arm and drive
Dynamic assembly (1-4) includes symmetrical two front driving units, before two front driving units are symmetrically mounted on matrix
Portion.
3. a kind of sealed compound moving platform device of wheel leg according to claim 2, it is characterised in that: front driving is single
Member includes preceding walking component and front swing arm assembly, before front swing arm assembly is mounted on walking component.
4. a kind of sealed compound moving platform device of wheel leg according to claim 3, it is characterised in that: preceding walking component
Including it is preceding walking from wheeling support (2-3), it is preceding walking from wheel gasket (2-4), move ahead bearing running seat (2-5), front walking wheel (2-
6), front driven wheel support (2-7), first bearing (2-8), follower shaft pressure cap (2-9) and preceding walking foaming wheel (2-10),
Preceding walking is connected by preceding walking from wheel gasket (2-4) sealing between wheeling support (2-3) and the lower end of front swing arm assembly
It connects, front driven wheel support (2-7) is connect with the upper end of front swing arm assembly, and forward bearing running seat (2-5) passes through first bearing (2-8)
It is rotatably installed in front driven wheel support (2-7), front walking wheel (2-6) is sleeved on forward bearing running seat (2-5), follower shaft
Pressure cap (2-9) is fitted on forward bearing running seat (2-5), preceding walking foaming wheel (2-10) and follower shaft pressure cap (2-9)
Connection.
5. a kind of sealed compound moving platform device of wheel leg according to claim 4, it is characterised in that: front swing arm assembly
Including front swing arm motor (2-1), the first retarder (2-2), second bearing (2-11), swing arm driving wheel (2-12), 3rd bearing
(2-13), front swing arm (2-14), swing arm driven wheel (2-15), swing arm crawler belt (2-16) and preceding lip-type packing (2-17),
The side of front swing arm (2-14) is connect with the preceding walking of preceding walking component from wheeling support (2-3), preceding lip-type packing (2-
17) from wheeling support (2-3), front swing arm motor (2-1) is walked from wheeling support (2-3) before being mounted on for walking before being mounted on, the
One speed reducer (2-2) is mounted on the output end of front swing arm motor (2-1), and swing arm driving wheel (2-12) passes through second bearing (2-11)
It is mounted on the side of front swing arm (2-14), swing arm driven wheel (2-15) is sleeved on front swing arm (2- by 3rd bearing (2-13)
14) in other side shaft, between swing arm driving wheel (2-12) and swing arm driven wheel (2-15) even by swing arm crawler belt (2-16)
It connects.
6. a kind of sealed compound moving platform device of wheel leg according to claim 5, it is characterised in that: rear-swing arm, row
It walks and drive assembly (1-1) includes hoofing part unit after rear-swing arm driving unit and two, hoofing part unit pair after two
Claim the rear portion for being mounted on matrix, after rear-swing arm driving unit is mounted on two between hoofing part unit.
7. a kind of sealed compound moving platform device of wheel leg according to claim 6, it is characterised in that: rear-swing arm driving
Unit includes driving pulley (3-21), belt (3-22), driven pulley (3-23), worm type of reduction gearing (3-25), worm gear snail
Bar output shaft (3-20), rear-swing arm motor (3-24) and two groups of transmission components,
Rear-swing arm motor (3-24) is mounted on matrix, and the output end of driving pulley (3-21) and rear-swing arm motor (3-24) connect
It connects, worm type of reduction gearing (3-25) is mounted on matrix, and driven pulley (3-23) is defeated with worm type of reduction gearing (3-25)
Outlet connection, is connected between driving pulley (3-21) and driven pulley (3-23) by belt (3-22)；Worm type of reduction gearing
The both ends of the worm and gear output shaft (3-20) of (3-25) are connect with one group of transmission component respectively.
8. a kind of sealed compound moving platform device of wheel leg according to claim 7, it is characterised in that: rear-swing arm driving
Every group of transmission component of unit includes driven gear mounting base (3-16), driven gear (3-18), driving gear (3-19),
Seven bearings (3-27), worm screw mounting base (3-29), 6th bearing (3-26) and rear-swing arm assembly (3-14),
Worm screw mounting base (3-29) is mounted on the side of worm and gear output shaft (3-20), driving tooth by 6th bearing (3-26)
Wheel (3-19) is mounted on one end of worm and gear output shaft (3-20), and driven gear mounting base (3-16) is mounted on rear hoofing part
On unit, driven gear (3-18) is mounted on driven gear mounting base (3-16) by 7th bearing (3-27), and driven tooth
Wheel (3-18) is meshed with driving gear (3-19), and rear-swing arm assembly (3-14) is connect with driven gear mounting base (3-16).
