CN113184071A - Running gear, robot and vehicle - Google Patents
Running gear, robot and vehicle Download PDFInfo
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- CN113184071A CN113184071A CN202110473671.XA CN202110473671A CN113184071A CN 113184071 A CN113184071 A CN 113184071A CN 202110473671 A CN202110473671 A CN 202110473671A CN 113184071 A CN113184071 A CN 113184071A
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- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims abstract description 39
- 150000001875 compounds Chemical class 0.000 claims description 14
- 239000002131 composite material Substances 0.000 claims description 12
- 230000009467 reduction Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 6
- 239000003638 chemical reducing agent Substances 0.000 description 12
- 238000010516 chain-walking reaction Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
- B60K17/046—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a traveling mechanism, a robot and a vehicle. The walking mechanism comprises a wheel carrier, at least three walking wheels, a walking driving mechanism and a walking transmission mechanism. Wherein, the wheel carrier has a central axis and at least three travelling wheel installation parts distributed around the central axis. The at least three traveling wheels are correspondingly arranged on the at least three traveling wheel installation parts. The walking transmission mechanism comprises a central transmission part, at least three walking chains and at least three planetary chain wheels, the central transmission part is in driving connection with the walking driving mechanism, the central transmission part correspondingly drives the at least three planetary chain wheels to rotate around respective axes through the at least three walking chains, and the at least three planetary chain wheels are correspondingly in driving connection with wheel shafts of the at least three walking wheels. At least three planetary chain wheels of the travelling mechanism are respectively and independently driven by at least three corresponding travelling chains, so that the reliability of power output of the travelling mechanism can be improved.
Description
Technical Field
The invention relates to a traveling mechanism, a robot and a vehicle.
Background
At the present stage, the unmanned platform with the triangular star-shaped wheel type structure has strong obstacle and trench crossing capability, and is very suitable for being applied to complex dangerous environments such as disaster rescue. In the related art known by the inventor, the chain transmission mechanism of the unmanned platform generally adopts a transmission mode that a single chain drives three planetary sprockets at the same time, and because only a single chain is adopted, if the chain is broken, the whole gear train loses power. And single chain length is longer, and the chain extension volume can be corresponding longer after using in a certain period of time, takes place to jump the tooth problem easily, influences the transmission reliability of mechanism.
It is important to note here that the statements in this background section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Disclosure of Invention
The invention provides a traveling mechanism, a robot and a vehicle, which aim to improve the reliability of power output of the traveling mechanism.
A first aspect of the present invention provides a traveling mechanism including:
a wheel carrier having a central axis and at least three traveling wheel mounting portions distributed around the central axis;
at least three traveling wheels correspondingly mounted on the at least three traveling wheel mounting parts;
a travel drive mechanism; and
the walking transmission mechanism comprises a central transmission part, at least three walking chains and at least three planetary chain wheels, the central transmission part is in driving connection with the walking driving mechanism, the central transmission part correspondingly drives the at least three planetary chain wheels to rotate around respective axes through the at least three walking chains, and the at least three planetary chain wheels are correspondingly in driving connection with wheel shafts of the at least three walking wheels.
In some embodiments, the central transmission comprises a central sun gear and at least three compound sprockets distributed around the central sun gear, the compound sprockets comprising gear portions meshing with the central sun gear and sprocket portions arranged coaxially with the gear portions, the at least three traveling chains being connected to the sprocket portions of the at least three compound sprockets and the at least three planet sprockets, respectively.
In some embodiments, the traveling mechanism further comprises a distribution frame fixedly connected to the wheel frame, and the three composite sprockets are uniformly distributed on the distribution frame and rotatably connected to the distribution frame.
In some embodiments, the central transmission member includes a central sprocket including at least three rows of sprocket teeth axially spaced side by side, and the at least three rows of sprocket teeth are respectively connected with the at least three planetary sprockets by at least three traveling chains.
In some embodiments, a center plane of each of the at least three rows of sprockets is aligned with a center plane of the corresponding planetary sprocket.
In some embodiments, the travel drive further comprises a planetary reducer comprising a sun gear, a planet gear and a planet carrier, the output shaft of the travel drive being connected to the sun gear and the planet carrier being connected to the central drive.
In some embodiments, the walking mechanism further comprises a balance arm, wherein the balance arm comprises a cylinder part rotatably connected with the wheel carrier, and the walking driving mechanism is arranged in the cylinder part.
The invention provides a robot, comprising the walking mechanism.
A third aspect of the invention provides a vehicle including the above-described running mechanism.
