CN208198618U - A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis - Google Patents
A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis Download PDFInfo
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- CN208198618U CN208198618U CN201820329028.3U CN201820329028U CN208198618U CN 208198618 U CN208198618 U CN 208198618U CN 201820329028 U CN201820329028 U CN 201820329028U CN 208198618 U CN208198618 U CN 208198618U
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Abstract
The utility model discloses a kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis, including paralell and the traveling crawler component being arranged at left and right sides of it, the swing arm crawler components of front end are set, and traveling crawler component includes: driving spindle, driving motor, drive gear set, main Athey wheel, main crawler belt and directive wheel；Swing arm crawler components include: arm shaft, swing arm motor, swing arm gear group, swing arm Athey wheel, swing arm crawler belt swing arm support plate, and two support front edge of board close fixed swing arm front-wheel；The driving motor of unilateral track assembly is arranged in the lower space plane of swing arm motor and projects respectively in driving spindle two sides；Driving motor, the swing arm motor of arranged on left and right sides respectively correspond into axial symmetry and are distributed.Both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis are driven the purpose of the utility model is to provide a kind of double, complicated small space in mine is facilitated to use, are allowed to that occupied space is smaller, and movement is more convenient, are moved more steady.
Description
Technical field
The invention belongs to ground mobile robot technical field, specially a kind of double drive both arms, concentric four axis is small-sized mining
Robot crawler-type mobile platform can cope with complicated landform, and narrow space environment road conditions are walked, especially suitable for mine
It is used as mobile vehicle in the tasks such as prospecting, the search and rescue at well scene, important first-hand information is provided for staff.
Background technique
After the accidents such as gas explosion, landslide occur for underground coal mine or under other disaster environment, ambient enviroment is by tight
It destroys again, disaster-stricken environmental information can not be transferred directly to rescue command center, and rescue personnel can not be engaged in rescue action, serious shadow
Rescue efficiency is rung, rescue personnel bears huge life risk.So there is an urgent need to rescue robots collects calamity under complex environment
Difficult environmental information, and disaster environmental information is sent to rescue command center, be so badly in need of it is a kind of can be under complicated Minepit environment
Carry out mobile article carrying platform；And in same loading device requirement, mobile platform is smaller more flexible, more adapts to multiple
Heterocycle border.
With being constantly progressive for science and technology, research and development of the mankind in automation equipment are more and more intelligent, such as nobody drives
Sail automobile, intelligent robot etc.；But in the development and application of small-sized mining robot, there is also more areas for improvement:
The prior art mostly uses greatly the following two kinds driving method.
1, Chinese Patent Application No. CN201610710117.8, the patent of publication number CN106275115A, discloses one kind
Six crawler belts, four swing arm rescue robot, the transmission mode used participate in its Figure of description 3, are Bevel Gear Transmission, use
The transmission mode that tiles side by side, needs to occupy more horizontal platform space, it is difficult to accomplish the simplification of drive apparatus；And
Equivalent motor driving, Bevel Gear Transmission torque are exported not as good as roller gear, and the stationarity of transmission is lower than roller gear.
2, Chinese Patent Application No. CN200920218549.2, publication number CN201516604U disclose a kind of modularization
Track rocker-arm type colliery underground robotic explorer uses synchronous belt to be driven, and synchronous belt technology drives electric motor
Dynamic spacing there are certain requirements and (need to keep appropriately distance that could use synchronous belt between driving wheel, driven wheel), to space
Accordance with tolerance determine its be not suitable for robot platform small form factor requirements.
In view of to the deficiencies in the prior art, applicant R&D team is optimized small-sized mining robot platform and sets
Meter, it is smaller to be allowed to occupied space, and movement is more convenient, moves more steady.
Summary of the invention
The purpose of the present invention is carry out in view of the above problems, providing a kind of pair and driving the small-sized mining robot of both arms, concentric four axis
Belt mobile platform facilitates in mine complicated small space to use, and is allowed to that occupied space is smaller, and movement is more convenient, and movement is more
Add steady.
