CN204184483U - For the barrier-surpassing robot of narrow space - Google Patents
For the barrier-surpassing robot of narrow space Download PDFInfo
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- CN204184483U CN204184483U CN201420694108.0U CN201420694108U CN204184483U CN 204184483 U CN204184483 U CN 204184483U CN 201420694108 U CN201420694108 U CN 201420694108U CN 204184483 U CN204184483 U CN 204184483U
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Abstract
The utility model belongs to mechanical automation engineering field, specifically a kind of barrier-surpassing robot for narrow space, comprise front swing arm, rear-swing arm, center-control case, advancing drive mechanism and face upward driver train of bowing, front swing arm and rear-swing arm lay respectively at the rear and front end of center-control case, the rear and front end of the center-control box body left and right sides is equipped with multiplexing Athey wheel, by driving crawler belt to be connected between the multiplexing Athey wheel of homonymy rear and front end; Advancing drive mechanism and face upward driver train of bowing and be arranged on respectively in casing, front swing arm and rear-swing arm have respective advancing drive mechanism, face upward driver train of bowing, by live axle or multiplexing Athey wheel and advancing drive mechanism or face upward driver train of bowing and be connected.The utility model structure is simple, compact, and corollary equipment is few and simple to operate, functions such as can realizing the thick pipeline of independent technological leapfrogging differing heights, realize the advance in slype, retreat and turn to, and operates particular device by manipulator.
Description
Technical field
The utility model belongs to mechanical automation engineering field, specifically a kind of barrier-surpassing robot for narrow space.
Background technology
Mobile robot under exploitation non-structural terrain environment is the emphasis problem in current robot research.Along with the increase in demand of the aspects such as celestial body detecting, military surveillance and disaster relief exploration, the research of unstructured moving grids being moved to robot for overhauling is paid attention to fully, also achieves the achievement in research that some are outstanding.In order to adapt to the operation needs of unstructured moving grids, the multi-form robot of countries in the world development, mainly can be divided into wheeled robot for overhauling by its mode of motion, several large classes such as crawler type robot for overhauling and leg formula robot for overhauling in recent years.
Wheeled robot has that structure is simple, energy consumption is low, the life-span is long, from heavy and light, the advantage such as easy to maintenance, moving velocity is fast, but obstacle climbing ability is poor, and adaptive capacity to environment is low.
1986 and 1989 U.S. NASA jet propulsion laboratory (JPL) successively devise Bluerover robot and the Robby robot of the three points of body constructions in front and back, with the environmental quality of adaptation to the ground fluctuations, make all wheels and keep good contact with ground.
IRobot company of the U.S. have developed PackBot Series machine people, the basis of common double crawler body has added a pair front swing arm, can rugged terrain environment be adapted to, stair climbing and the slope of climbing up and over 45 °, mainly perform the tasks such as reconnaissance mission, rescue survivor, exploration chemical leakage.PackBot build is small and exquisite, long 0.87m, wide 0.51m, high 0.18m, heavy 18Kg.
Under the defense advanced technical study office of U.S. Department of Defense subordinate subsidizes, american weapon contractor Boston utility companies is responsible for have developed the very high device of a set of scientific and technological content-" towser " (BigDog) transportation robot.Its height about 1m, heavy 75Kg, adopt engine petrol to drive.
Along with robot application field constantly expands, barrier-surpassing robot can complete more complicated operation and in the changeable complex-terrain of environment, substitute the task that the mankind go to perform some hardships and dangers.Traditional barrier-surpassing robot configuration can not complete the task of some special operation due to the limitation of self-condition, needs the robot designing novel structure to carry out alternative staff and completes the job tasks such as relevant maintenance at Method for Inside Submarine's.
Utility model content
In order to prevent particular surroundings from causing unnecessary injury to human body, the purpose of this utility model is to provide a kind of barrier-surpassing robot for narrow space.This barrier-surpassing robot can cross tall and big obstacle under narrow space, can having radiomaterial, passage is narrow and work under having the environment of a lot of thick pipeline, realize the advance of robot, retreat, turn to and the function such as obstacle detouring, and the operation to particular device can be realized by the manipulator that robot carries.
