CN206394358U - The deformable Stump-jump wheel of robot is sniped applied to aiming - Google Patents

Abstract

The utility model discloses a deformable obstacle-crossing wheel applied to aiming at a sniper robot, which mainly changes the shape and posture of the wheel through the cooperative movement between various gear trains to be suitable for different working environments. In a relatively flat working area, the wheel spokes are in a contracted state due to the cooperation of the gear train and the wheels remain round, which is beneficial for the robot to travel at a higher speed, and has the effect of shock absorption and buffering on the robot body; When there are many working areas, the retractable spokes of the wheel are extended radially through the movement of the gear train, and the wheel is transformed from a circular shape into a star wheel, so that it can easily cross obstacles such as bumps, steps, and ravines. The deformable obstacle-crossing wheel of the utility model has the characteristics of being able to flexibly change the shape and posture of the wheel, autonomously surmounting obstacles, and traveling fast. , and apply to complex road conditions.

Description

Deformable obstacle-crossing wheel for targeting sniper robots

technical field

The invention relates to a deformable obstacle-crossing wheel applied to a sniper robot, which can work on complex road conditions and easily overcome obstacles, and belongs to the technical field of mechanical design.

Background technique

In view of the current world situation and modern military equipment targets, it has become a trend to aim at sniper robots for militarized operations. Aiming and sniping robots mainly work in complex environments and have relatively high requirements for walking devices. Complex environments include both flat roads and obstacles such as bumps, ravines, and steps. This requires that the walking wheels can move quickly on flat roads, and can effectively cross uneven obstacles. At present, ordinary round wheels can move quickly, but when encountering obstacles, they have obvious defects and cannot complete tasks over obstacles. Although some obstacle-crossing wheels combined with polygonal star frames and one-way wheels can achieve obstacle-crossing actions, the obstacles that can be crossed are too single, and the efficiency is low when crossing obstacles. On flat roads, the speed is not as good as a circle Shaped wheels greatly reduce work efficiency.

Contents of the invention

The purpose of the utility model is to provide a deformable obstacle-crossing wheel based on two working states, which can quickly complete the obstacle-crossing action on the complex road surface and has a relatively high traveling speed and shock absorption performance on the flat road surface.

In order to solve the above-mentioned technical problems, the utility model is applied to the deformable obstacle-crossing wheel aimed at the sniper robot to provide a combined wheel train device, which realizes the conversion between the round and star-shaped working states of the wheel, including: the driving wheel train, Transmission planetary gear system, reversing wheel system, retractable spokes, fixed spokes, solid rubber tires, wheel train brackets.

In order to achieve the above object, the utility model adopts the following technical solutions:

The driving wheel train includes a driving motor, a motor fixing seat, and a transmission gear. The driving motor is fixed on the wheel shaft in the wheel train bracket by the motor fixing seat, and the motor fixing seat and the wheel shaft are connected by bolts. The transmission gear is fixed on the output shaft of the drive motor, and is connected by a sleeve and a top screw to ensure synchronous movement of the gear and the output shaft of the motor. When the wheel is deformed and converted, the driving motor acts, and the driving force is input to each transmission wheel train through the transmission gear to complete the task of wheel deformation and conversion.

The transmission planetary gear train includes a double-toothed sun gear, a planetary gear, a bevel-toothed direction-changing ring gear, and a planetary gear fixing frame. The double-toothed sun gear is installed on the wheel shaft in the gear train bracket through bearings, and the three planetary gears mesh with the double-toothed sun gear and are evenly distributed and fixed by the planetary gear holder. The planet wheel fixing frame is fixed together with the wheel shaft through interference fit and bolt connection. The bevel gear direction-changing ring gear is positioned by the hub end cover in the gear train bracket through the plane bearing. The straight teeth of the inner ring mesh with the three planetary gears, and the bevel teeth of the outer ring cooperate with the direction-changing gear train to complete the power transmission. The transmission planetary gear system of the utility model is fixed by the planetary gear fixing frame, the power is input by the double-toothed sun gear, and the power transmission is completed in the way of the bevel gear changing direction to the ring gear to output the power. The completion of the deformation conversion of the barrier wheel provides a reliable guarantee.

The direction-changing gear train includes a threaded shaft and a direction-changing bevel gear. The direction-changing bevel gear meshes with the bevel teeth of the outer ring of the bevel-toothed direction-changing ring gear in the transmission planetary gear train, and is installed at the lower end of the threaded shaft. One end of the threaded shaft cooperates with the hub base on the wheel train bracket through a deep groove ball bearing, and the other end cooperates with the retractable spoke.

