CN100434331C - Driving device for small four-track mobile robot - Google Patents

Abstract

The invention relates to a driving device of a small four-track mobile robot capable of maneuvering on rough roads or complex terrain conditions, and having relatively high maneuverability and strong obstacle-surmounting force. The device is composed of a box body, a walking track driving device symmetrically arranged left and right, a swing arm driving device and a swing arm track assembly. The track and swing arm of the robot are directly driven by a DC servo motor, which saves the complicated transmission mechanism, and the DC servo motor driven by the swing arm is installed inside the driven wheel and the swing arm wheel, ensuring that the robot has high maneuverability and strong obstacle surmounting At the same time, it overcomes the shortcomings of traditional drive and transmission system with many parts, complex structure and low efficiency, reduces system energy consumption, saves internal space, reduces overall weight, and improves the working reliability and driving stability of the robot. It provides a new design scheme and a new technical approach for the driving device of a small crawler-type ground mobile robot.

Description

Driving device for small four-track mobile robot

technical field

The invention belongs to the technical field of ground mobile robots, and in particular relates to a driving device for a small four-track mobile robot capable of maneuvering on rough roads or complex terrain conditions and having high maneuverability and strong obstacle-surpassing force.

Background technique

In recent years, ground mobile robots have been widely used in various fields of social life, and small mobile robots with the advantages of lightness, smallness, and speed are especially favored by people. Existing small ground mobile robots are usually used in fields such as military reconnaissance, safe detonation, and special area detection. They have high requirements for mobility and flexibility in terms of functions, and they pursue miniaturization, simplification, and Lightweight, how to coordinate the relationship between function and structure in design is a difficult problem in the field of small ground mobile robot design. Looking at the existing small ground mobile robot drive devices at home and abroad, the drive mode of motor plus drive train is widely used, which has the disadvantages of complex structure, bulky size, and low efficiency. Especially for four-track mobile robots, walking, swinging arms, etc. Two sets of drive transmissions will occupy valuable space resources of the robot, and will only increase the weight, volume and energy consumption of the robot system, limiting its miniaturization development.

Contents of the invention

The invention provides a driving device for a small four-track mobile robot that can maneuver on rough roads or complex terrain conditions, and has high maneuverability and strong obstacle-surmounting force. At the same time, it overcomes the shortcomings of traditional drive and transmission system with many parts, complex structure and low efficiency, reduces system energy consumption, saves internal space, reduces overall weight, improves the working reliability and driving stability of the robot, and is a small tracked ground robot. Mobile robot drives offer new design solutions and new technological approaches.

In order to solve the above technical problems, the technical solution adopted by the present invention is: a small four-crawler mobile robot driving device, including a box body, a walking driving device arranged symmetrically from left to right, a swing arm driving device and a swing arm assembly. The driving device is located at the rear of the box body, including driving wheels, driven wheels, and walking tracks symmetrically arranged on both sides of the box body. The driving wheel is covered with a walking driving motor, which plays a role in driving the driving wheel to rotate. The function of the driving wheel shaft; the output end of the walking drive motor is inserted into the driving wheel coupling, and the coupling is driven to rotate through the set screw and the key. circle; the walking drive motor is fixed in the moving seat through set screws, and the moving seat can move back and forth in the driving wheel shaft fixing seat at the rear of the box, thereby adjusting the front and rear positions of the driving wheel and playing the role of tension adjustment. The swing arm driving device includes a swing arm wheel arranged coaxially outside the driven wheel, and the driven wheel drives the swing arm wheel through four swing arm wheel synchronous pins arranged symmetrically around the wheel axis to ensure that the swing arm wheel and the driven wheel rotate at the same speed; The arm shaft seat runs through the center of the driven wheel and the swing arm wheel, and is fixed on the side wall of the box by screws; the swing arm drive motor is sleeved in the swing arm shaft seat, and the output shaft of the motor drives the swing arm assembly to rotate through the swing arm coupling. The swing arm crawler assembly includes an inner arm, an outer arm, a swing arm tensioning assembly, a front support plate, a swing arm small wheel and a swing arm track, wherein the inner arm is sleeved between the driven wheel and the swing arm wheel; the rotation center of the outer arm is connected to the The swing arm wheel is coaxial and fixedly connected with the swing arm coupling; the swing arm tensioning assembly connects the inner and outer arms and the front support plate, and plays a tensioning role on the swing arm track.

The outer end surface of the output shaft of the walking driving motor is flush with the outer side of the driving wheel, which minimizes the space occupied by the walking driving motor in the box.

The driving motor of the swing arm is completely included in the shaft seat of the swing arm, which saves space.

