CN201313308Y - Gear-shifting mobile robot - Google Patents
Gear-shifting mobile robot Download PDFInfo
- Publication number
- CN201313308Y CN201313308Y CNU2008202197902U CN200820219790U CN201313308Y CN 201313308 Y CN201313308 Y CN 201313308Y CN U2008202197902 U CNU2008202197902 U CN U2008202197902U CN 200820219790 U CN200820219790 U CN 200820219790U CN 201313308 Y CN201313308 Y CN 201313308Y
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- Prior art keywords
- gear
- electromagnetic clutch
- turning cylinder
- casing
- belt wheel
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- Expired - Lifetime
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- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000000853 adhesive Substances 0.000 description 5
- 230000001070 adhesive effect Effects 0.000 description 5
- 230000009194 climbing Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000979 retarding effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model relates to a robot engineering, in particular to a gear-changing mobile robot, which comprises a first belt wheel, a second belt wheel, a track and a box body, wherein two groups of driving devices with the same structure are symmetrically arranged in the box body; the second rotating shaft is inserted on the box body, one end of the second rotating shaft penetrates out of the box body and is provided with a first belt wheel, and the first belt wheel is connected with the second belt wheel through a crawler; two groups of gear sets are arranged on the first rotating shaft and the second rotating shaft, and two electromagnetic clutches for respectively controlling the output torques of the two groups of gear sets are sleeved on the first rotating shaft. The utility model has the advantages of simple structure, convenient operation, adaptable different environment motor power are not extravagant.
Description
Technical field
The utility model relates to robot engineering, specifically a kind of distribution network mobile robot.
Background technology
At present, known most of mobile robots, because the reliable requirement of restriction, simplicity of design of volume structure, mobile robot's speed reducing ratio is immutable; So, because mobile robot's the highest translational speed in level land and maximum gradeability are inversely proportional to, therefore, will cause the mobile robot in the highest translational speed on level land and the contradiction of maximum gradeability.If want to improve mobile robot's climbing capacity, under the constant situation of power of motor, can only increase the speed reducing ratio of robot, though promoted the climbing capacity of robot like this, but reduced the highest translational speed that can reach when the mobile robot moves on the level land, make and the peak power that to bring into play motor when robot moves on the level land cause waste.
The utility model content
In order to solve existing the highest translational speed in mobile robot level land and the conflicting problem of maximum gradeability, the purpose of this utility model is to provide a kind of distribution network mobile robot, by the different gear train output torque of electromagnetic clutch control, making the level land move with the branch retaining of climbing uses, no matter be that the level land is moved or climbed, can both maximum performance power of motor.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises first and second belt wheel and crawler belt, casing, in casing, be arranged with two groups of drive units that structure is identical, this drive unit comprises motor and first and third turning cylinder, motor is installed in the casing, one end of first turning cylinder links to each other with the output shaft of motor, and the other end is connected on the casing; Second turning cylinder is plugged on the casing, and an end of second turning cylinder passes, is provided with first belt wheel by casing, and first belt wheel links to each other with second belt wheel by crawler belt; On first and second turning cylinder, be provided with two groups of gear trains, be socketed with two electromagnetic clutch of controlling two groups of gear train output torques respectively on first turning cylinder.
Wherein: described electromagnetic clutch inhales sheet by electromagnetic clutch elasticity and the electromagnetic clutch electromagnet is formed; Be arranged with first gear, first electromagnetic clutch elasticity suction sheet, the first electromagnetic clutch electromagnet, second gear, second electromagnetic clutch elasticity suction sheet and the second electromagnetic clutch electromagnet on first turning cylinder successively, first and second gear is installed on first turning cylinder by bearing, first and second electromagnetic clutch electromagnet is fixed on first turning cylinder, and first and second electromagnetic clutch elasticity is inhaled sheet and is fixed in first and second gear respectively on the surface of first and second electromagnetic clutch electromagnet; Be connected with third and fourth gear on described second turning cylinder, the 3rd gear and first meshed transmission gear, composition gear train, the 4th gear and second meshed transmission gear, composition gear train; The speed reducing ratio of first gear and the 3rd gear is greater than the speed reducing ratio of second gear and the 4th gear; One end of described first turning cylinder links to each other with the output shaft of motor, and the other end is connected on the sidewall of casing by bearing; Second turning cylinder is plugged on the casing by bearing.