In order to achieve the above object, the technical solution adopted by the present invention is that: a kind of double drive both arms, the small-sized mining machine of concentric four axis
Device people's crawler-type mobile platform, it includes paralell (1) and the traveling crawler component that is arranged at left and right sides of it, is arranged preceding
The swing arm crawler components at end, wherein traveling crawler component includes: to be in the arm shaft (6) and set that internal layer is solid construction
Mounted in hollow driving spindle (7) thereon, the driving spindle (7) be mounted on first bearing seat (8) and second bearing seat (9) it
Between it is fixed can be rotated, and driving pair is set in the driving spindle (7) between first bearing seat (8) and second bearing seat (9)
Gear (71) is simultaneously meshed with the driving gear (41) of driving motor (4) end；Driving spindle (7) stretches out the position of paralell (1)
It sets and is provided with main Athey wheel (2) and main crawler belt (21) mounted thereto, the other end of main crawler belt (21) is mounted on guiding
It takes turns on (22).
Swing arm crawler components include: arm shaft (6) and, arm shaft (6) inside end is provided with swing arm pinion (61)
It is engaged with the swing arm gear (51) on swing arm motor (5)；Pass through fixed swing arm Athey wheel (3) peace on the outside of the arm shaft (6)
Equipped with swing arm crawler belt (31)；Swing arm Athey wheel (3) is sleeved in the outside end of driving spindle (7), swing arm Athey wheel (3) two sides
It is respectively fixed with swing arm medial support plate (36) and swing arm lateral branch fagging (35), and two support front edge of board close fixed swing arm
Front-wheel (32)；Swing arm crawler belt (31) is mounted between swing arm Athey wheel (3) and swing arm front-wheel (32).
The driving motor (4) of unilateral track assembly is arranged in the lower space plane of swing arm motor (5) and projection exists respectively
Driving spindle (7) two sides；Driving motor (4), the swing arm motor (5) of arranged on left and right sides respectively correspond into axial symmetry and are distributed.
Further, the driving spindle (7) is sleeved on arm shaft (6), prolongs always from the first bearing seat (8) of inside
At the swing arm Athey wheel (3) for reaching outside.
Further, it is tensioned between the main Athey wheel (2) and directive wheel (22) by support plate, and single main crawler belt
(21) directive wheel (22) on is the two sides for being coaxially separately positioned on main crawler belt (21) in groups.
Further, the swing arm lateral branch fagging (35) is provided with boss (351) in the outer part, and boss (351) is arranged
In arm shaft (6) axis line location.
Further, driving spindle (7) is covered is provided with sleeve bearing (72) at the both ends of arm shaft (6), and outside
Swing arm end seal (34) are cased on arm shaft (6) at side sleeve bearing (72), swing arm end seal (34) is fastened on swing arm Athey wheel (3)
On.
Further, axle envelope set (92) are provided at the second bearing seat (9) on the outside of paralell (1), are fastened on
On two bearing bracket (9).
Further, swing arm crawler belt (31) between the swing arm medial support plate (36) and swing arm lateral branch fagging (35)
Inside edge is fixedly installed moping pulley (33).
Further, fixed by small round nut (23) in the outside driving spindle (7) of the main Athey wheel (2).
Further, the driving motor (4), swing arm motor (5) motor side towards on the inside of paralell (1).
Further, the paralell (1) be divided into be in front end for install transmission parts drive area (11) and
It is in the expansion area (12) for bearing function equipment of end.
Beneficial effects of the present invention: the present invention provides a kind of double drive both arms, the small-sized mining robot crawler belt of concentric four axis
Formula mobile platform facilitates in mine complicated small space to use, and is allowed to that occupied space is smaller, and movement is more convenient, and movement is more
Steadily.
1, two drivings, two swing arms are used, double drive both arms designs are suitable for different road conditions demands, mobile platform can
It is adaptable.
2, use the axis of concentric sleeve shaft design mode, concentric four axis, and driving motor and swing arm motor with
The axis Parallel Design of quill, so that movement is more steady, transmission efficiency is higher；There is no the axial force problem of bevel gear,
Also toothed belt transmission low efficiency is not present, moves jiggly problem.
3, the form being staggeredly superimposed using two rows motor avoids bevel gear horizontal Tile and occupies more space,
Simultaneously also there is no synchronous belt to center away from minimal distance requirement problem.
4, it is sleeved on arm shaft using driving spindle, the swing arm for extending to outside from the first bearing seat of inside is carried out
At belt wheel, convenient for realizing moving synchronously for swing arm crawler belt when driving motor rotates.
5, be tensioned between the main Athey wheel of the present invention and directive wheel by support plate, and the directive wheel on single main crawler belt at
Group is coaxially separately positioned on the two sides of main crawler belt, using the design of separated directive wheel, convenient for mitigating weight, while convenient for replacement dimension
Shield, reduces cost.And the gap between directive wheel when making winner's caterpillar drive stability it is more preferable.
