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WO2018035750A1 - Robot ayant des roues à chenilles triangulaires - Google Patents

Robot ayant des roues à chenilles triangulaires Download PDF

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Publication number
WO2018035750A1
WO2018035750A1 PCT/CN2016/096520 CN2016096520W WO2018035750A1 WO 2018035750 A1 WO2018035750 A1 WO 2018035750A1 CN 2016096520 W CN2016096520 W CN 2016096520W WO 2018035750 A1 WO2018035750 A1 WO 2018035750A1
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WO
WIPO (PCT)
Prior art keywords
gear
driving
motor
disposed
wheel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/096520
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English (en)
Chinese (zh)
Inventor
李玉婷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to PCT/CN2016/096520 priority Critical patent/WO2018035750A1/fr
Publication of WO2018035750A1 publication Critical patent/WO2018035750A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks

Definitions

  • the present invention relates to the field of robots, and more particularly to a triangular track wheel robot.
  • the existing robots are mainly wheeled and tracked.
  • Wheel-type robots have fast moving speed and flexible control. Especially the steering is easier to implement, but it is inconvenient to handle complex road conditions.
  • the crawler robot has strong adaptability, large contact area and fast moving speed, but it is not flexible enough, and the driving force required for steering is difficult to turn.
  • the technical problem to be solved by the present invention is to provide a triangular crawler wheel robot with strong adaptability and convenient steering.
  • a triangular crawler wheel robot comprising a main body and four triangular crawler wheels disposed on the main body, the main body including an upper casing, a middle casing and a lower casing, the upper
  • the shell and the lower shell are fixed on the middle frame
  • the upper shell is provided with an image capturing mechanism
  • the tail end of the middle frame is provided with an external antenna
  • the middle frame comprises a bracket plate having a hollow portion in the middle, and the periphery of the bracket plate An upward first flange and a downward second flange are disposed.
  • the side of the bracket is provided with a circuit board, and the lower side of the bracket is fixedly connected to the driving motor and the gear set.
  • the camshaft robot includes a main body and four triangular crawler wheels disposed on the main body, and the main body includes an upper casing, a middle casing and a lower casing, and the upper casing and the lower casing are fixed on the middle casing, and the upper casing is provided with an image pickup mechanism.
  • the middle frame has an external antenna at the end of the middle frame, and the middle frame includes a bracket plate having a hollow portion in the middle.
  • the bracket plate is provided with an upward first convex edge and a downward second convex edge, and the upper side of the bracket plate is provided with a circuit board.
  • the lower side of the bracket plate is fixedly connected to the driving motor and the gear set, and the upper shell and the lower shell are fixed on the middle frame for convenient installation, and the hollow part is arranged in the middle of the bracket plate, the weight is reduced, the fixing is convenient, and the fixing is firm.
  • FIG. 1 is a schematic view of a triangular crawler wheel robot according to an embodiment of the present invention
  • FIG. 2 is a front elevational view of a triangular crawler wheel robot according to an embodiment of the present invention
  • FIG. 3 is a schematic view of a triangular crawler wheel of a triangular crawler wheel robot according to an embodiment of the present invention
  • FIG. 4 is another schematic view of a triangular crawler wheel of a triangular crawler wheel robot according to an embodiment of the present invention
  • FIG. 5 is a schematic view of the cam track wheel of the triangular track wheel robot according to the embodiment of the present invention after removing the track;
  • FIG. 6 is a schematic view showing the removal of the lower shell on the back side of a triangular crawler robot according to an embodiment of the present invention
  • FIG. 7 is a schematic diagram of an imaging mechanism of a triangular crawler wheel robot according to an embodiment of the present invention.
  • FIG. 8 is another schematic diagram of a camera mechanism of a triangular crawler wheel robot according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a driving device of a triangular crawler wheel robot according to an embodiment of the present invention.
  • FIG. 10 is another schematic view of a driving mechanism of a triangular crawler wheel robot according to an embodiment of the present invention.
  • FIG. 11 is a schematic view of a bracket of a triangular crawler wheel robot according to an embodiment of the present invention.
  • FIG. 12 is a schematic view showing a second convex side of a first day convex side of a triangular crawler robot according to an embodiment of the present invention
  • Figure 13 is a schematic view showing the removal of the upper and lower casings of a triangular crawler robot according to an embodiment of the present invention.
  • a triangular crawler wheel robot includes a main body 1 and a cam track wheel 2 disposed on the main body 1.
  • the cam track wheel 2 includes a driving wheel 21 and is triangularly arranged around the driving wheel 21.
  • the three driven wheels 22, the support frame 23, the crawler belt 24, the support frame 23 are triangular, the three corners of the support frame 23 are respectively fixed to the center of one driven wheel 22, and the three driven wheels 22 are connected by the crawler belt 24.
  • the driven wheel 22 has a high intermediate low on both sides of the outer surface of the driven wheel 22, and the crawler belt 24 is disposed in the driven wheel groove 221, and the outer surface of the crawler belt 24 is provided with a plurality of gripping protrusions 241. .
  • each wheel of the robot is crawler-type, it can handle all kinds of roads with ease, can go up and down the stairs, can smoothly pass the uneven road, has a gully field, and has multiple wheels at the same time, which is convenient for control, such as steering, etc.
  • the outer surface of the crawler belt 24 has a gripping protrusion 241 to enhance the grip and climbing performance.
  • the inner surface of the driven wheel groove 221 is provided with a radial rib. Enhances friction and facilitates the drive of the track 24.
  • the driven wheel 22 includes an intermediate groove wheel 222 and a fixing ring 223 disposed on each side of the intermediate groove wheel 222.
  • the diameter of the fixing ring 223 is larger than the diameter of the intermediate groove wheel 222. It is convenient to fix the track 24.
  • the driving wheel and the first driven wheel 22 are drivingly connected by a belt.
  • a driving groove 224 is disposed in the middle of the driven wheel groove 221 of the first driven wheel 22, and the belt is disposed in the driving groove 224. It is convenient to drive the triangular track wheel 2.