Advantage of the present utility model and good effect are:
1. simple in structure, easy to operate.The utility model only need can be realized the height conversion of robot translational speed, output torque by switching electromagnetic clutch, and easy to operate, structure is also very simple.
2. can adapt to varying environment.The utility model is controlled different gear train output torques by the adhesive of control electromagnetic clutch with disengagement, make the robot both can be in the level land fast moving, can satisfy climbing or the requirement during upper and lower stair again, more adapt to the complex environment of fire-fighting, scouting, dangerous operation.
3. power of motor is not wasted.No matter when the robot level land was moved or climbed, power of motor can both obtain maximum performance to the utility model.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Wherein: 1 is first belt wheel, and 2 is first turning cylinder, and 3 is first gear, 4 is crawler belt, and 5 is that the first electromagnetic clutch elasticity is inhaled sheet, and 6 is the first electromagnetic clutch electromagnet, 7 is second turning cylinder, and 8 is second belt wheel, and 9 is second gear, 10 is that the second electromagnetic clutch elasticity is inhaled sheet, and 11 is the second electromagnetic clutch electromagnet, and 12 is motor, 13 is the 3rd turning cylinder, 14 is the 3rd gear, and 15 is the 4th gear, and 16 is casing.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As shown in Figure 1, the utility model comprises first and second belt wheel 1,8 and crawler belt 4, casing 16, casing 16 is total supports of mobile robot, in casing 16, be arranged with two groups of drive units that structure is identical, this drive unit comprises motor 12 and first and third turning cylinder 2,13, and motor 12 is installed in the casing 16, and an end of first turning cylinder 2 links to each other with the output shaft of motor 12, by motor-driven, the other end is connected on the sidewall of casing 16 by bearing.Second turning cylinder 13 is plugged on the casing 16 by bearing, and an end of second turning cylinder 13 passes, is connected with first belt wheel 1 by casing 16; First belt wheel 1 links to each other with second belt wheel 8 by crawler belt 4, and the driving mobile robot moves or turns.Second belt wheel 8 is located at second turning cylinder 7 that is fixed on the casing 16 by bearing holder (housing, cover).On first and second turning cylinder 2,13, be provided with two groups of gear trains, be socketed with two electromagnetic clutch of controlling two groups of gear train output torques respectively on first turning cylinder 2.
Two electromagnetic clutch are formed one by the first electromagnetic clutch elasticity suction sheet 5 and the first electromagnetic clutch electromagnet 6 respectively, form another by the second electromagnetic clutch elasticity suction sheet 10 and the first electromagnetic clutch electromagnet 11.Two groups of gear trains are formed one group by first gear 3 and the 3rd gear 14 respectively, form another group by second gear 9 and the 4th gear 15.Be arranged with first gear 3, first electromagnetic clutch elasticity suction sheet 5, the first electromagnetic clutch electromagnet 6, second gear 9, second electromagnetic clutch elasticity suction sheet 10 and the second electromagnetic clutch electromagnet 11 on first turning cylinder 2 successively, first and second gear 3,9 is installed in respectively on first turning cylinder 2 by bearing, can rotate relative to first turning cylinder 2; First and second electromagnetic clutch electromagnet 6,11 is fixed in respectively on first turning cylinder 2, with first turning cylinder, 2 interlocks; The first electromagnetic clutch elasticity is inhaled sheet 5 and is fixed in first gear 3 on the surface of the first electromagnetic clutch electromagnet 6, and the second electromagnetic clutch elasticity is inhaled sheet 10 and is fixed in second gear 9 on the surface of the second electromagnetic clutch electromagnet 11.Be connected with third and fourth gear 14,15, the three gears 14 and first gear, 3 engaged transmission on second turning cylinder 13, form a gear train, the 4th gear 15 and second gear, 9 engaged transmission, form another gear train.The speed reducing ratio of first gear 3 and the 3rd gear 14 is greater than the speed reducing ratio of second gear 9 and the 4th gear 15.