6, since transmission parts concentrate on the shaft core position of driving spindle, arm shaft, whole device center of gravity can be designed and be fallen
On driving axial line, the mobile platform of concentric design can be accomplished smaller more stable, be easily carried and mobile in intricately condition.
7, swing arm lateral branch fagging of the present invention is provided with boss in the outer part, and the axis line location of arm shaft is arranged in boss,
And boss covers swing arm Athey wheel, equipment is more stable when driving pulley rotates using round platform design.
8, by the way of the present invention is distinguished using drive area and extension, it is convenient for plant maintenance and quick despatch, it is versatile,
Service life of equipment is longer and maintenance cost is lower.
Detailed description of the invention
Fig. 1 is schematic diagram of the three-dimensional structure.
Fig. 2 is left view schematic diagram in Fig. 1.
Fig. 3 is schematic top plan view in Fig. 1.
Fig. 4 is internal structure schematic cross-sectional view of the present invention.
Fig. 5 is partial enlargement diagram at A in Fig. 4.
Fig. 6 is transmission component stereochemical structure of the present invention signal.
Fig. 7 be in Fig. 6 C to schematic diagram.
Fig. 8 be in Fig. 6 B to schematic diagram.
Label character described in figure indicates are as follows: 1, paralell；11, drive area；12, expansion area；13, rack；
2, main Athey wheel；21, main crawler belt；22, directive wheel；23, small round nut；
3, swing arm Athey wheel；31, swing arm crawler belt；32, swing arm front-wheel；33, moping pulley；34, swing arm end seal；35, outside swing arm
Side support plate；351, boss；36, swing arm medial support plate；
4, driving motor；41, gear is driven；
5, swing arm motor；51, swing arm gear；
6, arm shaft；61, swing arm pinion；
7, driving spindle；71, pinion is driven；72, sleeve bearing；
8, first bearing seat；81, first bearing；9, second bearing seat；91, second bearing；92, axle envelope set.
Specific embodiment
In order to make those skilled in the art more fully understand technical solution of the present invention, with reference to the accompanying drawing to the present invention into
Row detailed description, the description of this part be only it is exemplary and explanatory, should not have any limitation to protection scope of the present invention
Effect.
As Figure 1-Figure 5, specific structure of the invention are as follows: a kind of double drive both arms, the small-sized mining robot of concentric four axis
Crawler-type mobile platform, it includes paralell 1 and the traveling crawler component being arranged at left and right sides of it, and the pendulum of front end is arranged in
Arm track assembly, wherein traveling crawler component includes: to be in the arm shaft 6 and be set on it that internal layer is solid construction
Hollow driving spindle 7, the driving spindle 7 be mounted between first bearing seat 8 and second bearing seat 9 it is fixed can be rotated, and
Be set in driving spindle 7 between first bearing seat 8 and second bearing seat 9 driving pinion 71 and with the end of driving motor 4
The driving gear 41 at end is meshed；Main Athey wheel 2 is provided on the position of the stretching paralell 1 of driving spindle 7 and is mounted on it
On main crawler belt 21, the other end of main crawler belt 21 is mounted on directive wheel 22.
Swing arm crawler components include: arm shaft 6 and, 6 inside end of arm shaft is provided with swing arm pinion 61 and swing arm
Swing arm gear 51 on motor 5 engages；Swing arm crawler belt 31 is equipped with by fixed swing arm Athey wheel 3 on the outside of the arm shaft 6；
Swing arm Athey wheel 3 is sleeved in the outside end of driving spindle 7, and 3 two sides of swing arm Athey wheel are respectively fixed with swing arm medial support
Plate 36 and swing arm lateral branch fagging 35, and two support front edge of board close fixed swing arm front-wheel 32；Swing arm crawler belt 31 is mounted on pendulum
Between arm Athey wheel 3 and swing arm front-wheel 32.
The driving motor 4 of unilateral track assembly is arranged in the lower space plane of swing arm motor 5 and projects to be driven respectively
7 two sides of main shaft；Driving motor 4, the swing arm motor 5 of arranged on left and right sides respectively correspond into axial symmetry and are distributed.Using two rows electricity
Machine interlock be superimposed form, avoid bevel gear horizontal Tile occupy more space, while also there is no synchronous belt to center away from
Minimal distance requirement problem.