The moving seat is fixedly connected with the cover plate of the moving seat to form an I-shaped slider, and then embedded in the guide rail formed by the fixed seat of the driving wheel shaft and the side wall of the box.

There is a set bolt at both ends of the fixed seat of the driving wheel shaft, which is used to limit the position of the moving seat, and then limit the tensioning position of the driving wheel, so as to realize the tensioning of the walking track.

Two spacer rings are also housed between the driven wheel and the swing arm wheel, and the spacer rings of the pair have fixed the position of the swing arm bearing.

The synchronizing pin of the swing arm wheel runs through two spacers, and its two ends are respectively inserted into the driven wheel and the swing arm wheel.

The swing arm tensioning assembly includes a tightening seat fixed between the inner arm and the outer arm. Two guide shafts are inserted into the tightening seat. The sliding seat is inserted into the two guiding shafts and can move along the guiding shaft. The sliding seat The relative position between it and the guide shaft is limited by the set screw, the two front section support plates are fixed on the two ends of the sliding seat, and the swing arm small wheel is installed on the front end of the front section support plate.

Beneficial effects of the present invention: the motor is used as the driving wheel shaft, which plays multiple functions of supporting, positioning and driving the driving wheel, simplifies the transmission mechanism, saves the bearing parts in the traditional transmission mode, and reduces the weight of the driving device; in addition, Both the drive wheel and the swing arm are directly driven by the drive motor, which saves the cumbersome transmission mechanism, saves space to the greatest extent, reduces the system failure rate, and provides a solution for the further miniaturization and weight reduction of mobile robots.

Description of drawings

Accompanying drawing 1 is the overall structure schematic diagram of small-sized four crawler robot;

Accompanying drawing 2 (a) is the sectional view of walking driving device of small-sized four-crawler robot; Accompanying drawing 2 (b) is the exploded schematic diagram of walking driving device of small-sized four-crawler robot;

Accompanying drawing 3 is a sectional view of the swing arm driving device of a small-sized four-crawler robot;

Accompanying drawing 4 is the structural representation of small-sized four crawler robot swing arm assembly;

Accompanying drawing 5 is the top view of small-sized four crawler robot.

In the accompanying drawings, 1-box, 2-driving wheel, 3-traveling track, 4-driven wheel, 5-swing arm wheel, 6-swing arm track, 7-swing arm small wheel, 8-circlip, 9 -Drive wheel coupling, 10-set bolts, 11-travel drive motor, 12-movable seat cover, 13-drive wheel shaft fixing seat, 14-movable seat, 15-spacer, 16-swing arm wheel synchronous pin , 17-swing arm coupling, 18-outer arm, 19-inner arm, 20-swing arm bearing, 21-swing arm drive motor, 22-swing arm shaft seat, 23-front support plate, 24-top tight seat , 25-sliding seat, 26-guide shaft.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing.

The driving device of the small-sized four-crawler mobile robot of the present invention includes a box body 1, a walking crawler driving device arranged symmetrically from left to right, a swing arm driving device and a swing arm crawler assembly. Wherein the walking crawler drive device is located at the rear of the box body 1, including driving wheels 2, walking tracks 3, driven wheels 4, elastic retaining rings 8, driving wheel couplings 9, and adjusting bolts 10 symmetrically arranged on both sides of the outside of the box body 1. , walking crawler drive motor 11, movable seat cover plate 12, driving wheel shaft fixed seat 13, movable seat 14 and some standard fasteners. The front end and the output shaft of the walking crawler drive motor 11 are inserted into the central through hole of the driving wheel coupling 9, the outer end face of the motor output shaft is flush with the outer end face of the driving wheel coupling 9 central through hole, and then through the set screw The flat key realizes the relative circumferential and axial fixation of the walking crawler drive motor 11 and the driving wheel coupling 9; In the hole, the driving wheel coupling 9 is provided with a retaining ring slot, and the driving wheel 2 is positioned axially on the driving wheel coupling 9 through the elastic retaining ring 8, and the driving wheel coupling 9 passes through the flat The key connects to drive the driving wheel 2, so that when the walking crawler drive motor 11 drives the driving wheel 2 to rotate through the driving wheel coupling 9, the motor output shaft together with the driving wheel coupling 9 will play the role of the axle of the driving wheel 2 . The walking crawler drive motor 11 is fixed in the moving seat 14 by set screws, and the moving seat 14 can move back and forth in the driving wheel shaft fixing seat 13 at the rear of the box body 1 to adjust the front and rear positions of the driving wheel 2 and adjust the walking track. The effect of tension.