Operation principle of the present utility model is:
The mobile robot is driven by two motors 12 respectively, the mobile robot is moved or cast.When move on the robot level land, because when move on the robot level land, needed output torque is less, 11 energisings of the second electromagnetic clutch electromagnet, produce magnetic, inhale sheet 10 by the distortion adhesive second electromagnetic clutch elasticity, make the second electromagnetic clutch electromagnet 11 and the second electromagnetic clutch elasticity inhale sheet 10 and combine; Motor 12 work, drive 2 rotations of first turning cylinder, with the affixed second electromagnetic clutch electromagnet 11 of first turning cylinder 2 along with first turning cylinder 2 rotates jointly, simultaneously, because the second electromagnetic clutch elasticity is inhaled sheet 10 and second gear 9 is affixed, therefore, rotated with first turning cylinder 2 jointly by the second electromagnetic clutch elasticity of the second electromagnetic clutch electromagnet, the 11 adhesives suction sheet 10 and second gear 9; Second gear 9 and the 4th gear 15 engaged transmission, carry-over moment drive three turning cylinder 13 rotations affixed with the 4th gear 15; And this moment, because the first electromagnetic clutch electromagnet 6 and the first electromagnetic clutch elasticity inhales sheet 5 and throw off, first gear 6 and the 3rd gear 14 dally, carry-over moment not.First belt wheel 1 drives second belt wheel 8 along with the 3rd turning cylinder 13 rotates jointly by crawler belt 4.Because the output torque is second gear 9 and the 4th gear 15 gear trains that form, that have little speed reducing ratio, the gear train idle running of big retarding ratio, motor speed is constant, and speed reducing ratio is little, and output maximum (top) speed height has been realized the high-speed mobile of mobile robot on the level land.
When the mobile robot climbs or goes upstairs the big torque of needs, 11 outages of the second electromagnetic clutch electromagnet, the second electromagnetic clutch electromagnet 11 and the second electromagnetic clutch elasticity are inhaled sheet 10 disengagements, and second gear 9 and first turning cylinder 2 are thrown off, and second gear 9 and the 4th gear 15 be carry-over moment no longer.6 energisings of the first electromagnetic clutch electromagnet produce magnetic, inhale sheet 5 by the distortion adhesive first electromagnetic clutch elasticity, make the first electromagnetic clutch electromagnet 6 and the first electromagnetic clutch elasticity inhale sheet 5 and combine; Motor 12 work, drive 2 rotations of first turning cylinder, with the affixed first electromagnetic clutch electromagnet 6 of first turning cylinder 2 along with first turning cylinder 2 rotates jointly, simultaneously, because the first electromagnetic clutch elasticity is inhaled sheet 5 and first gear 3 is affixed, therefore, rotated with first turning cylinder 2 jointly by the first electromagnetic clutch elasticity of the first electromagnetic clutch electromagnet, the 6 adhesives suction sheet 5 and first gear 3; First gear 3 and the 3rd gear 14 engaged transmission, carry-over moment drive three turning cylinder 13 rotations affixed with the 3rd gear 14; And this moment, because the second electromagnetic clutch electromagnet 11 and the second electromagnetic clutch elasticity inhales sheet 10 and throw off, second gear 9 and the 4th gear 15 dally, carry-over moment not.First belt wheel 1 drives second belt wheel 8 along with the 3rd turning cylinder 13 rotates jointly by crawler belt 4.Because the output torque is first gear 3 and the 3rd gear 14 gear trains that form, that have the big retarding ratio, the gear train idle running of little speed reducing ratio, the motor torque capacity is constant, and speed reducing ratio is big, output torque capacity height has been realized the climbing of mobile robot's low speed high torque.Like this, can realize the height conversion of mobile robot's translational speed, output torque by switching first and second electromagnetic clutch electromagnet 6,11, to adapt to different environmental demands.