9. a kind of sealed compound moving platform device of wheel leg according to claim 8, it is characterised in that: rear hoofing part
Unit include movable motor (3-1), rear lip-type packing (3-2), walking driver gear bearing block (3-3), fourth bearing (3-4),
Rear wheel support (3-5), 5th bearing (3-6), the second retarder (3-7), O-shaped rubber seal (3-8), drive sprocket axle pressure cap
(3-9), walking foaming wheel (3-10), rear walking wheel (3-11), drive shaft (3-12), hoofing part end gasket (3-13) and row
Motor mount (3-15) is walked,
Movable motor mounting base (3-15) is mounted on matrix and is located at driven gear mounting base (3-16) and rear-swing arm assembly (3-
14) on inner sidewall, movable motor (3-1) is mounted in movable motor mounting base (3-15), and drive shaft (3-12) installation is expert at
The output end of motor (3-1) is walked, rear wheel support (3-5) is mounted on drive shaft (3-12) by 5th bearing (3-6), rear-wheel branch
It supports and is tightly connected between (3-5) and movable motor mounting base (3-15) by hoofing part end gasket (3-13), second slows down
Device (3-7) is mounted on the output end of drive shaft (3-12), and walking driver gear bearing block (3-3) is set with by fourth bearing (3-4)
On rear wheel support (3-5), pass through rear lip-type packing (3- between walking driver gear bearing block (3-3) and rear wheel support (3-5)
2) it seals, drive sprocket axle pressure cap (3-9) is fitted on walking driver gear bearing block (3-3), walking foaming wheel (3-10) and master
Driving wheel bearing gland (3-9) connection, and walk foaming wheel (3-10) and pass through O-shaped rubber between drive sprocket axle pressure cap (3-9)
Sealing ring (3-8) sealing, rear walking wheel (3-11) are sleeved on walking driver gear bearing block (3-3).
10. a kind of sealed compound moving platform device of wheel leg according to claim 5 or 7, it is characterised in that: front swing arm
Crawler belt guiding tensioning wheel is equipped in component and rear-swing arm driving unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811168725.6A CN109305239A (en) | 2018-10-08 | 2018-10-08 | A kind of compound moving platform device of sealed wheel leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811168725.6A CN109305239A (en) | 2018-10-08 | 2018-10-08 | A kind of compound moving platform device of sealed wheel leg |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109305239A true CN109305239A (en) | 2019-02-05 |
Family
ID=65225126
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811168725.6A Pending CN109305239A (en) | 2018-10-08 | 2018-10-08 | A kind of compound moving platform device of sealed wheel leg |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109305239A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038612A (en) * | 2019-12-31 | 2020-04-21 | 浙江大学 | Multi-motion-mode wheel-track-leg combined robot |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1250006A (en) * | 1999-05-19 | 2000-04-12 | 李孝喆 | Cargo transparting device |
| CN101074031A (en) * | 2007-06-27 | 2007-11-21 | 哈尔滨工程大学 | Urban discharging pipeline robot of closed caterpillar differential driven |
| CN101554890A (en) * | 2008-04-08 | 2009-10-14 | 中国矿业大学 | Rocker-type wheel and track combining robot |
| CN101746423A (en) * | 2008-11-28 | 2010-06-23 | 沈阳新松机器人自动化股份有限公司 | Search and rescue robot used in pit |
| CN101850792A (en) * | 2009-12-18 | 2010-10-06 | 武汉若比特机器人有限公司 | Universal tracked mobile platform for military robot |
| CN201670290U (en) * | 2010-05-20 | 2010-12-15 | 杭州瓦瑞科技有限公司 | Modular robot chassis structure |
| JP2012061963A (en) * | 2010-09-16 | 2012-03-29 | Japan Agengy For Marine-Earth Science & Technology | Crawler type running gear and method for riding over step |
| CN102514640A (en) * | 2011-12-07 | 2012-06-27 | 宁波大学 | Deformable rescue robot |
| CN203601425U (en) * | 2013-12-13 | 2014-05-21 | 中国科学院沈阳自动化研究所 | Moving seam expanding robot |
| CN104787133A (en) * | 2015-03-30 | 2015-07-22 | 上海合时智能科技有限公司 | Turnover arm mechanism applicable to wheel-track combined chassis |
| 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 |
| CN105128960A (en) * | 2015-09-01 | 2015-12-09 | 哈尔滨工业大学 | Suspension system of tracked mobile robot |
| CN105292281A (en) * | 2015-11-02 | 2016-02-03 | 国网山东省电力公司电力科学研究院 | Patrol wheel-pedrail type obstacle-crossing robot for transformer substations |
