CN111055937A

CN111055937A - Novel crawler robot

Info

Publication number: CN111055937A
Application number: CN201911394973.7A
Authority: CN
Inventors: 熊杨寿; 张乐然; 黄康
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2020-04-24

Abstract

The invention discloses a novel crawler robot, which comprises a transmission case, wherein a battery box is arranged on the transmission case, a worm gear reduction box and two arc bevel gear reduction boxes are arranged at one end of the transmission case, hollow main shafts are respectively arranged on the outer sides of the two arc bevel gear reduction boxes through arc bevel gears, a driving wheel is arranged at the other end of each hollow main shaft, a swing arm wheel is arranged on the outer side of each driving wheel through a long screw, a driven shaft is arranged at the other end of the transmission case, and first driven wheels are arranged at two ends of each driven shaft. This novel tracked robot adopts four tracks and each wheel to be connected in coordination, can be so that the car and ground one-tenth certain angle walking, and the climbing of tracked vehicle can be realized to the cooperation of swing arm board, swing arm wheel and worm gear reducing gear box, climbs stair, crosses functions such as sunken, and the rotation of multi-functional cloud platform adopts the one-level gear to realize, does not receive the influence of car motion state.

Description

Novel crawler robot

Technical Field

The invention relates to the field of robots, in particular to a novel crawler robot.

Background

When dangerous tasks such as anti-terrorism, explosive disposal, search, rescue, reconnaissance and the like are executed, a tracked robot is commonly used, in order to adapt to a complex and changeable environment, the tracked robot is required to have enough maneuvering capability, and a track deformation mechanism is a key factor related to the maneuvering capability of the tracked robot. The invention aims to solve the technical problem of how to realize the stable running of the crawler robot and adapt to various environments.

Disclosure of Invention

Solves the technical problem

Aiming at the defects of the prior art, the invention provides a novel crawler robot, which solves the problem of how to realize stable operation of the crawler robot and adapt to various environments.

Technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a novel track robot, includes the transmission case, installs the battery box on the transmission case, worm gear reducing gear box and two arc bevel gear reducing gear boxes are installed to the one end of transmission case, and hollow main shaft is installed through arc bevel gear respectively in the outside of two arc bevel gear reducing gear boxes, and the action wheel is installed to hollow main shaft's the other end, and the swing arm wheel is installed through the long screw in the outside of action wheel, the driven shaft is installed to the other end of transmission case, and first from the driving wheel is all installed at the both ends of driven shaft.

The worm and gear reduction box is located between the two arc bevel gear reduction boxes, the worm and gear reduction box is connected with the swing arm long shaft through a worm and gear mechanism, two ends of the swing arm long shaft respectively penetrate through the arc bevel gear reduction boxes, the hollow main shaft and the driving wheel in sequence and then are connected with the swing arm wheel, gaskets are further sleeved at two ends of the swing arm long shaft, a swing arm plate is installed between the gaskets and the driving wheel through bolts, and a second driven wheel is installed at one end, far away from the driving wheel, of the swing arm plate through a front wheel.

All the crawler belts are sleeved between the first driven wheel and the driving wheel and between the second driven wheel and the swing arm wheel, and anti-skidding teeth used for limiting are arranged on two sides of each crawler belt.

Further inject, the top of transmission case is equipped with the gear box, goes up in the gear box and installs the cloud platform swinging boom through one-level gear, and the other end fixed mounting of this cloud platform swinging boom has multi-functional cloud platform.

Compared with the prior art, the invention has the following beneficial effects:

1. four crawler belts are matched and connected with the wheels, so that the vehicle can walk at a certain angle with the ground;

2. the functions of climbing, climbing stairs, crossing pits and the like of the crawler can be realized by matching the swing arm plate, the swing arm wheel and the worm and gear reduction box;

3. the rotation of the multifunctional holder is realized by adopting a first-stage gear, and is not influenced by the motion state of the vehicle;

4. two motors on two arc bevel gear reduction boxes are adopted to simultaneously control the hollow main shaft, and the turning function of the crawler is realized.

Drawings

FIG. 1 is a schematic view of the overall structure of the crawler of the present invention;

FIG. 2 is a schematic view of a rotating arm structure of the holder according to the present invention;

FIG. 3 is a side elevational view of the transmission housing of the present invention;

FIG. 4 is a schematic view of a gearbox configuration of the present invention;

FIG. 5 is a schematic view of the transmission mechanism of the present invention;

FIG. 6 is a schematic view of an arc bevel gear structure according to the present invention;

FIG. 7 is a schematic view of the worm gear mechanism of the present invention;

FIG. 8 is a schematic view of the present invention with the transmission case removed;

fig. 9 is a schematic view of a swing arm wheel structure of the present invention.

In the figure: the device comprises a crawler 1, a swing arm plate 2, anti-skid teeth 3, a transmission case 4, a cradle head rotating arm 5, a multifunctional cradle head 6, a battery box 7, a gear box 8, a first-level gear 9, an arc bevel gear reduction box 10, a worm and gear reduction box 11, a hollow main shaft 12, a swing arm long shaft 13, an arc bevel gear 14, a gasket 15, a worm and gear mechanism 16, a driving wheel 17 and a swing arm wheel 18.

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. 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.