  • the surface of the driving wheel 21 is provided with a radial rib, and the surface of the driving groove 224 is provided with a radial rib. Increase friction.
  • the number of the cam tracks 2 is even and symmetrically disposed on both sides of the main body 1. It is convenient to control the movement of the robot, such as climbing stairs and passing uneven roads.
  • the main body 1 is provided with an imaging mechanism 3.
  • Image data can be obtained and then viewed by users for use in more dangerous places such as underground tunnels, underground coal mines, earthquake sites, etc.
  • a triangular crawler wheel robot includes a main body 1 and a cam track wheel 2 disposed on the main body 1.
  • the main body 1 is provided with an image pickup mechanism 3, and the image pickup mechanism 3 includes an image pickup device.
  • a driving device comprising a first imaging driving device 32 connected to the main body 1, the first imaging driving device 32 driving the imaging device 31 to move up and down, the driving device further comprising a second imaging driving device 33,
  • the second imaging driving device 33 drives the imaging device 31 to rotate.
  • the camera body 3 includes an imaging device 31 and a driving device.
  • the driving device includes a first imaging driving device 32 connected to the main body 1.
  • the driving mechanism drives the imaging device 31 to move up and down.
  • the driving device further includes The second image capturing driving device 33 drives the image capturing device 31 to rotate, so that the camera device 31 can be controlled to move up and down, the images of different heights can be acquired, and the camera device 31 can be controlled to rotate to obtain different viewing angles.
  • the images can be used to meet the needs of users. It is possible to acquire images in all directions without driving robot movements, especially for underground mines and earthquake sites.
  • the first imaging driving device 32 includes a base 321 connected to the main body 1.
  • the base 321 is provided with a first imaging motor, and the first imaging motor drives one end of the connecting mechanism 322.
  • the connecting mechanism The other end of the 322 is connected to the imaging device 31.
  • a support 324 is disposed on the base 321 , a first imaging drive shaft 325 of the first imaging motor passes through the support 324 , and the connection mechanism 322 includes two parallel connection plates 323 , and the two connection plates One end of the 323 is provided with a through hole through which the first imaging driving shaft 325 passes.
  • the first imaging driving shaft 325 is further provided with a height driving wheel 326.
  • the height driving wheel 326 is disposed between the two connecting plates 323.
  • a latching wheel 327 is disposed in the middle of the other end of the connecting plate 323, and the height driving wheel 326 and the engaging wheel 327 are connected by a belt.
  • the support 324 is disposed between two connecting plates 323 disposed between the connecting plate 323 and the support 324 on the side close to the motor.
  • the height driving wheel 326 and the outer surface of the engaging wheel 327 are provided with radial ribs. Enhance the friction wheel.
  • the camera device 31 is fixedly connected to the other end of the connecting plate 323 by a fixing bracket 328.
  • the fixing frame 328 is provided with two fixing legs 329, and the two fixing legs 329 are disposed on both sides of the engaging wheel 327.
  • the two fixing legs 329, the catching wheel 327 and the two connecting plates 323 are fixedly connected.
  • the mounting bracket 328 includes a mounting plate 331 that connects the two fixing legs 329.
  • the mounting plate 331 is provided with a bracket 332.
  • the bracket 332 is provided with a second imaging rotating shaft 333, and the second imaging rotating shaft 333 is end.
  • An imaging device 31 is disposed, a first rotating gear 334 is disposed in the middle of the second imaging rotating shaft 333, a second imaging motor 336 is disposed on the fixing frame 328, and a second imaging driving shaft 337 of the second imaging motor 336 is connected.
  • a second rotating gear 335 is coupled to the first rotating gear 334.
  • An illumination lamp is disposed on the imaging device 31. Suitable for darker environments.
  • a wireless communication circuit is further disposed in the main body 1.
  • the main body 1 is further provided with one or more external antennas 7 connected to the wireless communication circuit.
  • the acquired image can be directly transmitted through the external antenna 7.
  • Another preferred embodiment of the present invention is a triangular crawler wheel robot comprising a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a first motor 41, the first motor
  • the first rotating shaft 411 of the 41 is provided with a concentric first gear 412 and a second gear 413.
  • the first gear 412 drives the first triangular crawler wheel 25 through the first driving mechanism 51, and the two gears pass the first Second drive
  • the moving mechanism 52 drives the second triangular crawler wheel 26, and the first driving mechanism 51 drives the third driving mechanism 53 through the first linkage shaft 61, the third driving mechanism 53 drives the third triangular crawler wheel 27, the second
  • the drive mechanism 52 drives the fourth drive mechanism 54 via the second linkage shaft 62, which drives the fourth cam track 28 .
  • first driving mechanism 51 and the second driving mechanism 52 are driven by the concentric first gear 412 and the second gear 413 provided on the first rotating shaft 411 of the first motor 41, the first driving mechanism 51 passes through The first linkage shaft 61 drives the third driving mechanism 53, and the second driving mechanism 52 drives the fourth driving mechanism 54 through the second linkage shaft 62. Only one motor can drive the four triangular crawler pulleys 2 at the same time, and the structure is fine. The design is ingenious and practical, suitable for climbing and obstacles.
  • the first drive mechanism 51 includes a first driven gear 511 that is coupled to the first gear 412.
  • the first driving mechanism 51 further includes a first driving shaft 512 fixedly connected to the center of the first driving gear 511, and the outer end of the first driving shaft 512 is engaged with the center of the first triangular crawler wheel 25, the first driving shaft A first drive gear 514 is disposed on the 512.
  • the first drive gear 514 is geared to the first intermediate gear 515.
  • the first intermediate gear 515 is centrally coupled to the first linkage shaft 61.
  • the first driving mechanism 51 further includes a first frame 516, the first driving shaft 512 passes through two sides of the first frame 516, and the first driving gear 514 and the first relay gear 515 are disposed.
  • the first driving gear 511 is disposed outside the first frame 516 and fixedly connected to the inner end of the first driving shaft 512, and the first linkage shaft 61 passes through the first frame.
  • 516 is fixedly coupled to the center of the first intermediate gear 515.