The purpose of this utility model is achieved through the following technical solutions:
The utility model comprises front swing arm, rear-swing arm, center-control case, advancing drive mechanism and faces upward driver train of bowing, wherein the rear and front end of the center-control box body left and right sides is equipped with multiplexing Athey wheel, by driving crawler belt to be connected between the multiplexing Athey wheel of homonymy rear and front end, described front swing arm and rear-swing arm lay respectively at the rear and front end of described casing, and all between the described driving crawler belt of casing both sides, described advancing drive mechanism and face upward driver train of bowing and be arranged in described casing respectively, described front swing arm and rear-swing arm have respective advancing drive mechanism, face upward driver train of bowing, described front swing arm is identical with rear-swing arm structure, include synchronous connecting shaft, swing arm driving crawler belt, swing arm is rotated Athey wheel and is positioned at the swing arm stay bearing plate of casing both sides, one end of swing arm stay bearing plate described in both sides is rotatablely equipped with swing arm respectively and rotates Athey wheel, described swing arm on both sides swing arm stay bearing plate is rotated between Athey wheel by described synchronous connecting shaft interlock, and the described swing arm of every side is rotated Athey wheel and is all connected by the multiplexing Athey wheel of described swing arm driving crawler belt with homonymy front end or rear end, the other end of side swing arm stay bearing plate is set in the mouth of advancing drive mechanism in relative rotation, the other end of opposite side swing arm stay bearing plate is connected with the described mouth facing upward driver train of bowing, the multiplexing Athey wheel be connected with the advancing drive mechanism of described forward and backward swing arm lays respectively at the casing left and right sides, and is positioned at rear and front end.
Wherein: the advancing drive mechanism of described front swing arm is identical with the advancing drive mechanism structure of rear-swing arm, include advancing drive motor, transmission device A and advancing drive output shaft, described advancing drive output shaft in forward and backward swing arm advancing drive mechanism is rotatably installed in casing both sides respectively, one end is positioned at described casing, is connected with the advancing drive motor being arranged on casing by described transmission device A, other end connection multiplexing Athey wheel, and drive described swing arm driving crawler belt by this multiplexing Athey wheel; Front swing arm is put or the other end of swing arm stay bearing plate in side described in rear-swing arm is connected with advancing drive output shaft rotation by bearing; The other end of described advancing drive output shaft is connected with multiplexing Athey wheel by flange; Described transmission device A is bevel-gear pair, comprises bevel pinion and bevel gear wheel, and this bevel pinion is connected with the mouth of described advancing drive motor, described bevel gear wheel be connected to advancing drive output shaft one end and with described bevel pinion engaged transmission;
The facing upward of described front swing arm bow driver train and rear-swing arm to face upward driving mechanism structure of bowing identical, include and face upward drive motor of bowing, transmission device B and face upward axle of bowing, before, rear-swing arm is faced upward and is faced upward axle of bowing described in driver train of bowing and be rotatably installed in the casing left and right sides respectively, one end is positioned at described casing, by described transmission device B be arranged on the drive motor of bowing of facing upward in center-control case and be connected, the other end is connected with the other end of the stay bearing plate of opposite side swing arm described in front swing arm or rear-swing arm, the other end facing upward axle of bowing is rotatably installed in by bearing with the described multiplexing Athey wheel facing upward axle of bowing corresponding, described face upward that axle of bowing is provided with interlock face upward flange of bowing, face upward the other end that axle of bowing faces upward by this opposite side swing arm stay bearing plate described in flange and front swing arm or rear-swing arm of bowing affixed, described transmission device B comprises worm screw and worm gear, this worm screw and face upward drive motor of bowing and be all arranged on described box house by facing upward drive motor motor cabinet of bowing, described worm screw is connected with the mouth facing upward drive motor of bowing by coupler, described worm gear be arranged on the one end of facing upward axle of bowing and with described worm mesh transmission,
Described front swing arm and rear-swing arm are symmetrical arranged with described robot Width mid-plane, and in forward and backward swing arm, the swing arm stay bearing plate of both sides is symmetrical arranged with described robot length direction mid-plane; The rear and front end of the described casing left and right sides is respectively provided with a multiplexing Athey wheel, two multiplexing Athey wheels of front end, the left and right sides, two multiplexing Athey wheels of rear end are all symmetrical arranged, and the distance between shafts between the axle base of described front swing arm, the axle base of rear-swing arm and the multiplexing Athey wheel at the forward and backward two ends of casing is identical; Described multiplexing Athey wheel is axially arranged with the groove that crawler belt fixed by two circles, the described groove being positioned at outside fixes described driving crawler belt, the described groove being positioned at inner side fixes described swing arm driving crawler belt, swing arm stay bearing plate in described forward and backward swing arm is all positioned at the inner side of multiplexing Athey wheel, and the outside that Athey wheel is positioned at swing arm stay bearing plate is rotated in the swing arm on described swing arm stay bearing plate;