Based on the aspects provided by the invention, the walking mechanism comprises a wheel carrier, at least three walking wheels, a walking driving mechanism and a walking transmission mechanism. Wherein, the wheel carrier has a central axis and at least three travelling wheel installation parts distributed around the central axis. The at least three traveling wheels are correspondingly arranged on the at least three traveling wheel installation parts. The walking transmission mechanism comprises a central transmission part, at least three walking chains and at least three planetary chain wheels, the central transmission part is in driving connection with the walking driving mechanism, the central transmission part correspondingly drives the at least three planetary chain wheels to rotate around respective axes through the at least three walking chains, and the at least three planetary chain wheels are correspondingly in driving connection with wheel shafts of the at least three walking wheels. The at least three planetary chain wheels of the travelling mechanism are respectively and independently driven by the corresponding at least three travelling chains, if part of the at least three travelling chains is broken, the power of the travelling driving mechanism can still be transmitted to part of the travelling wheels, so that the vehicle is driven to move, and compared with the condition that a single chain drives a plurality of travelling chain wheels together, the reliability of power output of the travelling mechanism can be improved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a traveling mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic view of a portion of the traveling mechanism shown in FIG. 1;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously positioned and the spatially relative descriptors used herein interpreted accordingly.
Referring to fig. 1, in some embodiments, the traveling mechanism includes a wheel frame 2, at least three traveling wheels 3, a traveling driving mechanism, and a traveling transmission mechanism. Wherein the wheel carrier 2 has a central axis and at least three running wheel mounts distributed around the central axis. At least three traveling wheels 3 are correspondingly installed on at least three traveling wheel installation parts. The walking transmission mechanism comprises a central transmission part, at least three walking chains 5 and at least three planetary chain wheels 4, the central transmission part is in driving connection with the walking driving mechanism, the central transmission part correspondingly drives the at least three planetary chain wheels 4 to rotate around respective axes through the at least three walking chains 5, and the at least three planetary chain wheels 4 are correspondingly in driving connection with wheel shafts of the at least three walking wheels 3.
At least three planetary chain wheels 4 of the travelling mechanism are independently driven by at least three corresponding travelling chains 5 respectively, if part of the chains in the at least three travelling chains 5 are broken, the power of the travelling driving mechanism can still be transmitted to part of travelling wheels, so that the vehicle is driven to move, and compared with a plurality of travelling chain wheels driven by a single chain together, the reliability of power output of the travelling mechanism can be improved.
The inventor finds that in a single-chain walking mechanism, two tensioning chain wheels are generally required to be arranged and respectively installed at the intersection positions of two side lines of a triangle star shape of a wheel carrier, so that the single-chain walking mechanism plays a role in tensioning a single chain on one hand, and can change the trend of the single chain on the other hand. The projection planes of the single chains are distributed in the triangular star-shaped flat plates of the wheel carrier, so that the single chains are prevented from interfering with obstacles when the obstacles and the trenches are crossed. However, there is a problem in that the force applied to the tension sprocket is concentrated and large, so that the tension sprocket is easily damaged. The embodiment of the invention adopts a mode that at least three walking chains respectively drive three walking wheels, and all parts are stressed more evenly, thereby avoiding the damage of individual parts. And moreover, a single chain is adopted and is provided with a tensioning section and a releasing section, and the corresponding releasing section is very long due to the very long length of the single chain, so that the normal operation of the travelling mechanism can be influenced. The walking chains of the embodiment are all distributed in the wheel carrier, and the normal walking of the walking wheels cannot be influenced.
In some embodiments, referring to fig. 1 and 2, the central transmission comprises a central sun gear 9 and at least three compound sprockets 6 distributed around the central sun gear 9. The compound sprocket 6 includes a gear portion that is gear-engaged with the central sun gear 9 and a sprocket portion that is provided coaxially with the gear portion. At least three walking chains 5 are correspondingly connected with the chain wheel parts of at least three compound chain wheels 6 and at least three planet chain wheels 4.
Specifically, the center of the central sun gear 9 is disposed coaxially with the central axis of the carrier 2. At least three compound sprockets 6 are evenly distributed circumferentially around the central sun gear 9. Each composite sprocket comprises a gear portion and a sprocket portion, wherein as shown in fig. 1, the gear portion and the sprocket portion are coaxially disposed, and the gear portion is located at the lower side to be gear-engaged with the central sun gear 9, and the sprocket portion is located at the upper side to be engaged with the traveling chain 5 to drive the corresponding planetary sprocket 4 to rotate through the traveling chain 5. This allows the chain drives of each planetary sprocket 4 to be independently arranged without interfering with each other.
In some embodiments, the center of the compound sprocket 6, the center of the planetary sprocket 4 corresponding thereto, and the center of the carrier 2 are on the same line.