  • the first linkage shaft 61 includes a first connection portion 611 fixedly connected to the center of the first relay gear 515, an intermediate adapter portion 612, and a second connection portion 613 connected to the third drive mechanism 53, the first connection portion 611.
  • the two ends of the second connecting portion 613 are hollow cylinders, and the two ends of the intermediate connecting portion 612 are hooked into the hollow cylinder.
  • a protruding portion 513 is disposed on the outer circumference of the first driving shaft 512.
  • the first triangular crawler wheel 25 is centrally provided with a driving hole that cooperates with the outer end of the first driving shaft 512.
  • the first linkage shaft 61 passes through two sides of the first frame 516, and the first linkage shaft 61 is inside The end is snapped into the first connecting portion 611.
  • the first drive shaft 512 is rotatably coupled to both sides of the first frame 516 by bearings.
  • a triangular crawler wheel robot includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1, and a third motor 43 is disposed in the main body 1, the third motor
  • the third rotating shaft 431 of the 43 drives the first triangular crawler wheel 25 via the first driving mechanism 51
  • the first driving mechanism 51 drives the second driving mechanism 52 through the belt
  • the second driving mechanism 52 drives the second triangular crawler wheel 26
  • the first driving mechanism 51 drives the third driving mechanism 53 through the first linkage shaft 61
  • the third driving mechanism 53 drives the third triangular crawler wheel 27, and the third driving mechanism 53 drives the fourth driving through the belt
  • the mechanism 54, the fourth drive mechanism 54 drives the fourth cam track 28 .
  • the third rotating shaft 431 of the third motor 43 drives the first driving mechanism 51
  • the second driving mechanism 52 is driven by the first driving mechanism 51
  • the third driving mechanism is driven by the first driving mechanism 51 through the first linkage shaft 61. 53.
  • the third driving mechanism 54 is driven by the third driving mechanism 53 to drive the four triangular crawler wheels 2 at the same time by a single motor.
  • the structure is fine, the design is ingenious, and the utility model is strong, and is suitable for climbing and obstacles.
  • the first driving mechanism 51 includes a fifth driving gear 517 fixedly coupled to the third rotating shaft 431, the fifth driving gear 517 is geared to the first linking gear 518, and the first linking gear 518 drives the first
  • the intermediate gear 515 drives the first driving gear 514.
  • the first driving gear 514 drives the first driving gear 511.
  • the first driving gear 511 is connected to the second driving mechanism 52.
  • the first driving mechanism 51 further includes a first frame 516, and the first frame 516 is provided with a first driving shaft 512 and a first linkage shaft 61, and the first driving shaft 512 passes through the first Two sides of the frame 516, the first linkage shaft 61 passes through two sides of the first frame 516, and the first linkage gear 518 and the first relay gear 515 are disposed on the first linkage shaft 61.
  • the first driving gear 514 and the first driving gear 511 are disposed on the first driving shaft 512, and the first driving shaft 512 is rotatably connected to the two sides of the first frame 516 by bearings, the first The linkage shaft 61 is rotatably coupled to both sides of the first frame 516 by bearings.
  • the first linkage shaft 61 includes a first connection portion 611 fixedly connected to the center of the first relay gear 515, an intermediate adapter portion 612, and a second connection portion 613 connected to the third drive mechanism 53, the first connection portion 611.
  • the two ends of the second connecting portion 613 are hollow cylinders, and the two ends of the intermediate connecting portion 612 are hooked into the hollow cylinder.
  • a protruding portion 513 is disposed on the outer circumference of the first driving shaft 512.
  • the first triangular crawler wheel 25 is centrally provided with a driving hole that cooperates with the outer end of the first driving shaft 512.
  • the first linkage shaft 61 passes through two sides of the first frame body 516 , and the inner end of the first linkage shaft 61 is engaged with the first connection portion 611 .
  • the second driving mechanism 52 includes a second frame 521 , and the second frame 521 is provided with a second driving shaft 522 , and the second driving shaft 522 passes through two sides of the second frame 521 .
  • a second driving gear 523 is disposed on the second driving shaft 522.
  • the second driving gear 523 is disposed outside the second frame 521 and is connected to the first driving gear 511.
  • the second driving gear 523 is coupled to the second driving gear 523.
  • the second drive shaft 522 is fixedly coupled, and the second drive shaft 522 drives the second triangular track wheel 26.
  • the second driving mechanism 52 further includes a second driving gear 525 sleeved on the second driving shaft 522 and fixedly connected to the second driving shaft 522, and the second driving gear 525 is connected to the second intermediate gear 524,
  • the second intermediate gear 524 drives the fourth drive mechanism 54 through the second linkage shaft 62.
  • the second drive gear 525 and the second intermediate gear 524 are disposed in the second frame 521, and the second linkage shaft 62 passes through the The two sides of the second frame 521 are described.
  • the third driving mechanism 53 includes a third frame 531.
  • the third frame 531 is provided with a third driving shaft 532.
  • the first linking shaft 61 passes through two sides of the third frame 531.
  • a third intermediate gear 533 is disposed on the first linkage shaft 61.
  • the third intermediate gear 533 is coupled to the third driving gear 534.
  • the third driving gear 534 is sleeved on the third driving shaft 532 and is coupled to the third driving gear 532.
  • the third drive shaft 532 is fixedly coupled, and the outer end of the third drive shaft 532 drives the third triangular track wheel 27.
  • the third driving shaft 532 passes through two sides of the third frame 531, the third driving shaft 532 is provided with a third driving gear 535, and the third driving gear 535 is disposed at the third frame. 531 is externally fixedly connected to the inner end of the third drive shaft 532, and the third driven gear 535 drives the fourth drive through the belt. Actuator 54.
  • a triangular crawler wheel robot includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a first motor 41 and a second motor 42.
  • the first rotating shaft 411 of the first motor 41 is provided with a concentric first gear 412 and a second gear 413, and the second rotating shaft 421 of the second motor 42 is provided with a concentric third.
  • gear 422 and a fourth gear 423 the first gear 412 driving the first triangular track wheel 25 through the first drive mechanism 51, and the second gear 413 driving the second triangular track wheel 26 via the second drive mechanism 52
  • the third gear 422 drives the third cam track wheel 27 via the third drive mechanism 53