Described center-control case comprises casing, multiplexing Athey wheel, drives crawler belt and integrated battery capsule, the left and right sides of this casing is respectively equipped with integrated battery capsule, installs promising described advancing drive mechanism and face upward the portable power source that driver train of bowing provides power in this integrated battery capsule; The rear and front end of described casing and the integrated battery capsule of both sides are all provided with wide-angle camera, and the below of every side integrated battery capsule is equipped with multiple track adjusting wheel be arranged on this side integrated battery capsule; The advancing drive mechanism of described front swing arm is positioned at the front left side of box house, and the advancing drive mechanism of rear-swing arm is positioned at the right lateral side of box house; Described front swing arm face upward the forward right side that driver train of bowing is positioned at box house, rear-swing arm face upward the left rear side that driver train of bowing is positioned at box house; The aspect ratio of described casing is 2.4:1, and centre is wide, rear and front end is narrow.
Advantage of the present utility model and good effect are:
1. the utility model structure is simple, compact, and corollary equipment is few and simple to operate, functions such as can realizing the thick pipeline of independent technological leapfrogging differing heights, realize the advance in slype, retreat and turn to, and operates particular device by manipulator.
2. the circumstances that the utility model can realize having radiomaterial manually carries out work, also can enter the particular surroundings such as with environment such as Nuclear Biological Chemicals and execute the task.
3. the utility model can be applicable to battlefield enemy's situation scouting, supervision, the removal of mines, chemical defence, radiation proof, logistics support, signal disturbing and even directly fights, minimizing personal casualty is played in war, the effect of Multidimensional Warfare system is constructed by other warhead collaborative, has larger military significance.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present utility model;
Fig. 2 is obstacle detouring schematic diagram of the present utility model;
Fig. 3 is the structural representation of the utility model center-control case;
Fig. 4 is the structural representation of the utility model front swing arm;
Fig. 5 is the structural representation of the utility model rear-swing arm;
Fig. 6 is the utility model overall structure lateral plan;
Fig. 7 is the utility model left and right advancing drive mechanism installation site schematic top plan view;
Fig. 8 is the structural representation of the utility model advancing drive mechanism;
To be that the utility model is forward and backward face upward driver train installation site schematic top plan view of bowing to Fig. 9;
Figure 10 is the structural representation that the utility model faces upward driver train of bowing;
Wherein: 1 is synchronous connecting shaft, 2 is swing arm driving crawler belt, and 3 is swing arm stay bearing plate, 4 for driving crawler belt, and 5 is multiplexing Athey wheel, and 6 is swing arm rotation Athey wheel, 7 is advancing drive motor, and 8 is drive motor permanent seat, and 9 is bevel pinion, 10 is bevel gear wheel, 11 is advancing drive output shaft, and 12 is flange, and 13 is casing, 14 for facing upward drive motor of bowing, 15 is motor cabinet, and 16 is worm screw, and 17 is worm gear, 18 for facing upward axle of bowing, 19 for facing upward flange of bowing, and 20 is coupler, and 21 is integrated battery capsule, 22 is track adjusting wheel, and 23 is wide-angle camera.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Fig. 1, Fig. 3 and Fig. 6, the utility model comprises front swing arm, rear-swing arm, center-control case, advancing drive mechanism and faces upward driver train of bowing, wherein center-control case comprises casing 13, multiplexing Athey wheel 5, drives crawler belt 4 and integrated battery capsule 21, the rear and front end of casing 13 left and right sides is respectively provided with a multiplexing Athey wheel 5, two multiplexing Athey wheels 5 of both sides, front end, two multiplexing Athey wheels 5 of both sides, rear end are all symmetrical arranged, and drive crawler belt 4 to be connected between former and later two multiplexing Athey wheels 5 of the same side by one; Casing 13 between former and later two multiplexing Athey wheels 5 of every side is provided with integrated battery capsule 21, in this integrated battery capsule 21, promising advancing drive mechanism be installed and face upward the portable power source that driver train of bowing provides power, the rear and front end of casing 13 and the integrated battery capsule 21 of both sides are all provided with wide-angle camera 23, and the below of every side integrated battery capsule 21 is equipped with multiple track adjusting wheel 22 be arranged on this side integrated battery capsule 21.Casing 13 aspect ratio of center-control case is 2.4:1, and centre is wide, rear and front end is narrow; Four multiplexing Athey wheels 5 lay respectively at the narrower rear and front end of casing.