In some embodiments, the running gear further comprises a distribution frame 10. The distribution frame 10 is fixedly connected to the wheel frame 2, and at least three compound sprockets 6 are rotatably connected to the distribution frame 10. Specifically, at least three rotating shafts are fixedly arranged on the distribution frame 10, and at least three composite chain wheels 6 are respectively and correspondingly arranged on the at least three rotating shafts, for example, the hinge joint of the rotating pair can be performed through a bearing.
In some embodiments, the travel drive further comprises a planetary reducer 8. The planetary reduction gear 8 includes a sun gear, a planetary gear, and a planetary carrier. The output shaft of the walking driving mechanism is connected with the sun gear, and the planet carrier is connected with the central transmission part. An output shaft of the traveling driving mechanism is connected with a sun gear, power is transmitted to the sun gear of the planetary reducer through the output shaft of the traveling driving mechanism, and the sun gear transmits the power to the planet carrier through the planet gear. The planet carrier is connected to the central sun gear 9 of the central transmission member, thereby transferring power to the central sun gear. The central sun gear 9 meshes with gear portions of at least three composite sprockets 6 and transmits power to the sprocket portions of the composite sprockets 6.
In some embodiments, referring to fig. 1 and 2, the travel drive further comprises a balance arm 1. The balance arm 1 includes a cylindrical portion rotatably connected to the wheel carrier 2. The travel driving mechanism is arranged in the cylinder part.
Specifically, as shown in fig. 2, the travel driving mechanism is a travel motor 7, and the travel motor 7 is fixedly disposed in the cylindrical portion.
In other embodiments not shown in the figures, the central drive comprises a central sprocket. The central sprocket includes at least three rows of teeth spaced side-by-side in an axial direction. At least three rows of chain teeth are correspondingly connected with at least three planetary chain wheels 4 through at least three walking chains 5. Power is transmitted to the planetary reducer 8 by the traveling motor 7, is directly transmitted to the central chain wheel after being reduced and torque-increased by the planet carrier of the planetary reducer 8, is transmitted to the three planetary chain wheels by three groups of side-by-side chain teeth on the central chain wheel through three chains, and finally is transmitted to the traveling wheel to drive the vehicle to move.
In some embodiments, a center plane of each of the at least three rows of sprockets is aligned with a center plane of the corresponding planetary sprocket.
The embodiment of the invention also provides a robot, which comprises the walking mechanism of each embodiment. The robot may be an obstacle crossing robot.
Specifically, in the present embodiment, the robot is an unmanned platform.
The embodiment of the invention also provides a vehicle which comprises the travelling mechanism of each embodiment.
The structure of the traveling mechanism according to an embodiment of the present invention will be described in detail with reference to fig. 1 and 2.
As shown in fig. 1 and 2, the traveling mechanism of the present embodiment includes a balance arm 1, a wheel carrier 2, three traveling wheels 3, three planetary sprockets 4, three traveling chains 5, three compound sprockets 6, a traveling motor 7, a planetary reducer 8, a central sun gear 9, and a distribution carrier 10.
As shown in fig. 1, the wheel frame 2 comprises three travelling wheel mounts distributed about a central axis. The three traveling wheels 3 are correspondingly arranged on the three traveling wheel installation parts.
The balance arm 1 includes a cylindrical portion provided coaxially with the wheel frame 2 and an arm portion extending to one side perpendicular to the cylindrical portion, and the cylindrical portion is rotatably connected to the wheel frame 2. The traveling motor 7 is fixedly connected in the cylinder part through bolts. Wherein, the section of thick bamboo portion is circular.
The output end of the walking motor is fixedly connected with the sun gear of the planetary reducer 8 through a spline, and power is transmitted to the sun gear of the planetary reducer 8 through the output end of the walking motor 7. The sun gear of the planetary reducer 8 transmits power to the planet carrier of the planetary reducer 8 through the planet gear of the planetary reducer 8. The planet carrier of the planetary reducer 8 is fixedly connected with the central sun gear 9 by a spline, so that power is transmitted to the central sun gear 9.
The distribution frame 10 is fixedly connected to the wheel frame 2 by means of bolts. Three rotating shafts are arranged on the distribution frame 10, three composite chain wheels 6 are respectively arranged on the three rotating shafts, and the composite chain wheels 6 are hinged with the rotating shafts through bearings in a rotating pair mode.
The composite sprocket 6 includes a gear portion and a sprocket portion that are coaxially arranged. Wherein the gear parts are gear-engaged with the central sun gear 9 so as to transmit power to the sprocket parts of the three compound sprockets 6, respectively. The chain wheel parts of the three composite chain wheels 6 are respectively in chain transmission with the three planet chain wheels 4 with the shortest distance through the three traveling chains 5, and the centers of the composite chain wheels 6, the planet chain wheels 4 in chain transmission with the composite chain wheels and the centers of the wheel carriers 2 are on the same straight line.