  • the fourth gear wheel 423 drives the fourth cam track wheel 28 via the fourth drive mechanism 54.
  • the first rotating shaft 411 of the first motor 41 is provided with the concentric first gear 412 and the second gear 413
  • the second rotating shaft 421 of the second motor 42 is provided with a concentric third gear 422 and The fourth gear 423
  • the first gear 412 drives the first triangular crawler wheel 25 through the first drive mechanism 51
  • the second gear 413 drives the second triangular crawler wheel 26 through the second drive mechanism 52
  • the third gear 422 passes through the third drive mechanism 53 drives a third triangular track wheel 27, which drives the fourth triangular track wheel 28 through the fourth drive mechanism 54
  • a triangular track wheel 2 is convenient for steering control, with stronger power, and the climbing ability and obstacle performance are significantly improved.
  • the first driving mechanism 51 includes a first driving gear 511 coupled to the first gear 412
  • the second driving mechanism 52 includes a second driving gear 523 coupled to the second gear 413
  • the third driving mechanism 53 includes a third driven gear 535 coupled to a third gear 422 belt
  • the fourth drive mechanism 54 including a fourth driven gear 541 coupled to the fourth gear 423.
  • the first driving mechanism 51 further includes a first driving shaft 512 fixedly connected to the center of the first driving gear 511, and the outer end of the first driving shaft 512 is engaged with the center of the first triangular crawler wheel 25.
  • a first driving gear 514 is further disposed on the first driving shaft 512, the first driving gear 514 is geared to the first intermediate gear 515, and the first intermediate gear 515 is centrally connected to the first linkage shaft 61.
  • a relay gear 515 drives the third drive mechanism 53 through the first linkage shaft 61.
  • the first driving mechanism 51 further includes a first frame 516, the first driving shaft 512 passes through two sides of the first frame 516, and the first driving gear 514 and the first relay gear 515 are disposed.
  • the first driving gear 511 is disposed outside the first frame 516 and fixedly connected to the inner end of the first driving shaft 512, and the first linkage shaft 61 passes through the first frame.
  • 516 is fixedly coupled to the center of the first intermediate gear 515.
  • the second driving mechanism 52 further includes a second driving shaft 522 fixedly connected to the center of the second driving gear 523.
  • the outer end of the second driving shaft 522 is engaged with the center of the second triangular crawler wheel 26, and the second driving shaft
  • a second drive gear 525 is further disposed on the 522.
  • the second drive gear 525 is coupled to the second intermediate gear 524.
  • the second intermediate gear 524 is centrally coupled to the second linkage shaft 62.
  • the second intermediate gear 524 passes through the The second linkage shaft 62 drives the fourth drive mechanism 54.
  • the first linkage shaft 61 includes a first connection portion 611 fixedly connected to the center of the first relay gear 515, an intermediate adapter portion 612, and a second connection portion 613 connected to the third drive mechanism 53, the first connection portion 611.
  • the two ends of the second connecting portion 613 are hollow cylinders.
  • the two ends of the intermediate connecting portion 612 are inserted into the hollow cylinder, and the first linkage shaft 61 passes through the two sides of the first frame 516.
  • the inner end of the interlocking shaft 61 is engaged with the first connecting portion 611.
  • a triangular crawler wheel robot includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a third motor 43 and a fourth motor 44.
  • the third rotating shaft 431 of the third motor 43 drives the first triangular crawler wheel 25 through the first driving mechanism 51, and the first driving mechanism 51 drives the third driving mechanism 53 through the first linkage shaft 61, the third
  • the driving mechanism 53 drives the third triangular crawler wheel 27, and the fourth rotating shaft 441 of the fourth motor 44 drives the fourth triangular crawler wheel 28 through the fourth driving mechanism 54, and the fourth driving mechanism 54 passes through the second interlocking shaft 62.
  • the second drive mechanism 52 is driven, and the second drive mechanism 52 drives the second cam track wheel 26.
  • the third rotating shaft 431 of the third motor 43 drives the first driving mechanism 51, and then the first driving mechanism 51 drives the third driving mechanism through the first linkage shaft 61.
  • the fourth rotating shaft 441 of the fourth motor 44 drives the fourth driving mechanism 54, and then the fourth driving mechanism 54 drives the second driving mechanism 52 through the second interlocking shaft 62, and drives four through two motors.
  • the triangular track wheel 2, the two motors respectively control the two triangular track wheels 2 in front of or behind the robot, which is convenient for controlling the steering, the power is stronger, the climbing ability and the obstacle performance are significantly improved.
  • the first driving mechanism 51 includes a fifth driving gear 517 fixedly coupled to the third rotating shaft 431, the fifth driving gear 517 is geared to the first linking gear 518, and the first linking gear 518 drives the first
  • the intermediate gear 515 is geared to the first drive gear 514.
  • the first drive gear 514 drives the first drive shaft 512, and the first drive shaft 512 drives the first triangular track wheel 25.
  • the first driving mechanism 51 further includes a first frame 516, the first driving shaft 512 passes through two sides of the first frame 516, and the first linkage shaft 61 passes through the first frame
  • the first interlocking gear 518 and the first intermediate gear 515 are disposed on the first linkage shaft 61, and the first driving gear 514 and the first driving gear 511 are disposed on the first driving shaft 512.
  • the fifth driving gear 517 is disposed in the first frame 516.
  • the first driving shaft 512 is rotatably coupled to the two sides of the first frame 516 by bearings.
  • the first linkage shaft 61 passes through the bearing and the bearing. The two sides of the first frame 516 are rotatably connected.
  • the first linkage shaft 61 includes a first connection portion 611 fixedly connected to the center of the first relay gear 515, an intermediate adapter portion 612, and a second connection portion 613 connected to the third drive mechanism 53, the first connection portion 611.
  • the two ends of the second connecting portion 613 are hollow cylinders, and the two ends of the intermediate connecting portion 612 are hooked into the hollow cylinder.
  • a protruding portion 513 is disposed on the outer circumference of the first driving shaft 512.
  • the first triangular crawler wheel 25 is centrally provided with a driving hole that cooperates with the outer end of the first driving shaft 512.