Preferably, the driving spindle 7 is sleeved on arm shaft 6, extends to outside from the first bearing seat 8 of inside
Swing arm Athey wheel 3 at.
Preferably, it is tensioned between the main Athey wheel 2 and directive wheel 22 by support plate, and leading on single main crawler belt 21
It is the two sides for being coaxially separately positioned on main crawler belt 21 in groups to wheel 22.
Preferably, the swing arm lateral branch fagging 35 is provided with boss 351 in the outer part, and boss 351 is arranged in arm shaft 6
Axis line location.Boss covers swing arm Athey wheel, equipment is more stable when driving pulley rotates using round platform design.
As shown in Figure 4, Figure 5, it is preferred that 7 sets of driving spindle are provided with sleeve bearing 72 at the both ends of arm shaft 6,
And it is cased with swing arm end seal 34 at sleeve bearing 72 on arm shaft 6 on the outside, swing arm end seal 34 is fastened on swing arm Athey wheel 3.
Preferably, it is provided with axle envelope set 92 at the second bearing seat 9 in 1 outside of paralell, is fastened on second bearing seat 9
On.
Preferably, between the swing arm medial support plate 36 and swing arm lateral branch fagging 35 swing arm crawler belt 31 inner side edge edge
Place is fixedly installed moping pulley 33.
Preferably, fixed by small round nut 23 in the outside driving spindle 7 of the main Athey wheel 2.
Preferably, the motor side of the driving motor 4, swing arm motor 5 is towards 1 inside of paralell.It is designed in this way, it is more square
Just vehicle platform is mobile steady.
As shown in figs 6-8, it is transmission component structural schematic diagram of the present invention, shows that driving motor 4, swing arm motor 5 are equal in figure
It is fixed in rack 13.It is fixed on paralell 1 in entire rack 13.
Preferably, the paralell 1 divides to be in the drive area 11 for being used to install transmission parts of front end and being in end
The expansion area 12 for bearing function equipment at end.By the way of the present invention is distinguished using drive area and extension, tieed up convenient for equipment
Shield and quick despatch, versatile, service life of equipment is longer and maintenance cost is lower.
The present invention in order to narration simplicity about driving motor 4, swing arm motor 5 and Electric control and power supply system into
It has gone and has slightly removed, non-herein is emphasis of the invention, and the independent or common operating of each driving may be implemented in the prior art, therefore
It is omitted herein, is not influenced understanding and technology point protection of the invention.
When specifically used, as shown in Figure 1, Figure 4, Figure 5, normal road condition is under normal conditions, and swing arm crawler components are recovered to
It is normal to advance behind vehicle body；But it proceeds to and encounters general size gully not usually, swing arm motor 5 is opened, and swing arm pinion is passed through
51 drive arm shaft 6 to rotate, so that swing arm crawler components opening be driven to forward extend out, swing arm crawler components can be with vertical direction
360 degree of rotations, the movement of swing arm motor 5 and traveling crawler component are mutually isolated.The small-sized mining robot crawler type of the present invention is moved
The turning of moving platform and the rotation of original place 360 are realized by the differential rotation of left and right driving motor 4 to be turned to.Paralell 1 divides to be in
Front end is used to install the drive area 11 of transmission parts and be in the expansion area 12 for bearing function equipment of end, is convenient for
The equipment for installing various models on demand on paralell 1, versatility is stronger, and is hardly damaged transmission parts, to transmission shadow
Sound is small.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.
Used herein a specific example illustrates the principle and implementation of the invention, the explanation of above example
It is merely used to help understand method and its core concept of the invention.The above is only a preferred embodiment of the present invention, it answers
When pointing out due to the finiteness of literal expression, and objectively there is unlimited specific structure, for the common skill of the art
For art personnel, without departing from the principle of the present invention, several improvement, retouching or variation can also be made, can also incited somebody to action
Above-mentioned technical characteristic is combined in the right way；These improve retouching, variation or combination, or the not improved structure by invention
Think and technical solution directly applies to other occasions, is regarded as protection scope of the present invention.