Advancing drive mechanism be divided into left front enter driver train and right front enter driver train, be separately fixed at the front left side in casing 13 and right lateral side, as shown in Figure 7, Figure 8, front left side left front enter driver train (i.e. the advancing drive mechanism of front swing arm) drive left side driving crawler belt 4 and front swing arm advance or retreat, right lateral side right front enter driver train (i.e. the advancing drive mechanism of rear-swing arm) drive right side driving crawler belt 4 and rear-swing arm advance or retrogressing.Left front enter driver train and right front enter driving mechanism structure identical, include advancing drive motor 7, drive motor permanent seat 8, transmission device A and advancing drive output shaft 11, the advancing drive motor 7 in left and right advancing drive mechanism is arranged in casing 13 respectively by respective drive motor permanent seat 8; Advancing drive output shaft 11 in left and right advancing drive mechanism is rotatably installed in the left and right sides of casing 13 respectively, one end is positioned at casing 13, is connected with advancing drive motor 7 by transmission device A, and the other end is connected with the multiplexing Athey wheel 5 of casing 13 front left side or right lateral side by a flange 12; Transmission device A is bevel-gear pair, comprise bevel pinion 9 and bevel gear wheel 10, this bevel pinion 9 is connected with the mouth of advancing drive motor 7, bevel gear wheel 10 be connected to advancing drive output shaft 11 one end and with bevel pinion 9 engaged transmission, transfer the motion to advancing drive output shaft 11.
Face upward and to face upward bow driver train and layback before driver train of bowing is divided into and to bow driver train, be separately fixed at the forward right side in casing 13 and left rear side, as shown in Figure 9, Figure 10, facing upward driver train of bowing (i.e. front swing arm face upward driver train of bowing) before forward right side drives front swing arm can be that reference plane rotates ± 100 ° with horizontal surface, and the layback of left rear side driver train (i.e. rear-swing arm face upward driver train of bowing) of bowing drives rear-swing arm can be reference plane rotation ± 100 ° with horizontal surface.Before to face upward bow driver train and layback driving mechanism structure of bowing identical, include and face upward drive motor 14 of bowing, face upward drive motor motor cabinet 15 of bowing, coupler 20, transmission device B and face upward axle 18 of bowing, front bow driver train and the layback drive motor 14 of bowing of facing upward in driver train of bowing of facing upward is arranged in casing 13 respectively by respective facing upward drive motor motor cabinet 15 of bowing; Before face upward bow driver train and the layback axle 18 of bowing of facing upward in driver train of bowing and be rotatably installed in the left and right sides of casing 13 respectively, one end be positioned at casing 13, by transmission device B with face upward drive motor 14 of bowing and be connected, the other end is faced upward by one flange 19 of bowing and is connected with front swing arm or rear-swing arm, and the other end facing upward axle 18 of bowing also is rotationally connected by the multiplexing Athey wheel 5 of bearing and this end; Transmission device B comprises worm screw 16 and worm gear 17, the two ends of this worm screw 16 are rotatably installed in face upward bows on drive motor motor cabinet 15, either end is connected with the mouth facing upward drive motor 14 of bowing by coupler 20, worm gear 17 be arranged on the one end of facing upward axle 18 of bowing and with worm screw 16 engaged transmission, transfer the motion to and face upward axle 18 of bowing.