  • the first linkage shaft 61 passes through two sides of the first frame body 516 , and the inner end of the first linkage shaft 61 is engaged with the first connection portion 611 .
  • the second driving mechanism 52 includes a second frame 521 , and the second frame 521 is provided with a second driving shaft 522 , and the second driving shaft 522 passes through two sides of the second frame 521 .
  • the second driving gear 522 is provided with a second driving gear 523.
  • the second driving gear 523 is disposed outside the second frame 521 and is connected to the first driving gear 511.
  • the second driving gear 523 and the Two drive shaft 522 solid The second drive shaft 522 drives the second cam track wheel 26.
  • the second driving mechanism 52 further includes a second driving gear 525 sleeved on the second driving shaft 522 and fixedly connected to the second driving shaft 522, and the second driving gear 525 is connected to the second intermediate gear 524,
  • the second intermediate gear 524 drives the fourth drive mechanism 54 through the second linkage shaft 62.
  • the second drive gear 525 and the second intermediate gear 524 are disposed in the second frame 521, and the second linkage shaft 62 passes through the The two sides of the second frame 521 are described.
  • the third driving mechanism 53 includes a third frame 531.
  • the third frame 531 is provided with a third driving shaft 532.
  • the first linking shaft 61 passes through two sides of the third frame 531.
  • the first linkage shaft 61 is provided with a third intermediate gear 533.
  • the third gear 422 is geared to the third driving gear 534.
  • the third driving gear 534 is sleeved on the third driving and is driven by the third driving.
  • the shaft 532 is fixedly coupled, and the outer end of the third drive shaft 532 drives the third triangular track wheel 27.
  • the third driving shaft 532 passes through two sides of the third frame 531, the third driving shaft 532 is provided with a third driving tooth, and the third driving gear 535 is disposed at the third frame 531.
  • the third driving shaft 532 is fixedly connected to the inner end of the third driving shaft 532, and the third driving gear 535 drives the fourth driving mechanism 54 through the belt.
  • a triangular crawler wheel robot includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a first motor 41 and a third motor 43.
  • a first gear 412 and a second gear 413 are disposed on the first rotating shaft 411 of the first motor 41, and the first gear 412 drives the first triangular track wheel 25 through the first driving mechanism 51.
  • the second gear 413 drives the second cam track 26 through the second drive mechanism 52.
  • the third rotating shaft 431 of the third motor 43 drives the first drive mechanism 51, and the first drive mechanism 51 passes the first link shaft.
  • the third driving mechanism 53 drives the third triangular crawler wheel 27, and the second driving mechanism 52 and/or the third driving mechanism 53 drives the fourth driving mechanism 54, the fourth driving Mechanism 54 drives fourth triangular track wheel 28.
  • the first rotating shaft 411 of the first motor 41 is provided with a concentric first gear 412 and a second gear 413, and the first gear 412 passes the first Drive
  • the mechanism 51 drives the first triangular crawler wheel 25, the second gear 413 drives the second triangular crawler wheel 26 via the second drive mechanism 52, and the third rotating shaft 431 of the third motor 43 drives the first drive mechanism 51, the first drive
  • the mechanism 51 drives the third driving mechanism 53 through the first linkage shaft 61.
  • the third driving mechanism 53 drives the third triangular crawler wheel 27, and the second driving mechanism 52 and/or the third driving mechanism 53 drives the fourth driving mechanism 54 through two One motor drives four triangular track wheels 2, and two motors drive a triangular track wheel 2 at the same time, which is convenient for steering control, with stronger power, and the climbing ability and obstacle performance are significantly improved.
  • the first driving mechanism 51 includes a first driving gear 511 connected to the first gear 412 and a first driving shaft 512 fixedly connected to the center of the first driving gear 511. The outer end of the first driving shaft 512 is engaged with the first driving shaft 512. a first crawler wheel 25 is disposed on the first drive shaft 512.
  • the first drive gear 514 is coupled to the first intermediate gear 515.
  • the first intermediate gear 515 is coupled to the first linkage.
  • a shaft 61, a third gear shaft 532 of the third motor 43 is provided with a fifth gear, the fifth gear gear is coupled to the first linkage gear 518, and the first linkage gear 518 is fixedly sleeved at the first Linked to the shaft 61.
  • the first driving mechanism 51 further includes a first frame 516, the first driving shaft 512 passes through two sides of the first frame 516, and the first linkage shaft 61 passes through the first frame
  • the two sides of the body 516, the fifth driving gear 517 is disposed in the first frame 516, and the first driving shaft 512 is rotatably connected to the two sides of the first frame 516 by bearings, the first linkage
  • the shaft 61 is rotatably coupled to both sides of the first frame 516 by bearings.
  • the second drive mechanism 52 drives the fourth drive mechanism 54 through the second linkage shaft 62.
  • the second driving mechanism 52 includes a second driving gear 523 connected to the belt of the second gear 413, a second driving shaft 522 and a second frame 521 fixedly connected to the center of the second driving gear 523, and the second driving shaft 522.
  • a second driving gear 525 is disposed, the second driving gear 525 is geared to the second interlocking gear, the second interlocking gear drives the second linkage shaft 62, and the second linkage shaft 62 drives the fourth driving mechanism. 54.
  • the third drive mechanism 53 drives the fourth drive mechanism 54 through the crawler belt 24 .
  • the third driving mechanism 53 includes a third frame 531 and a third driving shaft 532, and the third driving A third driven gear 535 is disposed on the shaft 532 .
  • the third driven gear 535 is disposed outside the third frame 531 .
  • the third driven gear 535 is coupled to the fourth driving mechanism 54 .
  • a triangular crawler wheel robot in another preferred embodiment, includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a first motor 41 and a second motor 42.
  • a third motor 43 and a fourth motor 44 that drive the first triangular track wheel 25 through the first drive mechanism 51
  • the first motor 41 drives the second triangular track wheel 26 through the second drive mechanism 52
  • the second motor 42 drives the second cam track wheel 26 via the second drive mechanism 52
  • the fourth motor 44 drives the fourth cam track wheel 28 via the fourth drive mechanism 54.
  • the third motor 43 drives the first triangular crawler wheel 25 through the first driving mechanism 51, and the first motor 41 passes the first motor 41.
  • the second driving mechanism 52 drives the second triangular crawler wheel 26
  • the second motor 42 drives the second triangular crawler wheel 26 through the second driving mechanism 52