The telescopic spokes include a threaded shaft shell and a telescopic shaft. The telescopic shaft is L-shaped, and one side of the lower end is a nut shaft cooperating with the threaded shaft in the direction-changing wheel train. The telescopic shaft is installed inside the threaded shaft shell, the top end is equipped with solid short-arc rubber tires, and the lower end relies on the nut shaft to cooperate with the threaded shaft in the reversing wheel train. The lower end of the threaded shaft housing is fixed with the gear train bracket, and the upper end is fixed with a deep groove ball bearing to fix the threaded shaft in the direction-changing gear train to ensure that the threaded shaft can rotate easily in the housing.

The fixed spoke has a solid long-arc rubber tire installed at one end, and is fixedly connected with the hub base at one end. When the wheel is in a round state, it plays the role of support and shock absorption.

The solid rubber tires include two kinds of rubber tires with different sizes, which are respectively solid long-arc rubber tires and solid short-arc rubber tires. When aiming at the sniper robot to work in a flat work area, the wheels maintain a circular working state. At this time, the solid long-arc rubber tire and the solid short-arc rubber tire cooperate with each other to form a circular tire that is consistent with the circular wheel; when aiming at the sniper robot When working in the obstacle work area, the wheels are transformed into a star-shaped working state. At this time, the retractable spokes are stretched, only the solid short-arc rubber tires touch the ground, and the vehicle body relies on the solid short-arc tires to cross obstacles.

The wheel train bracket includes a wheel shaft, a hub base, and a hub end cover. One side of the wheel shaft and the hub base are fixed together by six bolts, and the other side is connected with the wheel drive motor of the car body through a coupling. When aiming at the sniper robot, the wheel drive motor drives the wheel shaft to rotate, and then Achieving overall forward movement. The hub base and the wheel shaft are fixed together, and positioning holes are arranged on the inner shaft to cooperate with the threaded shaft in the reversing wheel train, and the threaded holes on the outer ring are connected to the threaded shaft shell in the retractable spoke by bolts. The hub end cover is fixed with the hub base through bolts, and there is a groove for installing a plane bearing inside, and the bevel gear direction-changing ring gear in the transmission planetary gear train is positioned through the plane bearing.

The deformable obstacle-crossing wheel proposed by the utility model has two working states: a circular wheel state suitable for a flat work area and a star wheel state suitable for an obstacle (including steps, protrusions, ravines, etc.) work area .

When the robot is in a flat working area, the telescopic axis of the retractable spokes is in a contracted state to keep the wheel in a circular working state. At this time, the solid long-arc rubber tire and the solid short-arc rubber tire cooperate to form a circle that is consistent with the circular wheel. Shaped tires, common contact with the ground, and play a good role in shock absorption. The retractable spokes and the fixed spokes work together to support the car body. In the working state of the round wheels, the robot can travel at high speed, which improves the working efficiency.

When the robot is in the obstacle working area, the telescopic shaft of the retractable spoke is in the stretched state so that the wheel is transformed into a star-shaped working state. The body acts as a support. When encountering raised or small gully obstacles, the star wheel can use the space between the two retractable spokes to directly step over the obstacle. When encountering steps, large-scale protrusions, and ravine obstacles, the first step star-shaped wheel first utilizes the retractable spokes in the stretched state closest to the obstacle to step on the obstacle; the second step star-shaped wheel uses the obstacle to The solid short-arc rubber tire at the front end of the contacted retractable spoke rotates as the rotation point, so that the adjacent retractable spoke moves towards the next point of the obstacle; the third step is that the star wheel uses the latest retractable contact with the obstacle The solid short-arc rubber tire at the front end of the spoke rotates as the rotation point, so that the next adjacent retractable spoke moves towards the next point of the obstacle, and continues to cycle continuously until the obstacle is crossed.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the utility model applied to a sniper robot.

Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, are the attitude diagrams of the utility model applied to aiming at the sniper robot across obstacles.

Fig. 8 is a structural schematic diagram of the deformable obstacle-crossing wheel of the present invention in a circular working state.

Fig. 9 is a structural schematic diagram of the deformable obstacle-crossing wheel of the present invention in a star-shaped working state.

Fig. 10 is a schematic structural diagram of specific components of the present invention.

Fig. 11 is a schematic diagram of the specific structure of the drive train of the present invention.

Fig. 12 is a schematic diagram of the specific structure of the transmission planetary gear train of the present invention.

Fig. 13 is a schematic diagram of the specific structure of the direction-changing wheel train of the present invention.

Fig. 14 is a schematic diagram of the specific structure of the retractable spokes of the present invention.

Fig. 15 is a schematic diagram of the specific structure of the solid rubber tire and the wheel train bracket of the present invention.

detailed description

Below in conjunction with accompanying drawing and embodiment the utility model is further described. The accompanying drawing of the utility model is a simplified three-dimensional schematic diagram, which only illustrates the basic mechanism of the utility model in this way, so it only shows the configuration related to the utility model.