Front swing arm and rear-swing arm lay respectively at the rear and front end of casing 13, are symmetrical arranged with robot Width mid-plane, and front swing arm and rear-swing arm are all between the driving crawler belt 4 of casing 13 both sides.As shown in Figure 4, Figure 5, front swing arm and rear-swing arm structure identical, include synchronous connecting shaft 1, swing arm driving crawler belt 2, swing arm rotate Athey wheel 6 and two panels swing arm stay bearing plate 3.The equal symmetry of two panels swing arm stay bearing plate 3 in forward and backward swing arm is positioned at the both sides of casing 13, with robot length direction mid-plane for symmetry, be rotatably connected to swing arm outside one end of two panels swing arm stay bearing plate 3 in front swing arm respectively to rotate between Athey wheel 6, two swing arm rotation Athey wheel 6 by synchronous connecting shaft 1 interlock; The other end of the two panels swing arm stay bearing plate 3 in front swing arm is all positioned at the inner side of two multiplexing Athey wheels 5 of the left and right sides, casing 13 front end and all has through hole, the through hole being wherein arranged in the other end of the swing arm stay bearing plate 3 in left side by bearing carrier ring be located at front left side left front enter the other end of advancing drive output shaft 11 of driver train, facing upward driver train of bowing before being arranged in the other end of swing arm stay bearing plate 3 on right side and forward right side, to face upward facing upward on axle 18 of bowing flange 19 of bowing affixed, faces upward axle 18 of bowing and passed by through hole; Swing arm on left side swing arm stay bearing plate 3 is rotated between Athey wheel 6 and the multiplexing Athey wheel 5 of front end, left side and is connected by swing arm driving crawler belt 2, and the swing arm on right side swing arm stay bearing plate 3 is rotated between Athey wheel 6 and the multiplexing Athey wheel 5 of right side front and is connected by swing arm driving crawler belt 2.The other end of the two panels swing arm stay bearing plate 3 in rear-swing arm is all positioned at the inner side of two multiplexing Athey wheels 5 of the left and right sides, casing 13 rear end and all has through hole, wherein be arranged in the other end of swing arm stay bearing plate 3 in left side and the layback of left rear side and bow that to face upward facing upward on axle 18 of bowing flange 19 of bowing affixed for driver train, face upward axle 18 of bowing to be passed by through hole, the through hole being arranged in the other end of the swing arm stay bearing plate 3 on right side by bearing carrier ring be located at right lateral side right front enter the other end of advancing drive output shaft 11 of driver train; Swing arm on left side swing arm stay bearing plate 3 is rotated between Athey wheel 6 and the multiplexing Athey wheel 5 of rear end, left side and is connected by swing arm driving crawler belt 2, and the swing arm on right side swing arm stay bearing plate 3 is rotated between Athey wheel 6 and the multiplexing Athey wheel 5 of rear end, right side and is connected by swing arm driving crawler belt 2.
Totally four multiplexing Athey wheels 5 of casing 13 left and right sides, are all axially arranged with the groove that crawler belt fixed by two circles, are positioned at the groove fixed drive crawler belt 4 in outside, and the groove being positioned at inner side fixes swing arm driving crawler belt 2.Distance between shafts between the axle base of the axle base (distance namely between synchronous connecting shaft 1 longitudinal center line with other end two through hole longitudinal center line on two panels swing arm stay bearing plate 3) of front swing arm, rear-swing arm (distance namely on synchronous connecting shaft 1 longitudinal center line and two panels swing arm stay bearing plate 3 between other end two through hole longitudinal center line) and the multiplexing Athey wheel 5 at the forward and backward two ends of casing 13 is identical.
Be arranged in front left side left front enter the bow drive motor 14 of bowing of facing upward of driver train of the advancing drive motor 7 of driver train and the layback that is arranged in left rear side be electrically connected with the portable power source of integrated battery capsule 21 on the left of casing 13 respectively, face upward before being arranged in forward right side driver train of bowing face upward bow drive motor 14 and be arranged in right lateral side right front enter the advancing drive motor 7 of driver train be electrically connected with the portable power source of integrated battery capsule 21 on the right side of casing 13 respectively.
