CN210680967U

CN210680967U - Auxiliary track transmission device of obstacle-crossing robot platform

Info

Publication number: CN210680967U
Application number: CN201921597731.3U
Authority: CN
Inventors: 黄岳; 闫雨晨; 吴影
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2019-09-24
Filing date: 2019-09-24
Publication date: 2020-06-05
Anticipated expiration: 2029-09-24

Abstract

The utility model discloses an obstacle-surmounting robot platform auxiliary track transmission device, which comprises a main machine body, an auxiliary track driving wheel and a turbine holding rod reduction box; the utility model has the advantages of reasonable design structurally, in operation, vice track adopts the cover structure and the worm gear reducing gear box that rise, the reduction ratio is big, and possess self-locking function, can lift whole automobile body by light and easily, the worm gear reducing gear box drives swing arm inner panel and swing arm planking synchronous rotation through the swing arm axle, interior hexagonal ring flange makes the equipment more convenient with outer hexagonal ring flange, it is more firm to connect, this device includes four independent control vice tracks, install back on the robot platform that hinders more, the more complicated topography of accessible and highland fall large topography, stronger climbing ability has, control in a flexible way, operate steadily, and outside power passes through the turbine holding rod reducing gear box and carries power for the swing arm planking, independent control, it is noiseless with the main track, can be extensive repack current robot platform that hinders more, the suitability is wider.

Description

Auxiliary track transmission device of obstacle-crossing robot platform

Technical Field

The utility model relates to a robot design technical field specifically is a vice track transmission of obstacle crossing robot platform.

Background

Through the research to current robot platform, often divide into: wheel type, crawler type, multi-foot type. The wheel type platform is high in speed and efficiency, but has poor obstacle crossing capability and terrain adaptability and low turning efficiency; the multi-foot platform can adapt to most complex terrains and can cross obstacles, and has the defects of low travelling speed, easy side turning and instability due to the gravity center and difficult control; the crawler-type platform can better adapt to soft terrains such as sand and mud, the contact area of the crawler and the ground is large and stable, the crawler can turn on site, and the crawler-type platform has the defect of no contribution to the terrains with large height fall.

At present, most of existing robots are rarely provided with auxiliary tracks, so that the robots cannot do any work on terrains with large height difference, obstacle crossing on complex terrains cannot be achieved, and meanwhile, the main tracks and the auxiliary tracks of the robot platforms which are partially provided with the auxiliary tracks are not properly matched and interfere with each other, and the running stability of the robot platforms is poor. Accordingly, one skilled in the art has provided a secondary track drive for an obstacle surmounting robotic platform that solves the problems set forth above in the background.

Disclosure of Invention

An object of the utility model is to provide an obstacle-surmounting robot platform pair track transmission to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides an obstacle crossing robot platform auxiliary track transmission, includes the host computer body, vice track action wheel and turbine holding rod reducing gear box, host computer body upper end front side is provided with turbine holding rod reducing gear box, turbine holding rod reducing gear box left end has the swing arm axle through the coupling joint, swing arm axle right part cover is equipped with main track from the driving wheel, main track has interior hexagonal ring flange from the driving wheel left end through the screw connection, interior hexagonal ring flange middle part has cup jointed the swing arm inner panel, interior hexagonal ring flange right-hand member joint has outer hexagonal ring flange, swing arm axle left part cover is equipped with vice track action wheel, vice track action wheel left end and the junction with the swing arm axle are provided with first flange bearing, vice track action wheel left end is provided with the planking ring flange, there is the swing arm planking at vice track action wheel left end through the screw connection.

As a further aspect of the present invention: the right end of the turbine holding rod reduction box is connected with a potentiometer through gear engagement.

As a further aspect of the present invention: and a second flange bearing is arranged at the right end of the driving wheel of the main crawler and the joint of the driving wheel and the swing arm shaft.

As a further aspect of the present invention: and an inner plate flange is arranged at the joint of the outer hexagonal flange and the swing arm inner plate.

As a further aspect of the present invention: the swing arm shaft is characterized in that an expansion sleeve is sleeved at the edge of the left part of the swing arm shaft, a driven wheel is rotatably connected to the front side of the left end of the swing arm inner plate, and the auxiliary crawler driving wheel is connected with the driven wheel through an auxiliary crawler.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model has the advantages of reasonable design structurally, in operation, vice track adopts the cover structure and the worm gear reducing gear box that rise, the reduction ratio is big, and possess self-locking function, can lift whole automobile body by light and easily, the worm gear reducing gear box drives swing arm inner panel and swing arm planking synchronous rotation through the swing arm axle, interior hexagonal ring flange makes the equipment more convenient with outer hexagonal ring flange, it is more firm to connect, this device includes four independent control vice tracks, install back on the robot platform that hinders more, the more complicated topography of accessible and highland fall large topography, stronger climbing ability has, control in a flexible way, operate steadily, and outside power passes through the turbine holding rod reducing gear box and carries power for the swing arm planking, independent control, it is noiseless with the main track, can be extensive repack current robot platform that hinders more, the suitability is wider.

Drawings

Fig. 1 is an exploded view of a secondary track drive of an obstacle-surmounting robot platform.