  • the fourth motor 44 drives the fourth triangular crawler wheel 28 through the fourth driving mechanism 54 through the fourth
  • Each of the motors drives a triangular track wheel 2, which is convenient to control, flexible in steering, strong in power, and has significantly improved climbing performance and obstacle performance.
  • the first drive mechanism 51 is coupled to the third drive mechanism 53 via the first linkage shaft 61.
  • the fourth drive mechanism 54 is coupled to the second drive mechanism 52 via the second linkage shaft 62.
  • the first rotating shaft 411 of the first motor 41 is provided with a concentric first gear 412 and a second gear 413.
  • the first gear 412 drives the first driving mechanism 51 through the belt, and the two gears pass the belt.
  • the second drive mechanism 52 is driven.
  • the second rotating shaft 421 of the second motor 42 is provided with a concentric third gear 422 and a fourth gear 423.
  • the third gear 422 drives the third driving mechanism 53 through the belt, and the four gears pass the belt.
  • the fourth drive mechanism 54 is driven.
  • the first driving mechanism 51 is connected to the third driving mechanism 53 through the first linkage shaft 61.
  • the fourth driving mechanism 54 is connected to the second driving mechanism 52 through the second linkage shaft 62.
  • the first rotation of the first motor 41 The shaft 411 is provided with a concentric first gear 412 and a second gear 413.
  • the first gear 412 drives a first driving mechanism 51 through a belt, and the two gears drive a second driving mechanism 52 through a belt.
  • the second rotating shaft 421 of the second motor 42 is provided with a concentric third gear 422 and a fourth gear 423.
  • the third gear 422 drives the third driving mechanism 53 through the belt, and the four gears are driven by the belt.
  • Four drive mechanism 54 The first driving mechanism 51 is connected to the third driving mechanism 53 through the first linkage shaft 61.
  • the fourth driving mechanism 54 is connected to the second driving mechanism 52 through the second linkage shaft 62.
  • the first rotation of the first motor 41 The shaft 411 is provided with a concentric first gear 412 and
  • a first belt rotation mechanism 63 is disposed between the second gear 413 and the second driving mechanism 52, and the fourth motor 44 is disposed between the second gear 413, the second driving mechanism 52, and a belt connected therebetween.
  • a second belt rotation mechanism 64 is disposed between the third gear 422 and the third drive mechanism 53, and the third motor 43 is disposed between the third gear 422, the third drive mechanism 53, and the belt connected to the two.
  • the first linkage shaft 61 is disposed between the third gear 422, the third driving mechanism 53, and the belt connected to the two, and the second linkage shaft 62 is disposed at the second gear 413, the second driving mechanism 52, and both Between the connected belts.
  • the first belt rotation mechanism 63 includes three intermediate rotation shafts 631.
  • the three intermediate rotation shafts 631 are disposed in an inverted shape, and the fourth motor 44 and the second linkage shaft 62 are respectively disposed on the two intermediate rotation shafts 631. Between the belts.
  • a triangular crawler wheel robot in another preferred embodiment, includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1.
  • the main body 1 is provided with a first motor 41 and a second motor 42. a third motor 43 and a fourth motor 44 that drive the first triangular track wheel 25 through the first drive mechanism 51, and the first motor 41 drives the second triangular track wheel 26 through the second drive mechanism 52,
  • the second motor 42 drives the second cam track 26 through the second drive mechanism 52, and the fourth motor 44 drives the fourth cam track 28 through the fourth drive mechanism 54, the first rotation of the first motor 41
  • a second gear 413 is disposed on the shaft 411. The two gears drive the second driving mechanism 52.
  • the second rotating shaft 421 of the second motor 42 is provided with a third gear 422.
  • the third gear 422 passes through The belt drives the third driving mechanism 53, and between the second gear 413 and the second driving mechanism 52, a first belt rotation mechanism 63 that expands the belt range, and the fourth motor 44 is disposed at the second gear 413 and the second Within the range of the belt between the drive mechanisms 52, the third A second belt intermediate rotation mechanism 64 that expands the belt range is provided between the gear 422 and the third drive mechanism 53, and the third motor 43 is disposed within a belt range between the third gear 422 and the third drive mechanism 53.
  • the range of the belt is enlarged by the first belt intermediate rotation mechanism 63 and the second belt rotation mechanism 64, and the four motors can be placed together, saving space, and at the same time limiting the belt position and improving stability.
  • a first gear 412 coaxial with the second gear 413 is disposed on the first rotating shaft 411 of the first motor 41, and the first gear 412 drives the first driving mechanism 51 through a belt, and the second motor 42
  • the second rotating shaft 421 is provided with a fourth gear 423 concentric with the third gear 422, and the four gears drive the fourth driving mechanism 54 through the belt.
  • the first belt intermediate rotation mechanism 63 includes a relay rotation shaft 631, and the upper surface of the intermediate rotation shaft 631 is higher than the upper surface of the second gear 413.
  • the first drive mechanism 51 is connected to the third drive mechanism 53 through the first linkage shaft 61
  • the fourth drive mechanism 54 is connected to the second drive mechanism 52 through the second linkage shaft 62.
  • the first belt rotation mechanism 63 includes three intermediate rotation shafts 631, and the three intermediate rotation shafts 631 are arranged in an inverted shape, wherein the upper surfaces of the two upper intermediate rotation shafts 631 are higher than the upper surface of the second gears 413,
  • the four motors 44 and the second interlocking shafts 62 are respectively disposed between the belts on which the two intermediate rotating shafts 631 are raised.
  • the second belt rotation mechanism 64 includes three intermediate rotation shafts 631, and the three intermediate rotation shafts 631 are disposed in an inverted shape, wherein the upper surfaces of the two upper intermediate rotation shafts 631 are higher than the upper surface of the third gears 422,
  • the three motors 43 and the first interlocking shafts 61 are respectively disposed between the belts on which the two intermediate rotating shafts 631 are raised.
  • the first linkage shaft 61 and the second linkage shaft 62 are disposed at the front and rear ends, the first motor 41 and the second motor 42 are disposed in the middle, and the third motor 43 is disposed at the first motor 41 and the first linkage Between the shafts 61, the third motor 43 is disposed between the second motor 42 and the second linkage shaft 62.