Principle of work of the present utility model is:
When the advancing drive motor 7 in advance driver train works, drive bevel pinion 9 and bevel gear wheel 10 to rotate, and then drive multiplexing Athey wheel 5 to rotate by advancing drive output shaft 11, by motion transmission on driving crawler belt 4; Concurrent multiplexing Athey wheel 5 drives the swing arm driving crawler belt 2 in forward and backward swing arm, now drives crawler belt 4 to be with mobile robot to advance, retreats or turn.When the driving crawler belt 4 in left side rotates counterclockwise with the driving crawler belt 4 on right side simultaneously, robot travels forward; When the driving crawler belt 4 in left side rotates clockwise with the driving crawler belt 4 on right side simultaneously, robot moves backward; When the driving crawler belt 4 in left side rotates round about with the driving crawler belt 4 on right side, robot left or turning clockwise.
Rotate when facing upward drive motor 14 of bowing, drive worm gear 17, worm screw 16 is corresponding rotates thereupon, face upward axle 18 one end of bowing and be fixedly connected with by screw with worm gear 17, the other end is fixedly connected with swing arm stay bearing plate 3 by facing upward flange 19 of bowing; When worm gear 17 is suitable, rotate counterclockwise, drive the swing arm stay bearing plate 3 of homonymy suitable, rotate counterclockwise.Two panels swing arm stay bearing plate 3 front end in forward and backward swing arm is connected by synchronous connecting shaft 1, ensures two panels swing arm stay bearing plate 3 synchronous axial system.
When in narrow space, when there is pipe obstacle above in barrier-surpassing robot motion process, the drive motor 14 of bowing of facing upward facing upward driver train of bowing before being arranged in right side front rotates clockwise, and by worm gear 17, worm screw 16, faces upward axle 18 of bowing, and drives two panels swing arm stay bearing plate 3 cw to be upturned; Now, left and right advancing drive mechanism kinematic makes barrier-surpassing robot advance, front swing arm upward movement.When the height of the multiplexing Athey wheel 5 of the left and right sides, casing 13 front end crosses pipe line of centers height, before face upward facing upward in driver train of bowing drive motor 14 of bowing and rotate counterclockwise, by worm gear 17, worm screw 16, face upward axle 18 of bowing, drive two panels swing arm stay bearing plate 3 conter clockwise to pressing down, front swing arm moves downward.As shown in Figure 2, when the central row of casing 13 sails to directly over pipe, front facing upward in driver train of bowing drive motor 14 of bowing of facing upward rotates counterclockwise, and makes two panels swing arm stay bearing plate 3 continue conter clockwise and presses down, until Athey wheel 6 is rotated in the swing arm in front swing arm touch ground; Simultaneously, rear-swing arm layback bow facing upward in driver train bow drive motor 14 driving under rotate clockwise, when the multiplexing Athey wheel 5 of the left and right sides, casing 13 rear end crosses pipe obstacle, the layback drive motor 14 of bowing of facing upward in driver train of bowing rotates counterclockwise, until rear-swing arm is to level attitude.Afterwards, barrier-surpassing robot moves forward, simultaneously front swing arm clickwise, and rear-swing arm left-hand revolution, until robot fully passes over pipe obstacle.
Claims (10)
1. the barrier-surpassing robot for narrow space, it is characterized in that: comprise front swing arm, rear-swing arm, center-control case, advancing drive mechanism and face upward driver train of bowing, wherein the rear and front end of center-control box body (13) left and right sides is equipped with multiplexing Athey wheel (5), by driving crawler belt (4) to be connected between the multiplexing Athey wheel (5) of homonymy rear and front end, described front swing arm and rear-swing arm lay respectively at the rear and front end of described casing (13), and between the described driving crawler belt (4) being all positioned at casing (13) both sides, described advancing drive mechanism and face upward driver train of bowing and be arranged in described casing (13) respectively, described front swing arm and rear-swing arm have respective advancing drive mechanism, face upward driver train of bowing, described front swing arm is identical with rear-swing arm structure, include synchronous connecting shaft (1), swing arm driving crawler belt (2), swing arm is rotated Athey wheel (6) and is positioned at the swing arm stay bearing plate (3) of casing (13) both sides, one end of swing arm stay bearing plate (3) described in both sides is rotatablely equipped with swing arm respectively and rotates Athey wheel (6), described swing arm on both sides swing arm stay bearing plate (3) is rotated between Athey wheel (6) by described synchronous connecting shaft (1) interlock, and the described swing arm of every side is rotated Athey wheel (6) and is all connected by the multiplexing Athey wheel (5) of described swing arm driving crawler belt (2) with homonymy front end or rear end, the other end of side swing arm stay bearing plate (3) is set in the mouth of advancing drive mechanism in relative rotation, the other end of opposite side swing arm stay bearing plate (3) is connected with the described mouth facing upward driver train of bowing, the multiplexing Athey wheel (5) be connected with the advancing drive mechanism of described forward and backward swing arm lays respectively at casing (13) left and right sides, and is positioned at rear and front end.