| CN105292282A (en) * | 2015-11-27 | 2016-02-03 | 哈尔滨工业大学 | Tracked robot with rapidly disassembled and assembled front and rear swing arms |
| CA2897542C (en) * | 2014-07-30 | 2016-09-13 | Engineering Services Inc. | Dual mode mobile robot |
-
2018
- 2018-10-08 CN CN201811168725.6A patent/CN109305239A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1250006A (en) * | 1999-05-19 | 2000-04-12 | 李孝喆 | Cargo transparting device |
| CN101074031A (en) * | 2007-06-27 | 2007-11-21 | 哈尔滨工程大学 | Urban discharging pipeline robot of closed caterpillar differential driven |
| CN101554890A (en) * | 2008-04-08 | 2009-10-14 | 中国矿业大学 | Rocker-type wheel and track combining robot |
| CN101746423A (en) * | 2008-11-28 | 2010-06-23 | 沈阳新松机器人自动化股份有限公司 | Search and rescue robot used in pit |
| CN101850792A (en) * | 2009-12-18 | 2010-10-06 | 武汉若比特机器人有限公司 | Universal tracked mobile platform for military robot |
| CN201670290U (en) * | 2010-05-20 | 2010-12-15 | 杭州瓦瑞科技有限公司 | Modular robot chassis structure |
| JP2012061963A (en) * | 2010-09-16 | 2012-03-29 | Japan Agengy For Marine-Earth Science & Technology | Crawler type running gear and method for riding over step |
| CN102514640A (en) * | 2011-12-07 | 2012-06-27 | 宁波大学 | Deformable rescue robot |
| CN203601425U (en) * | 2013-12-13 | 2014-05-21 | 中国科学院沈阳自动化研究所 | Moving seam expanding robot |
| CA2897542C (en) * | 2014-07-30 | 2016-09-13 | Engineering Services Inc. | Dual mode mobile robot |
| CN104787133A (en) * | 2015-03-30 | 2015-07-22 | 上海合时智能科技有限公司 | Turnover arm mechanism applicable to wheel-track combined chassis |
| 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 |
| CN105128960A (en) * | 2015-09-01 | 2015-12-09 | 哈尔滨工业大学 | Suspension system of tracked mobile robot |
| CN105292281A (en) * | 2015-11-02 | 2016-02-03 | 国网山东省电力公司电力科学研究院 | Patrol wheel-pedrail type obstacle-crossing robot for transformer substations |
| CN105292282A (en) * | 2015-11-27 | 2016-02-03 | 哈尔滨工业大学 | Tracked robot with rapidly disassembled and assembled front and rear swing arms |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038612A (en) * | 2019-12-31 | 2020-04-21 | 浙江大学 | Multi-motion-mode wheel-track-leg combined robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201760877U (en) | Deformable robot travelling mechanism suitable for all landforms | |
| CN102069856B (en) | Exchangeable crawler wheel of loading machine | |
| CN205736672U (en) | A kind of front drive axle of tractor | |
| CN101890986A (en) | Deformable all-terrain adaptable robot walking mechanism | |
| CN202180752U (en) | Full-hydraulic four-wheel drive high-installed multifunctional paddy field motor vehicle | |
| CN203567836U (en) | Amphibious wheel-track robot moving platform | |
| CN201099289Y (en) | Electric rubber belt track running mechanism | |
| CN103612678A (en) | Amphibious wheel-track combined type robot mobile platform | |
| CN203740002U (en) | Swing arm type tracked robot | |
| CN104527835A (en) | Robot capable of being switched between wheel mode and leg mode | |
| CN109305239A (en) | A kind of compound moving platform device of sealed wheel leg | |
| CN104787133A (en) | Turnover arm mechanism applicable to wheel-track combined chassis | |
| CN101428652B (en) | Movable robot for ice and snow surface | |
| CN212828739U (en) | Wheel-track composite trolley | |
| CN210882383U (en) | Wheel-leg hybrid robot | |
| CN206633006U (en) | A kind of PUU parallel connection mobile robots of wheel leg type 3 | |
| CN205804455U (en) | Pivoting support formula land leveller rear driving axle | |
| CN201148179Y (en) | Ice and snow surface mobile robot | |
| CN201833841U (en) | Amphibious rescue engineering vehicle | |
| CN209521485U (en) | A kind of all-terrain vehicle chassis suitable for complex working condition | |
| CN101654124B (en) | Curved surface all-position creeping-type mobile robot mechanism | |
| CN210680967U (en) | Auxiliary track transmission device of obstacle-crossing robot platform | |
| CN109229221B (en) | Pipeline walking mechanism capable of climbing up and down steps and working method thereof | |
| CN102700644A (en) | Wheel and foot combined all-terrain robot running device | |
| CN101973195B (en) | Amphibious rescue engineering truck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190205 |