The planetary chain wheel 4 is in spline connection with a transmission shaft on the traveling wheel 3, so that power is finally transmitted to the traveling wheel 3 to drive the vehicle to move.
In summary, the traveling mechanism of the present embodiment uses three independent chains to drive three sets of traveling wheels respectively. If one or two chains are broken, the power can still be transmitted to the traveling wheel so as to drive the vehicle to move, so that the traveling mechanism of the embodiment has the traveling redundancy, and the problem that the power cannot be output due to broken chains during transmission of a single chain is solved.
Moreover, three independent chains are adopted, the length and the center distance of the chains can be effectively shortened, the wrap angle of the chain wheel is increased, the problems that the wrap angle of a single chain is too small and the tooth jumping is easy are solved, and the reliability of the chain transmission mechanism is improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (9)
1. A travel mechanism, comprising:
a wheel carrier (2) having a central axis and at least three travelling wheel mounting portions distributed around the central axis;
at least three travelling wheels (3) correspondingly mounted on the at least three travelling wheel mounting parts;
a travel drive mechanism; and
the walking transmission mechanism comprises a central transmission part, at least three walking chains (5) and at least three planetary chain wheels (4), the central transmission part is in driving connection with the walking driving mechanism, the central transmission part correspondingly drives the at least three planetary chain wheels (4) to rotate around respective axes through the at least three walking chains (5), and the at least three planetary chain wheels (4) are correspondingly in driving connection with wheel shafts of the at least three walking wheels (3).
2. A running gear according to claim 1, characterized in that the central transmission comprises a central sun wheel (9) and at least three compound sprockets (6) distributed around the central sun wheel (9), that the compound sprockets (6) comprise a gear part in gear engagement with the central sun wheel (9) and a sprocket part arranged coaxially with the gear part, and that the at least three running chains (5) connect the sprocket parts of the at least three compound sprockets (6) and the at least three planetary sprockets (4) in correspondence.
3. The running gear according to claim 2, characterized in that the running gear further comprises a distribution frame (10), the distribution frame (10) is fixedly connected to the wheel carrier (2), and the three composite chain wheels are uniformly distributed on the distribution frame (10) and rotatably connected to the distribution frame (10).
4. Travelling mechanism according to claim 1, characterized in that the central transmission comprises a central sprocket comprising at least three rows of axially spaced side by side sprockets, which are correspondingly connected to the at least three planetary sprockets (4) by the at least three travelling chains (5), respectively.
5. The running mechanism of claim 4 wherein the center plane of each of the at least three rows of teeth is aligned with the center plane of the corresponding planetary sprocket.
6. A running gear according to any one of claims 1 to 5, characterised in that the running gear further comprises a planetary reduction gear comprising a sun gear, planet wheels and a planet carrier, the output shaft of the running gear being connected to the sun gear and the planet carrier being connected to the central transmission.
7. The running gear according to any one of claims 1 to 5, further comprising a balance arm comprising a cylinder part rotatably connected with the wheel carrier (2), the running drive mechanism being arranged in the cylinder part.
8. A robot, characterized by comprising a walking mechanism as claimed in any one of claims 1 to 7.
9. A vehicle, characterized by comprising a running gear according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110473671.XA CN113184071A (en) | 2021-04-29 | 2021-04-29 | Running gear, robot and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110473671.XA CN113184071A (en) | 2021-04-29 | 2021-04-29 | Running gear, robot and vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN113184071A true CN113184071A (en) | 2021-07-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110473671.XA Pending CN113184071A (en) | 2021-04-29 | 2021-04-29 | Running gear, robot and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114313036A (en) * | 2021-12-30 | 2022-04-12 | 徐工集团工程机械股份有限公司 | Unmanned vehicle and control method |
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| CN210592208U (en) * | 2019-09-27 | 2020-05-22 | 吉林大学 | Small-sized vehicle chassis structure applying complex terrain |
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|---|---|---|---|---|
| CN101323256A (en) * | 2008-07-10 | 2008-12-17 | 中国农业大学 | Obstacle-cross driving and running mechanism |
| CN203601424U (en) * | 2013-08-21 | 2014-05-21 | 上海工程技术大学 | Planetary gear robot |
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| CN114313036A (en) * | 2021-12-30 | 2022-04-12 | 徐工集团工程机械股份有限公司 | Unmanned vehicle and control method |
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Application publication date: 20210730 |