Figure 1 shows that the deformable obstacle-crossing wheel is used to aim at the sniper robot, so that the robot can smoothly cross obstacles, realize the forward and backward movement, and cooperate with the steering gear and steering transmission shaft in the robot's own steering system to complete the steering movement. Improve the applicability, reliability, and work efficiency of the aiming sniper robot.

Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, and Fig. 7 show the posture diagrams of the aiming sniper robot crossing obstacles by means of deformable obstacle-crossing wheels.

Fig. 8 is a structural schematic diagram of the deformable obstacle-crossing wheel in a circular working state, and Fig. 9 is a structural schematic diagram of the utility model's deformable obstacle-crossing wheel in a star-shaped working state.

As shown in Figure 10, the deformable obstacle-crossing wheel of the present utility model includes a driving wheel system 100, a transmission planetary wheel system 200, a direction changing wheel system 300, a retractable spoke 400, a fixed spoke 500, a solid rubber tire 600, and a wheel system Bracket 700.

As shown in FIG. 11 , the driving wheel train 100 includes a driving motor 101 , a motor fixing seat 102 , and a transmission gear 103 . The driving motor 101 is fixed on the wheel axle 701 of the wheel train bracket 700 by the motor fixing seat 102, and the motor fixing seat 102 and the wheel axle 701 are connected by bolts. The transmission gear 103 is fixed on the output shaft of the driving motor 101, and is connected with a sleeve and a jack screw to ensure synchronous movement of the gear and the output shaft of the motor.

As shown in FIG. 12 , the transmission planetary gear train 200 includes a double-toothed sun gear 201 , a planetary gear 202 , a bevel tooth direction-changing ring gear 203 , and a planetary gear fixing frame 204 . The double-toothed sun gear 201 is installed on the wheel shaft 701 of the gear train bracket 700 through bearings, and the three planetary gears 202 mesh with the double-toothed sun gear 201 and are evenly distributed and fixed by the planetary gear holder 204 . The planet wheel fixing bracket 204 is fixed together with the wheel shaft through interference fit and bolt connection. The bevel gear direction-changing ring gear 203 is positioned by the hub end cover 703 in the gear train bracket 700 through the plane bearing, the straight teeth of its inner ring mesh with the three planetary gears 202, and the bevel teeth of the outer ring are in contact with the variable gear in the direction-changing gear train 300. Cooperate with the bevel gear 302.

As shown in FIG. 13 , the direction changing gear train 300 includes a threaded shaft 301 and a direction changing bevel gear 302 . The direction-changing bevel gear 302 meshes with the bevel teeth of the outer ring of the bevel-tooth direction-changing ring gear 203 in the transmission planetary gear train 200, and is installed on the lower end of the threaded shaft 301 through a pin connection. One end of the threaded shaft 301 cooperates with the hub base 702 on the wheel train bracket 700 through a deep groove ball bearing, and the other end cooperates with the retractable spoke 400 .

As shown in FIG. 14 , the telescopic spoke 400 includes a threaded shaft housing 401 and a telescopic shaft 402 . The telescopic shaft 402 is L-shaped, and one side of the lower end is a nut shaft cooperating with the threaded shaft 301 in the direction-changing wheel train 300 . Telescopic shaft 402 is installed in the inside of threaded shaft shell 401, and entity short-arc rubber tire 601 is installed on the top, and the lower end relies on nut shaft to cooperate with threaded shaft 301 in the reversing wheel train 300 through thread pair. The lower end of the threaded shaft casing 401 is fixed with the gear train bracket 700, and the upper end fixes the threaded shaft 301 in the direction-changing wheel train 300 with a deep groove ball bearing to ensure that the threaded shaft 301 can rotate easily in the housing.

As shown in FIG. 15 , the solid rubber tire 600 includes two kinds of rubber tires with different sizes, namely a solid short-arc rubber tire 601 and a solid long-arc rubber tire 602 . The wheel train bracket 700 includes a wheel shaft 701 , a hub base 702 , and a hub end cover 703 . One side of the wheel shaft 701 is fixed with the hub base 702 by six bolts, and the other side is connected with the wheel drive motor of the vehicle body through a coupling. The hub base 702 is fixed together with the wheel shaft 701. There are positioning holes on the inner shaft to cooperate with the threaded shaft 301 in the direction-changing wheel train 300. The outer ring has threaded holes to connect the threaded shaft housing 401 in the retractable spoke 400 through bolts. . The hub end cover 703 is fixed together with the hub base 702 by bolts, and there is a groove for installing a plane bearing inside it, and the bevel gear direction-changing ring gear 203 in the transmission planetary gear train 200 is positioned through the plane bearing.