Referring to fig. 1-8, the present invention provides a technical solution: the utility model provides a novel tracked robot, including transmission case 4, install battery box 7 on the transmission case 4, worm gear reducing gear box 11 and two arc bevel gear reducing gear boxes 10 are installed to the one end of transmission case 4, hollow main shaft 12 is installed through arc bevel gear 14 respectively in the outside of two arc bevel gear reducing gear boxes 10, the epaxial gear of motor output meshes with arc bevel gear 14 on the arc bevel gear reducing gear box 10, action wheel 17 is installed to the other end of hollow main shaft 12, there is swing arm wheel 18 in the outside of action wheel 17 through long screw installation, action wheel 17 and swing arm wheel 18 adopt long screw to link together, make the transmission more accurate, the driven shaft is installed to the other end of transmission case 4, first from the driving wheel is all installed at the both ends of driven shaft, adopt two motors on two arc bevel gear reducing gear boxes 10 to control two hollow main shafts 12 simultaneously and rotate.

The worm and gear reduction box 11 is located between two arc bevel gear reduction boxes 10, the worm and gear reduction box 11 is connected with the swing arm long shaft 13 through a worm and gear mechanism 16, two ends of the swing arm long shaft 13 respectively penetrate through the arc bevel gear reduction boxes 10 in sequence, the hollow main shaft 12 and the driving wheel 17 and then are connected with the swing arm wheel 18, the two ends of the swing arm long shaft 13 are further sleeved with gaskets 15, a swing arm plate 2 is installed between the gaskets 15 and the driving wheel 17 through bolts, and a second driven wheel is installed at one end, far away from the driving wheel 17, of the swing arm plate 2 through.

All the cover is equipped with track 1 between first follow driving wheel and the action wheel 17, the second is followed between driving wheel and the swing arm wheel 18, adopts four track 1 and each wheel to be connected mutually supporting, can make car and ground become certain angle walking, and the both sides of track 1 all are provided with and are used for spacing antiskid tooth 3, and what use is spacing to action wheel 17, swing arm wheel 18, first follow driving wheel and second both sides from the driving wheel, and the protection tracked vehicle normally traveles.

The top of transmission case 4 is equipped with gear box 8, installs the motor that is used for driving one-level gear 9 on the gear box 8, goes up in the gear box 8 and installs cloud platform swinging boom 5 through one-level gear 9, and this cloud platform swinging boom 5's other end fixed mounting has multi-functional cloud platform 6, and multi-functional cloud platform 6's rotation adopts one-level gear 9 to realize, does not receive the influence of car motion state.

In the novel crawler robot, the motors on the two arc bevel gear reduction boxes 10 control the two hollow main shafts 12 to rotate, the hollow main shafts 12 drive the two driving wheels 17 to rotate, and the driving wheels 17 are connected with the swing arm wheel 18 so as to enable a crawler to move forwards; the motor on the worm and gear reduction box 11 is used for controlling the swing arm long shaft 13 in the hollow main shaft 12 to rotate, the worm and gear mechanism 16 is used for enabling the swing arm long shaft 13 to rotate, the swing arm long shaft 13 is connected with the swing plate 2, and the swing arm long shaft 13 rotates to drive the swing arm plate 2 to rotate accordingly, so that the crawler can achieve the function of a swing arm.

This novel tracked robot, the swing arm board, the climbing of tracked vehicle can be realized with the cooperation of worm gear reducing gear box to the swing arm wheel, climb stair, cross functions such as sunken, various devices of mountable on the multi-functional cloud platform 6 of tracked vehicle, for example mechanical tong, supervisory equipment, can realize more dangerous military operation, reconnaissance action, and obtain real-time information and other task, can go on rugged road section, can climb stair, can pass the sunken of one section distance, be a multitask, modular tracked robot, can carry out the removal of load and drag the heavy object.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a novel track robot, includes transmission case (4), installs battery box (7) on transmission case (4), its characterized in that: a worm and gear reduction box (11) and two arc bevel gear reduction boxes (10) are mounted at one end of the transmission box (4), a hollow main shaft (12) is mounted on the outer sides of the two arc bevel gear reduction boxes (10) through arc bevel gears (14), a driving wheel (17) is mounted at the other end of the hollow main shaft (12), a swing arm wheel (18) is mounted on the outer side of the driving wheel (17) through a long screw, a driven shaft is mounted at the other end of the transmission box (4), and first driven wheels are mounted at two ends of the driven shaft;

the worm and gear reduction box (11) is positioned between the two arc bevel gear reduction boxes (10), the worm and gear reduction box (11) is connected with a swing arm long shaft (13) through a worm and gear mechanism (16), two ends of the swing arm long shaft (13) respectively penetrate through the arc bevel gear reduction boxes (10), the hollow main shaft (12) and the driving wheel (17) in sequence and then are connected with a swing arm wheel (18), gaskets (15) are further sleeved at two ends of the swing arm long shaft (13), a swing arm plate (2) is installed between the gaskets (15) and the driving wheel (17) through bolts, and a second driven wheel is installed at one end, far away from the driving wheel (17), of the swing arm plate (2) through a front wheel shaft;

all the crawler belts (1) are sleeved between the first driven wheel and the driving wheel (17) and between the second driven wheel and the swing arm wheel (18), and anti-skidding teeth (3) used for limiting are arranged on two sides of each crawler belt (1).

2. The novel track robot of claim 1, wherein: the top of transmission case (4) is equipped with gear box (8), goes up in gear box (8) and installs cloud platform swinging boom (5) through one-level gear (9), and the other end fixed mounting of this cloud platform swinging boom (5) has multi-functional cloud platform (6).