Swing arm driving device comprises swing arm wheel 5, spacer ring 15, swing arm wheel synchronous pin 16, swing arm coupling 17, swing arm drive motor 21, swing arm axle seat 22 and some standard parts. The swing arm wheel 5 is located outside the driven wheel 4 and is coaxial with the driven wheel 4; the driven wheel 4 drives the swing arm wheel 5 through four swing arm wheel synchronous pins 16 arranged symmetrically around the wheel axis to ensure that the swing arm wheel 5 and the follower wheel The rotation speed of the driving wheel 4 is the same; the swing arm shaft seat 22 is fixed on the side wall of the box body 1 by screws, and runs through the center of the driven wheel 4 and the swing arm wheel 5, and plays the role of the wheel shaft when the driven wheel 4 and the swing arm wheel 5 rotate; The output shaft of the swing arm drive motor 21 is inserted into the through hole of the swing arm coupling 17, and then the relative circumferential and axial fixation of the swing arm drive motor 21 and the swing arm coupling 17 is realized by set screws and flat keys; then Insert the integrated swing arm drive motor 21 and swing arm coupling 17 into the through hole of the swing arm shaft seat 22, and then fix the circumferential direction of the swing arm drive motor 21 in the swing arm shaft seat 22 by set screws. and the axial position; the outer arm 18 is fixed on the outer end of the swing arm coupling 17 by screws, so that the swing arm driving device can drive the swing arm assembly to rotate 360°.

The swing arm track assembly includes the swing arm track 6, the outer arm 18, the inner arm 19, the swing arm bearing 20, the swing arm tensioning assembly, the front section support plate 23 and several standard parts. Wherein the inner arm 19 is sleeved on the swing arm bearing 20 between the driven wheel 4 and the swing arm wheel 5; the rotation center of the outer arm 18 is coaxial with the swing arm wheel 5, and is fixedly connected with the swing arm coupling 17; The arm tensioning assembly connects the inner arm 19, the outer arm 18 and the front section support plate 23, and plays a tensioning effect on the swing arm track 6.

The swing arm driving motor 21 is completely contained in the swing arm axle seat 22 .

The moving seat 14 is fixedly connected with the moving seat cover plate 12 to form an I-shaped slider, and then embedded in the guide rail formed by the driving wheel shaft fixing seat 13 and the side wall of the box body 1 .

The two ends of the fixed seat 13 of the driving wheel shaft have a set bolt 10 respectively, which are used to limit the position of the moving seat 14, and then limit the tensioning position of the driving wheel 2, so as to realize the tensioning of the walking track 3.

Two spacers 15 are also installed between the driven wheel 4 and the swing arm wheel 5, and the spacer rings 15 of the pair fix the position of the swing arm bearing 20.

The swing arm wheel synchronizing pin 16 runs through the two spacers 15, and its two ends are respectively inserted into the driven wheel 4 and the swing arm wheel 5.

The swing arm tensioning assembly includes a swing arm small wheel 7 , a front support plate 23 , a tight seat 24 , a sliding seat 25 and a guide shaft 26 . The top tight seat 24 is fixed between the front ends of the inner arm 19 and the outer arm 18, two guide shafts 26 are inserted into the top tight seat 24, the sliding seat 25 is inserted into the two guide shafts 26, and can move along the guide shafts 26, Sliding seat 25 defines its relative position with guide shaft 26 by set screw, two front section support plates 23 are fixed on the two ends of sliding seat 25, swing arm small wheel 7 is installed on the front end of front section support plate 23.

The working principle of the present invention will be further described below in conjunction with the accompanying drawings. The driving device of a small four-track mobile robot, as shown in Figure 1, has a left-right symmetrical structure as a whole. The driving device drives the driving wheel 2 to rotate, and the driving wheel 2 drives the walking track 3, and transmits the rotation to the driven wheel at the front of the box. 4. Realize the walking of the robot on the ground. At the same time, the driven wheel 4 transmits the rotation to the swing arm wheel 5, thereby driving the swing arm crawler belt 6 to rotate, realizing the climbing function of the robot. When the two driving devices on the left and right are differentially driven, the robot can turn. As shown in Fig. 2, the driving drive motor 11 directly drives the driving wheel 2 to rotate through the driving wheel coupling 9. Meanwhile, the driving driving motor 11 is fixed in the moving seat 14, and plays the role of the driving wheel shaft again. The position of the movable seat 14 can be limited by adjusting the set bolts 10 at the two ends of the fixed seat 13 of the driving wheel shaft, so as to realize the tensioning of the crawler belt 3 of the robot. As shown in FIG. 3 , the swing arm driving motor 21 is fixed in the swing arm shaft seat 22 , and directly drives the outer arm 18 to rotate through the swing arm coupling 17 , thereby driving the entire swing arm assembly to rotate. The driven wheel 4 and the swing arm wheel 5 are all sleeved on the swing arm shaft seat 22 outside, and there are two spacers 15 at intervals. When the driven wheel rotates, the four swing arm wheel synchronous pins 16 drive the swing arm wheel 5 to rotate together to ensure The swing arm wheel 5 and the driven wheel 4 rotate synchronously. As shown in Figure 4, the tight seat 24 is fixed between the inner arm 19 and the outer arm 18, and the two are fixedly connected, and the mobile seat 25 can slide on the two guide shafts 26 fixed on the tight seat 24, and pass through The position of the screw is locked, so as to realize the tensioning of the track 6 of the swing arm. The top view of the robot driving device shown in Fig. 5 shows that the present invention saves the inner space of the robot box to the greatest extent.