When the aiming sniper robot equipped with the deformable obstacle-crossing wheel encounters an obstacle, the drive motor 101 in the deformable obstacle-crossing wheel starts to move, driving the transmission gear 103 to rotate. The transmission gear 103 drives the double-toothed sun gear 201 to move depending on the meshing relationship with the gear on one side of the double-toothed sun gear 201 , and then relies on the gear on the other side of the double-toothed sun gear 201 to drive the planetary gear 202 to rotate. The planetary gear 202 transmits the power to the bevel-toothed direction-changing ring gear 203 , and the bevel-toothed direction-changing ring gear 203 changes the direction of the power to radiate outward along the fixed spoke 500 through meshing with the direction-changing bevel gear 302 . The rotation of the direction-changing bevel gear 302 drives the threaded shaft 301 to rotate. Through the action of the thread pair, the threaded shaft 301 changes the rotational motion into the linear motion of the telescopic shaft 402, and the telescopic shaft completes the stretching motion. The deformable obstacle-crossing wheel is transformed into a star wheel.

The above-mentioned embodiments only express the specific implementation manners of the present utility model, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present utility model. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the utility model, and these all belong to the protection scope of the utility model.

Claims (4)

1. The deformable obstacle-crossing wheel used for targeting sniper robots is characterized in that it includes a driving wheel system, a transmission planetary wheel system, a direction-changing wheel system, retractable spokes, fixed spokes, solid rubber tires, and a wheel train bracket; The driving wheel train includes a driving motor, a motor fixing seat, and a transmission gear; the driving motor is fixed on the wheel train bracket by the motor fixing seat, and when the wheels are deformed and converted, the driving motor moves, and the driving force is input to each transmission wheel through the transmission gear. The system completes the conversion task; When the aiming sniper robot enters the obstacle working area from the flat working area, the driving motor will input the power into the transmission planetary gear train through the transmission gear. After increasing the torque, the power will be changed to radiate outward along the wheel spokes through the reversing gear train. Direction; the reversing wheel system will drive the action of the retractable spokes to complete the stretching of the spokes, and the wheels will be transformed into star wheels; the aiming sniper robot relies on the solid short-arc rubber tires on the star wheels fixed on the front ends of the retractable spokes to contact the ground, While completing obstacle surmounting, it also has a certain shock absorption effect. 2. The deformable obstacle-crossing wheel for aiming at sniper robots according to claim 1, characterized in that the transmission planetary gear train includes a double-toothed sun gear, a planetary gear, a bevel tooth reversing ring gear, and a planetary gear holder; The sun gear is installed on the wheel shaft through bearings, and the three planetary gears mesh with the sun gear and are evenly distributed and fixed by the planetary gear fixing frame; the planetary gear fixing frame is fixed with the wheel shaft through interference fit and bolt connection; the bevel gear change The radial ring gear is positioned by the hub end cover in the gear train bracket through the plane bearing. The straight teeth of the inner ring mesh with the three planetary gears, and the bevel teeth of the outer ring cooperate with the direction-changing gear train to complete the power transmission; when the deformation wheel When deforming, the driving motor outputs power to the double-toothed sun gear through the transmission gear in the driving wheel train, and the double-toothed sun gear drives three evenly distributed planetary gears to move, and then drives the bevel gear to rotate the ring gear. 3. The deformable obstacle-crossing wheel applied to targeting sniper robots according to claim 1, characterized in that the direction-changing gear train includes a threaded shaft and a direction-changing bevel gear; the direction-changing bevel gear and the bevel in the transmission planetary gear train The bevel teeth of the outer ring of the tooth changing ring gear are meshed and installed at the lower end of the threaded shaft; one end of the threaded shaft is matched with the hub base on the wheel train bracket through a deep groove ball bearing, and the other end is matched with the retractable spoke; When the deformable obstacle-crossing wheel is deformed, the transmission planetary gear train transmits power to the direction-changing gear train, and the direction-changing bevel gear changes the direction of the force to the direction radiating outward along the fixed spokes, and drives the threaded shaft to rotate. 4. The deformable obstacle-crossing wheel applied to targeting sniper robots according to claim 1, characterized in that the retractable spokes include a threaded shaft shell and a telescopic shaft; The nut shaft matched with the threaded shaft in the system, the telescopic shaft is installed inside the threaded shaft casing, the top end is equipped with a solid short-arc rubber tire, and the lower end relies on the nut shaft to cooperate with the threaded shaft in the reversing wheel system; the lower end of the threaded shaft casing is connected to the wheel The gear brackets are fixed together, and the upper end is fixed with a deep groove ball bearing to fix the threaded shaft in the direction-changing gear train to ensure that the threaded shaft can rotate easily in the housing; When the deformable obstacle-crossing wheel is deformed, the threaded shaft in the direction-changing wheel system drives the telescopic shaft to make a linear motion through the thread pair to complete the conversion of the two working states of the circular wheel and the star wheel, and utilizes the self-locking of the thread pair The function enables the wheel to reliably maintain a specific working state and run safely.