Claims (10)
1. a kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis, it includes paralell (1) and sets
The traveling crawler component at left and right sides of it is set, the swing arm crawler components of front end are set, which is characterized in that
Traveling crawler component includes: to be in the hollow driving of arm shaft (6) that internal layer is solid construction and suit on it
Main shaft (7), the driving spindle (7) are mounted on to fix between first bearing seat (8) and second bearing seat (9) and can be rotated, and
Be set in driving spindle (7) between first bearing seat (8) and second bearing seat (9) driving pinion (71) and with driving electricity
The driving gear (41) of machine (4) end is meshed；Main Athey wheel is provided on the position of driving spindle (7) stretching paralell (1)
(2) and main crawler belt (21) mounted thereto, the other end of main crawler belt (21) are mounted on directive wheel (22)；
Swing arm crawler components include: arm shaft (6) and, arm shaft (6) inside end be provided with swing arm pinion (61) and pendulum
Swing arm gear (51) engagement on arm motor (5)；It is equipped on the outside of the arm shaft (6) by fixed swing arm Athey wheel (3)
Swing arm crawler belt (31)；Swing arm Athey wheel (3) is sleeved in the outside end of driving spindle (7), swing arm Athey wheel (3) two sides difference
It is fixed with swing arm medial support plate (36) and swing arm lateral branch fagging (35), and two support front edge of board close fixed swing arm front-wheel
(32)；Swing arm crawler belt (31) is mounted between swing arm Athey wheel (3) and swing arm front-wheel (32)；
The driving motor (4) of unilateral track assembly is arranged in the lower space plane of swing arm motor (5) and projection is driving respectively
Main shaft (7) two sides；Driving motor (4), the swing arm motor (5) of arranged on left and right sides respectively correspond into axial symmetry and are distributed.
2. a kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis according to claim 1,
It is characterized in that, the driving spindle (7) is sleeved on arm shaft (6), extends to outside from the first bearing seat (8) of inside
Swing arm Athey wheel (3) at.
3. a kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis according to claim 1,
It is characterized in that, is tensioned between the main Athey wheel (2) and directive wheel (22) by support plate, and leading on single main crawler belt (21)
It is the two sides for being coaxially separately positioned on main crawler belt (21) in groups to wheel (22).
4. a kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis according to claim 1,
It is characterized in that, the swing arm lateral branch fagging (35) is provided with boss (351) in the outer part, and boss (351) is arranged in arm shaft
(6) axis line location.
5. a kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis according to claim 1,
It is characterized in that, driving spindle (7) is covered to be provided with sleeve bearing (72) at the both ends of arm shaft (6), and quill on the outside
It holds and is cased with swing arm end seal (34) on arm shaft (6) at (72), swing arm end seal (34) is fastened on swing arm Athey wheel (3).
6. a kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis according to claim 1,
It is characterized in that, is provided with axle envelope set (92) at the second bearing seat (9) on the outside of paralell (1), is fastened on second bearing seat
(9) on.
7. a kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis according to claim 1,
It is characterized in that, the inner side edge edge of swing arm crawler belt (31) between the swing arm medial support plate (36) and swing arm lateral branch fagging (35)
Place is fixedly installed moping pulley (33).
8. a kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis according to claim 1,
It is characterized in that, it is fixed by small round nut (23) in the outside driving spindle (7) of the main Athey wheel (2).
9. a kind of double drive both arms, the small-sized mining robot crawler type of concentric four axis according to any one of claims 1 to 8
Mobile platform, which is characterized in that the driving motor (4), swing arm motor (5) motor side towards on the inside of paralell (1).
10. a kind of double drive both arms, the small-sized mining robot crawler type of concentric four axis according to any one of claims 1 to 8
Mobile platform, which is characterized in that the paralell (1) be divided into be in front end for install the drive areas (11) of transmission parts with
And it is in the expansion area (12) for bearing function equipment of end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820329028.3U CN208198618U (en) | 2018-03-12 | 2018-03-12 | A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201820329028.3U CN208198618U (en) | 2018-03-12 | 2018-03-12 | A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis |
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| CN208198618U true CN208198618U (en) | 2018-12-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202775A (en) * | 2018-03-12 | 2018-06-26 | 湖南中矿金禾机器人研究院有限公司 | A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis |
-
2018
- 2018-03-12 CN CN201820329028.3U patent/CN208198618U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108202775A (en) * | 2018-03-12 | 2018-06-26 | 湖南中矿金禾机器人研究院有限公司 | A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis |
| CN108202775B (en) * | 2018-03-12 | 2024-02-13 | 湖南中矿金禾机器人研究院有限公司 | Double-drive double-arm concentric four-axis crawler-type mobile platform for small mining robot |
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