  • the first belt intermediate rotation mechanism 63 and the fourth motor 44 are respectively disposed on both sides of the robot.
  • a triangular crawler wheel robot comprising a main body 1 and four triangular crawler wheels 2 disposed on the main body 1, the main body 1 including an upper casing 11, a middle casing 12 and a lower casing 13,
  • the upper casing 11 and the lower casing 13 are fixed on the middle frame 12, and the upper casing 11 is provided with an imaging mechanism 3, and the rear end of the middle frame 12 is provided with an external antenna 7, and the middle frame 12 includes an intermediate portion.
  • An upper first flange 122 and a downward second flange 123 are disposed on the periphery of the bracket plate 121.
  • the upper side of the bracket plate 121 is provided with a circuit board, and the lower side of the bracket plate 121 is fixedly connected to the driving motor and the gear set. .
  • the cam track 2 robot includes a main body 1 and four triangular crawler wheels 2 disposed on the main body 1, the main body 1 includes an upper casing 11, a middle casing 12, and a lower casing 13, and the upper casing 11 and the lower casing 13 are fixed to the middle casing 12
  • the upper housing 11 is provided with an imaging mechanism 3, and the rear end of the middle frame 12 is provided with an external antenna 7.
  • the middle frame 12 includes a bracket plate 121 having a hollow portion in the middle, and the first flange 122 is provided around the bracket plate 121.
  • the bracket plate 121 has a hollow portion in the middle, which reduces the weight, is convenient to fix, and is firmly fixed.
  • the first flange 122 includes a first side edge that is coincident with the bracket plate 121 and is fixedly connected, and a second side edge that is perpendicularly connected to the first side edge.
  • the first side edge and the second side edge are provided with a plurality of Screw holes.
  • the bracket plate 121 is provided with a horizontally and vertically staggered bracket strip, the bracket strip is provided with a fixing hole, the gear set includes a frame body, and the frame body is fixedly connected with the bracket strip by a bolt, and the driving motor passes through the The gear set drives the cam track wheel 2.
  • the driving motor includes a first motor 41 and a second motor 42.
  • the lower side of the bracket plate 121 is provided with a first bearing 45 that cooperates with the first motor 41 and a second bearing 46 that cooperates with the second motor 42.
  • the gear set includes four gear sets corresponding to four triangular crawler wheels 2, the gear set includes a frame body, and the main body 1 further includes a first cover plate covering two gear sets corresponding to the front wheels, covering the corresponding a second cover of the two gear sets of the wheel, the frame being fixedly coupled to the cover bolt.
  • the upper side of the bracket plate 121 is provided with a backing plate, and the circuit board is disposed on the backing plate.
  • the imaging mechanism 3 includes an imaging device 31 and a driving device.
  • the driving device includes a first driving mechanism 51 connected to the main body 1.
  • the first driving mechanism 51 drives the imaging device 31 to move up and down.
  • the driving device further includes The second drive mechanism 52 drives the imaging device 31 to rotate.
  • the first driving mechanism 51 includes a base 321 and a connecting mechanism 322 connected to the main body 1.
  • the base 321 is provided with a first imaging motor, and the first imaging motor drives one end of the connecting mechanism 322.
  • the other end of the connecting mechanism 322 is connected to the camera device 31.
  • the base 321 is provided with a support 324.
  • the first imaging drive shaft 325 of the first imaging motor passes through the support 324.
  • the connecting mechanism 322 includes two pieces juxtaposed.
  • the connecting plate 323 is provided with a through hole through which the first imaging driving shaft 325 passes.
  • the first imaging driving shaft 325 is further provided with a height driving wheel 326.
  • the height driving wheel 326 is further provided.
  • the two connecting plates 323 are disposed between the two connecting plates 323.
  • the other ends of the two connecting plates 323 are provided with a locking wheel 327.
  • the height driving wheel 326 and the locking wheel 327 are connected by a belt.
  • the camera device 31 is fixedly connected to the other end of the connecting plate 323 by a fixing bracket 328.
  • the fixing frame 328 is provided with two fixing legs 329, and the two fixing legs 329 are disposed on both sides of the engaging wheel 327.
  • the two fixing legs 329, the locking wheel 327 and the two connecting plates 323 are fixedly connected.
  • the fixing frame 328 includes a placing plate 331 connecting the two fixing legs 329.
  • the placing plate 331 is provided with a bracket 332.
  • a second imaging rotating shaft 333 is disposed on the 332, an imaging device 31 is disposed at an end of the second imaging rotating shaft 333, a first rotating gear 334 is disposed between the second imaging rotating shaft 333, and a second is disposed on the fixing frame 328.
  • the imaging motor 336 is coupled to the second rotation gear 335 of the second imaging motor 336, and the second rotation gear 335 is coupled to the first rotation gear 334.
  • the camera mechanism 3 is disposed on the side of the upper casing 11, and the upper casing 11 is further provided with an anti-shake device 8, and the anti-shake device 8 is disposed in the middle of the front side of the upper casing 11.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un robot ayant des roues à chenilles triangulaires, comprenant : un corps principal (1) et quatre roues à chenilles triangulaires (2) disposées sur le corps principal (1). Le corps principal comprend : une coque supérieure (11), un cadre central (12) et une coque inférieure (13). La coque supérieure (11) et la coque inférieure (13) sont fixés au cadre central (12). La coque supérieure (11) est pourvue de moyens d'appareil photographique (3) et le cadre central (12) est pourvu d'une antenne externe au niveau d'une extrémité de queue de celui-ci, le cadre intermédiaire (12) comprenant une plaque support (121) qui comporte une portion creuse au centre. La plaque support (121) est pourvue d'une première bride vers le haut et d'une deuxième bride vers le bas à la périphérie de celle-ci. Un côté supérieur de la plaque support (121) est pourvu d'une carte de circuit imprimé, et un côté inférieur de la plaque support (121) est relié de manière fixe à un moteur d'entraînement et à une boîte de transmission. La coque supérieure (11) et la coque inférieure (13) sont toutes deux fixées au cadre central (12), ce qui permet une installation aisée. La plaque support (121) possède une portion creuse au centre, laquelle peut réduire le poids et permettre une fixation facile et solide.
PCT/CN2016/096520 2016-08-24 2016-08-24 Robot ayant des roues à chenilles triangulaires Ceased WO2018035750A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/096520 WO2018035750A1 (fr) 2016-08-24 2016-08-24 Robot ayant des roues à chenilles triangulaires