Claims (7)

1. The driving device of the small four-track mobile robot, including the box body (1), the walking driving device, the swing arm driving device and the swing arm crawler assembly arranged symmetrically on the left and right; the walking driving device is located at the rear of the box body (1), including the left and right The driving wheel (2), driven wheel (4) and walking track (3) are symmetrically arranged on both sides of the box body (1). The driving wheel (2) is covered with a driving motor (11), and the driving motor (11) While driving the driving wheel (2) to rotate, it plays the role of the driving wheel shaft; the output end of the walking drive motor (11) is inserted into the driving wheel coupling (9), and the driving wheel coupling (9) is driven by the set screw and the key ( 9) Rotate, the driving wheel coupling (9) drives the driving wheel (2) through the key connection, and the outside of the driving wheel (2) is provided with a circlip (8); the walking drive motor (11) is fixed on the moving In the seat (14), the moving seat (14) can move back and forth in the driving wheel shaft fixing seat (13) at the rear of the box body (1), thereby adjusting the front and rear positions of the driving wheel (2) and playing the role of tension adjustment; The swing arm driving device includes a swing arm wheel (5) coaxially arranged on the outer side of the driven wheel (4), and the driven wheel (4) drives the swing arm wheel (5) through four swing arm wheel synchronous pins (16) arranged symmetrically around the wheel axis. The arm wheel (5); the swing arm shaft seat (22) runs through the center of the driven wheel (4) and the swing arm wheel (5), and is fixed on the side wall of the box body (1) by screws; the swing arm shaft seat (22) A swing arm drive motor (21) is sleeved, and the motor output shaft drives the swing arm assembly to rotate through the swing arm coupling (17); The swing arm crawler assembly includes an outer arm (18), an inner arm (19), a swing arm tensioning assembly, a front support plate (23), a swing arm small wheel (7) and a swing arm track (6), wherein the inner arm (19) is socketed on the swing arm bearing (20) between the driven wheel (4) and the swing arm wheel (5); the rotation center of the outer arm (18) is coaxial with the swing arm wheel (5), and The arm coupling (17) is fixedly connected; the swing arm tensioning assembly includes a tightening seat (24) fixed between the inner arm (19) and the outer arm (18), and two guide shafts (26) are inserted into the tightening seat In (24), the sliding seat (25) is inserted into two guide shafts (26), and can move along the guide shafts (26), and the sliding seat (25) defines its relative position to the guide shaft (26) by a set screw Two front section support plates (23) are fixed on the two ends of sliding seat (25), and the swing arm steamboat (7) is installed in the front end of front section support plate (23). 2. The driving device of the small four-track mobile robot according to claim 1, characterized in that the outer end surface of the output shaft of the walking drive motor (11) is flush with the outer side of the drive wheel (2). 3. The driving device of the small four-track mobile robot according to claim 1, characterized in that the swing arm driving motor (21) is completely contained in the swing arm shaft seat (22). 4. According to claim 1, the driving device of the small four-track mobile robot is characterized in that the moving seat (14) is fixedly connected with the moving seat cover plate (12) to form an I-shaped slider, and then embedded in the fixed seat of the driving wheel shaft ( 13) and the guide rail formed by the side wall of the box body (1). 5. The driving device of the small four-track mobile robot according to claim 4, characterized in that there is a set bolt (10) at both ends of the fixed seat (13) for the driving wheel shaft to limit the position of the movable seat (14). 6. According to claim 1, the small four-track mobile robot driving device is characterized in that two spacers (15) are installed between the driven wheel (4) and the swing arm wheel (5), and the pair of spacers Ring (15) has fixed the position of swing arm bearing (20). 7. The driving device of a small four-track mobile robot according to claim 6, characterized in that the swing arm wheel synchronous pin (16) runs through two spacers (15), and its two ends are respectively inserted into the driven wheel (4) and in the swing arm wheel (5).

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