In the figure: the auxiliary track comprises an auxiliary track 1, an expansion sleeve 2, a swing arm outer plate 3, an outer plate flange 4, a first flange bearing 5, an auxiliary track driving wheel 6, an outer hexagonal flange 7, an inner plate flange 8, a swing arm inner plate 9, an inner hexagonal flange 10, a main track driven wheel 11, a swing arm shaft 12, a turbine holding rod reduction box 13, a potentiometer 14 and a second flange bearing 15.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, in an embodiment of the present invention, an obstacle crossing robot platform auxiliary track transmission device includes a main body, an auxiliary track driving wheel 6 and a turbine holding rod reduction box 13, the turbine holding rod reduction box 13 is disposed on the front side of the upper end of the main body, the left end of the turbine holding rod reduction box 13 is connected to a swing arm shaft 12 through a coupling, a main track driven wheel 11 is sleeved on the right portion of the swing arm shaft 12, an inner hexagonal flange 10 is connected to the left end of the main track driven wheel 11 through a screw, a swing arm inner plate 9 is sleeved in the middle of the inner hexagonal flange 10, an outer hexagonal flange 7 is clamped at the right end of the inner hexagonal flange 10, an auxiliary track driving wheel 6 is sleeved on the left portion of the swing arm shaft 12, a first flange bearing 5 is disposed at the left end of the auxiliary track driving wheel 6 and at the connection position with the swing arm shaft 12, an outer plate flange 4 is disposed, the left end of the outer plate flange plate 4 is connected with a swing arm outer plate 3 through a screw.

The right end of the turbine holding rod reduction box 13 is connected with a potentiometer 14 through gear engagement.

And a second flange bearing 15 is arranged at the right end of the main crawler driven wheel 11 and the joint of the main crawler driven wheel and the swing arm shaft 12.

And an inner plate flange 8 is arranged at the joint of the outer hexagonal flange 7 and the swing arm inner plate 9.

The edge cover in the left part of swing arm axle 12 is equipped with the cover 2 that rises, the cover 2 that rises chooses for use Z2 cover that rises, swing arm inner panel 9 left end front side rotation is connected with from the driving wheel, vice track action wheel 6 is connected from the driving wheel through vice track 1.

The utility model discloses a theory of operation is:

the utility model relates to an obstacle-surmounting robot platform auxiliary track transmission device, when in work, an auxiliary track 1 adopts an expansion sleeve structure and a worm and gear reduction box 13, the reduction ratio is large, and the device has a self-locking function, the whole vehicle body can be lifted easily, the worm and gear reduction box 13 drives a swing arm inner plate 9 and a swing arm outer plate 3 to rotate synchronously through a swing arm shaft 12, under the action of an inner hexagonal flange 10 and an outer hexagonal flange 7, the assembly is more convenient, the connection is firmer, external power can drive the auxiliary track 1 to rotate through the outer hexagonal flange 7, thereby realizing that the platform of the device can obtain the complex terrain passing performance of a frame, the device comprises four independent control auxiliary tracks, after being installed on an obstacle-surmounting robot platform, the device can pass through the complex terrain and high-ground fall large terrain, has stronger climbing capability, is flexible to control and stable to operate, and the external power is transmitted to the swing arm outer plate 3 through the worm, the obstacle-surmounting robot platform is independently controlled, does not interfere with the main track, can be widely refitted on the existing obstacle-surmounting robot platform, and has wider applicability.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A vice track transmission device of an obstacle-crossing robot platform comprises a main machine body, a vice track driving wheel (6) and a turbine holding rod reduction box (13), and is characterized in that the turbine holding rod reduction box (13) is arranged on the front side of the upper end of the main machine body, the left end of the turbine holding rod reduction box (13) is connected with a swing arm shaft (12) through a coupling, a main track driven wheel (11) is sleeved on the right portion of the swing arm shaft (12), the left end of the main track driven wheel (11) is connected with an inner hexagonal flange (10) through a screw, a swing arm inner plate (9) is sleeved in the middle of the inner hexagonal flange (10), an outer hexagonal flange (7) is clamped at the right end of the inner hexagonal flange (10), the vice track driving wheel (6) is sleeved on the left portion of the swing arm shaft (12), a first flange bearing (5) is arranged at the left end of the vice track driving wheel (6) and the connection, the left end of the auxiliary crawler driving wheel (6) is provided with an outer plate flange (4), and the left end of the outer plate flange (4) is connected with a swing arm outer plate (3) through a screw.

2. The auxiliary track transmission device of the obstacle-surmounting robot platform as claimed in claim 1, wherein the right end of the turbine holding rod reduction box (13) is connected with a potentiometer (14) through gear engagement.

3. The auxiliary track transmission device of the obstacle-crossing robot platform is characterized in that a second flange bearing (15) is arranged at the right end of the main track driven wheel (11) and the connection part of the main track driven wheel and the swing arm shaft (12).

4. The auxiliary track transmission device of the obstacle-surmounting robot platform as claimed in claim 1, wherein an inner plate flange (8) is arranged at the joint of the outer hexagonal flange (7) and the swing arm inner plate (9).

5. The auxiliary track transmission device of the obstacle-crossing robot platform as claimed in claim 1, wherein an expansion sleeve (2) is sleeved on the left edge of the swing arm shaft (12), a driven wheel is rotatably connected to the front side of the left end of the swing arm inner plate (9), and the auxiliary track driving wheel (6) is connected with the driven wheel through the auxiliary track (1).