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/096520 WO2018035750A1 (fr) 2016-08-24 2016-08-24 Robot ayant des roues à chenilles triangulaires

Publications (1)

Publication Number Publication Date
WO2018035750A1 true WO2018035750A1 (fr) 2018-03-01

Family

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Application Number Title Priority Date Filing Date
PCT/CN2016/096520 Ceased WO2018035750A1 (fr) 2016-08-24 2016-08-24 Robot ayant des roues à chenilles triangulaires

Country Status (1)

Country Link
WO (1) WO2018035750A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112478006A (zh) * 2020-11-24 2021-03-12 胡永星 一种履带式侦查巡检机械人
CN112727033A (zh) * 2021-01-13 2021-04-30 武汉兆朗体育发展有限责任公司 一种体育馆运动地胶铺设用地面找平装置
CN112946382A (zh) * 2021-01-27 2021-06-11 上海宜力托信息科技有限公司 一种基于人工智能防雷检测系统及方法
CN113664806A (zh) * 2021-08-30 2021-11-19 杨彩虹 一种青少年学习编程用机器人
WO2024251314A1 (fr) 2023-06-06 2024-12-12 České vysoké učení technické v Praze Châssis de véhicule robotique à chenilles triangulaires pouvant être commandées indépendamment et perception tactile de forme et de conformité de terrain

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US20090308669A1 (en) * 2007-10-15 2009-12-17 Vermeer Manufacturing Company Quad track vehicle
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CN204355181U (zh) * 2015-01-08 2015-05-27 陈博华 一种带电子眼跟踪的机械小车
CN205345098U (zh) * 2016-01-23 2016-06-29 哈尔滨理工大学 一种行星轮履带式排爆机器人
CN106240662A (zh) * 2016-08-24 2016-12-21 李玉婷 一种三角履带轮机器人
CN106314579A (zh) * 2016-08-24 2017-01-11 李玉婷 一种三角履带轮机器人

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CN101026932A (zh) * 2006-02-24 2007-08-29 佛山市顺德区顺达电脑厂有限公司 具可拆卸接口模块之壳体结构
US20090308669A1 (en) * 2007-10-15 2009-12-17 Vermeer Manufacturing Company Quad track vehicle
CN202379073U (zh) * 2011-12-22 2012-08-15 姜东超 多功能水下作业机器人装置
CN204355181U (zh) * 2015-01-08 2015-05-27 陈博华 一种带电子眼跟踪的机械小车
CN205345098U (zh) * 2016-01-23 2016-06-29 哈尔滨理工大学 一种行星轮履带式排爆机器人
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CN106314579A (zh) * 2016-08-24 2017-01-11 李玉婷 一种三角履带轮机器人

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112478006A (zh) * 2020-11-24 2021-03-12 胡永星 一种履带式侦查巡检机械人
CN112727033A (zh) * 2021-01-13 2021-04-30 武汉兆朗体育发展有限责任公司 一种体育馆运动地胶铺设用地面找平装置
CN112946382A (zh) * 2021-01-27 2021-06-11 上海宜力托信息科技有限公司 一种基于人工智能防雷检测系统及方法
CN113664806A (zh) * 2021-08-30 2021-11-19 杨彩虹 一种青少年学习编程用机器人
WO2024251314A1 (fr) 2023-06-06 2024-12-12 České vysoké učení technické v Praze Châssis de véhicule robotique à chenilles triangulaires pouvant être commandées indépendamment et perception tactile de forme et de conformité de terrain

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