2. by the barrier-surpassing robot for narrow space described in claim 1, it is characterized in that: the advancing drive mechanism of described front swing arm is identical with the advancing drive mechanism structure of rear-swing arm, include advancing drive motor (7), transmission device A and advancing drive output shaft (11), before, described advancing drive output shaft (11) in rear-swing arm advancing drive mechanism is rotatably installed in casing (13) both sides respectively, one end is positioned at described casing (13), be connected with the advancing drive motor (7) be arranged in casing (13) by described transmission device A, other end connection multiplexing Athey wheel (5), and drive described swing arm driving crawler belt (2) by this multiplexing Athey wheel (5), front swing arm is put or the other end of side swing arm stay bearing plate (3) described in rear-swing arm is rotationally connected by bearing and advancing drive output shaft (11).
3. by the barrier-surpassing robot for narrow space described in claim 2, it is characterized in that: the other end of described advancing drive output shaft (11) is connected with multiplexing Athey wheel (5) by flange (12); Described transmission device A is bevel-gear pair, comprise bevel pinion (9) and bevel gear wheel (10), this bevel pinion (9) is connected with the mouth of described advancing drive motor (7), described bevel gear wheel (10) be connected to advancing drive output shaft (11) one end and with described bevel pinion (9) engaged transmission.
4. by the barrier-surpassing robot for narrow space described in claim 1, it is characterized in that: the facing upward of described front swing arm bow driver train and rear-swing arm to face upward driving mechanism structure of bowing identical, include and face upward drive motor of bowing (14), transmission device B and face upward axle of bowing (18), before, rear-swing arm is faced upward and is faced upward axle of bowing (18) described in driver train of bowing and be rotatably installed in casing (13) left and right sides respectively, one end is positioned at described casing (13), by described transmission device B be arranged on the drive motor (14) of bowing of facing upward in center-control case and be connected, the other end is connected with the other end of the stay bearing plate of opposite side swing arm described in front swing arm or rear-swing arm (3), the other end facing upward axle of bowing (18) is rotatably installed in by bearing with the described multiplexing Athey wheel (5) facing upward axle of bowing (18) corresponding.
5. by the barrier-surpassing robot for narrow space described in claim 4, it is characterized in that: described in face upward that axle of bowing (18) is provided with interlock face upward flange of bowing (19), to face upward flange of bowing (19) affixed with the other end of opposite side swing arm stay bearing plate (3) described in front swing arm or rear-swing arm by this to face upward axle of bowing (18); Described transmission device B comprises worm screw (16) and worm gear (17), this worm screw (16) and face upward drive motor of bowing (14) to be all arranged on described casing (13) inner by facing upward drive motor motor cabinet (15) of bowing, described worm screw (16) is connected with the mouth facing upward drive motor of bowing (14) by coupler (20), described worm gear (17) be arranged on the one end of facing upward axle of bowing (18) and with described worm screw (16) engaged transmission.
6. by the barrier-surpassing robot for narrow space described in the arbitrary claim of claim 1 to 5, it is characterized in that: described front swing arm and rear-swing arm are symmetrical arranged with described robot Width mid-plane, in forward and backward swing arm, the swing arm stay bearing plate (3) of both sides is symmetrical arranged with described robot length direction mid-plane; The rear and front end of described casing (13) left and right sides is respectively provided with a multiplexing Athey wheel (5), two multiplexing Athey wheels (5) of front end, the left and right sides, two multiplexing Athey wheels (5) of rear end are all symmetrical arranged, and the distance between shafts between the axle base of described front swing arm, the axle base of rear-swing arm and the multiplexing Athey wheel (5) at casing (13) forward and backward two ends is identical.