First and second electromagnetic clutch electromagnet 6,11 and first and second electromagnetic clutch elasticity suction sheet 5,10 of forming two electromagnetic clutch in the utility model are commercial standard component, can purchase and grind in Fujian that new stock Co., Ltd produces, the standard type electromagnetic clutch of ENC series maybe can be purchased the JC series electromagnetic clutch of producing in Japanese SHINK0 company.
Claims (6)
1. distribution network mobile robot, comprise first and second belt wheel and crawler belt, casing, it is characterized in that: in casing (16), be arranged with two groups of drive units that structure is identical, this drive unit comprises motor (12) and first and third turning cylinder (2,13), motor (12) is installed in the casing (16), one end of first turning cylinder (2) links to each other with the output shaft of motor (12), and the other end is connected on the casing (16); Second turning cylinder (13) is plugged on the casing (16), and an end of second turning cylinder (13) passes, is provided with first belt wheel (1) by casing (16), and first belt wheel (1) links to each other with second belt wheel (8) by crawler belt (4); On first and second turning cylinder (2,13), be provided with two groups of gear trains, be socketed with two electromagnetic clutch of controlling two groups of gear train output torques respectively on first turning cylinder (2).
2. by the described distribution network mobile robot of claim 1, it is characterized in that: described electromagnetic clutch inhales sheet by electromagnetic clutch elasticity and the electromagnetic clutch electromagnet is formed; Be arranged with first gear (3) on first turning cylinder (2) successively, the first electromagnetic clutch elasticity is inhaled sheet (5), the first electromagnetic clutch electromagnet (6), second gear (9), the second electromagnetic clutch elasticity is inhaled the sheet (10) and the second electromagnetic clutch electromagnet (11), first, two gears (3,9) be installed on first turning cylinder (2) by bearing, first, two electromagnetic clutch electromagnets (6,11) be fixed on first turning cylinder (2) first, two electromagnetic clutch elasticity are inhaled sheet (5,10) be fixed in first respectively, two gears (3,9) towards first, two electromagnetic clutch electromagnets (6,11) on the surface.
3. by claim 1 or 2 described distribution network mobile robots, it is characterized in that: be connected with third and fourth gear (14,15) on described second turning cylinder (13), the 3rd gear (14) and first gear (3) engaged transmission, composition gear train, the 4th gear (15) and second gear (9) engaged transmission, composition gear train.
4. by the described distribution network mobile robot of claim 3, it is characterized in that: the speed reducing ratio of described first gear (3) and the 3rd gear (14) is greater than the speed reducing ratio of second gear (9) with the 4th gear (15).
5. by the described distribution network mobile robot of claim 1, it is characterized in that: an end of described first turning cylinder (2) links to each other with the output shaft of motor (12), and the other end is connected on the sidewall of casing (16) by bearing.
6. by the described distribution network mobile robot of claim 1, it is characterized in that: described second turning cylinder (13) is plugged on the casing (16) by bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202197902U CN201313308Y (en) | 2008-11-26 | 2008-11-26 | Gear-shifting mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008202197902U CN201313308Y (en) | 2008-11-26 | 2008-11-26 | Gear-shifting mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201313308Y true CN201313308Y (en) | 2009-09-23 |
Family
ID=41125095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008202197902U Expired - Lifetime CN201313308Y (en) | 2008-11-26 | 2008-11-26 | Gear-shifting mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201313308Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733744B (en) * | 2008-11-26 | 2011-11-09 | 中国科学院沈阳自动化研究所 | Gear-variable mobile robot |
| US20230364809A1 (en) * | 2022-05-16 | 2023-11-16 | Avar Robotics, Inc. | Robotic joint with an automatic transmission |
-
2008
- 2008-11-26 CN CNU2008202197902U patent/CN201313308Y/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101733744B (en) * | 2008-11-26 | 2011-11-09 | 中国科学院沈阳自动化研究所 | Gear-variable mobile robot |
| US20230364809A1 (en) * | 2022-05-16 | 2023-11-16 | Avar Robotics, Inc. | Robotic joint with an automatic transmission |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20090923 Effective date of abandoning: 20081126 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20090923 Effective date of abandoning: 20081126 |