7. by the barrier-surpassing robot for narrow space described in claim 6, it is characterized in that: described multiplexing Athey wheel (5) is axially arranged with the groove that crawler belt fixed by two circles, the described groove being positioned at outside fixes described driving crawler belt (4), the described groove being positioned at inner side fixes described swing arm driving crawler belt (2), swing arm stay bearing plate (3) in described forward and backward swing arm is all positioned at the inner side of multiplexing Athey wheel (5), and the outside that Athey wheel (6) is positioned at swing arm stay bearing plate (3) is rotated in the swing arm on described swing arm stay bearing plate (3).
8. by the barrier-surpassing robot for narrow space described in the arbitrary claim of claim 1 to 5, it is characterized in that: described center-control case comprises casing (13), multiplexing Athey wheel (5), drives crawler belt (4) and integrated battery capsule (21), the left and right sides of this casing (13) is respectively equipped with integrated battery capsule (21), installs promising described advancing drive mechanism and face upward the portable power source that driver train of bowing provides power in this integrated battery capsule (21); The rear and front end of described casing (13) and the integrated battery capsule (21) of both sides are all provided with wide-angle camera (23), and the below of every side integrated battery capsule (21) is equipped with multiple track adjusting wheel (22) be arranged on this side integrated battery capsule (21).
9. by the barrier-surpassing robot for narrow space described in claim 8, it is characterized in that: the advancing drive mechanism of described front swing arm is positioned at the inner front left side of casing (13), the advancing drive mechanism of rear-swing arm is positioned at the inner right lateral side of casing (13); The driver train of bowing of facing upward of described front swing arm is positioned at the inner forward right side of casing (13), and the driver train of bowing of facing upward of rear-swing arm is positioned at the inner left rear side of casing (13).
10. by the barrier-surpassing robot for narrow space described in claim 8, it is characterized in that: the aspect ratio of described casing (13) is 2.4:1, centre is wide, rear and front end is narrow.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420694108.0U CN204184483U (en) | 2014-11-18 | 2014-11-18 | For the barrier-surpassing robot of narrow space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420694108.0U CN204184483U (en) | 2014-11-18 | 2014-11-18 | For the barrier-surpassing robot of narrow space |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104986233A (en) * | 2015-06-09 | 2015-10-21 | 河海大学常州校区 | Track swing arm type obstacle-crossing robot |
| CN105667612A (en) * | 2014-11-18 | 2016-06-15 | 中国人民解放军91872部队青岛研究室 | Obstacle crossing robot used in narrow space |
| CN106428267A (en) * | 2016-05-19 | 2017-02-22 | 西安天和海防智能科技有限公司 | Transmission mechanism of magnetic adsorption track robot |
| CN109795568A (en) * | 2019-02-21 | 2019-05-24 | 华中农业大学 | A kind of joint track type avoidance running gear |
| CN109969276A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of multiduty independent track drive unit |
| CN110861721A (en) * | 2019-11-22 | 2020-03-06 | 常州诗歌达软件有限公司 | Crawler-type mobile robot |
| WO2024084307A1 (en) * | 2022-10-18 | 2024-04-25 | 糖豆創新科技有限公司 | Crawler pipe detector |
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2014
- 2014-11-18 CN CN201420694108.0U patent/CN204184483U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105667612A (en) * | 2014-11-18 | 2016-06-15 | 中国人民解放军91872部队青岛研究室 | Obstacle crossing robot used in narrow space |
| CN105667612B (en) * | 2014-11-18 | 2018-01-09 | 中国人民解放军91872部队青岛研究室 | A kind of barrier-surpassing robot for narrow space |
| CN104986233A (en) * | 2015-06-09 | 2015-10-21 | 河海大学常州校区 | Track swing arm type obstacle-crossing robot |
| CN106428267A (en) * | 2016-05-19 | 2017-02-22 | 西安天和海防智能科技有限公司 | Transmission mechanism of magnetic adsorption track robot |
| CN109969276A (en) * | 2017-12-27 | 2019-07-05 | 核动力运行研究所 | A kind of multiduty independent track drive unit |
| CN109795568A (en) * | 2019-02-21 | 2019-05-24 | 华中农业大学 | A kind of joint track type avoidance running gear |
| CN110861721A (en) * | 2019-11-22 | 2020-03-06 | 常州诗歌达软件有限公司 | Crawler-type mobile robot |
| WO2024084307A1 (en) * | 2022-10-18 | 2024-04-25 | 糖豆創新科技有限公司 | Crawler pipe detector |
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