CN101439671B - Portable mobile robot used on ice and snow surface - Google Patents
Portable mobile robot used on ice and snow surface Download PDFInfo
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- CN101439671B CN101439671B CN2007101584185A CN200710158418A CN101439671B CN 101439671 B CN101439671 B CN 101439671B CN 2007101584185 A CN2007101584185 A CN 2007101584185A CN 200710158418 A CN200710158418 A CN 200710158418A CN 101439671 B CN101439671 B CN 101439671B
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- box body
- mobile robot
- ice
- flange dish
- wheel
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Abstract
The invention belongs to the field of advanced manufacturing and automation technology, and more particularly relates to a mobile robot which is convenient for carrying and is applicable to ice and snow surface. The mobile robot comprises a box body, a running mechanism and a supporting mechanism, wherein, the running mechanism is installed in front of a wagon box body and at the two sides of the wagon box body for zygomorphy; the supporting mechanism is installed behind the wagon box body and at the two sides of the wagon box body for zygomorphy; a driving wheel of the running mechanism is connected with a transmission shaft positioned in front of the wagon box body, and an output shaft installed at the back of the wagon box body is connected with a driven wheel of the supporting mechanism by a bearing. The mobile robot has the advantages of small volume, light weight, convenient carrying, rapid velocity of movement, high efficiency and simple and flexible structure.
Description
Technical field
The invention belongs to advanced the manufacturing and technical field of automation, specifically a kind of easy to carry, be applicable to the mobile robot of ice and snow face.
Technical background
Along with the continuous development of automatic technology, the mobile robot who is used for environment such as subdued topography, stair, pipeline has got tremendous development, and structures such as wheeled, crawler type, wheel-leg-crawler be compound are arranged.But the mobile robot who is applicable to the ice and snow face does not appear in the newspapers.Along with the polar region scientific investigation progressively deeply, develop and a kind ofly has easy to carryly, motion is flexible, and can have very big essentiality mobile robot work characteristics under the atrocious weather, that be applicable to the ice and snow face.
Summary of the invention
The object of the present invention is to provide a kind of easy to carryly, be applicable to the mobile robot of ice and snow face, it can be worked under low temperature environment, and moving velocity is fast, the motion flexibility and reliability.
To achieve these goals, technical scheme of the present invention is as follows: comprise box body, traveling gear and supporting mechanism, described traveling gear is installed in the box body front, and in box body both sides left-right symmetric; Supporting mechanism is installed the box body back, and in box body both sides left-right symmetric; The driving wheel of described traveling gear be positioned at box body fwd transmission shaft and be connected, the output shaft that is installed in the box body back links to each other with the flower wheel of supporting mechanism by bearing;
Box body comprises casing, running part and control part, and described running part and control part are installed in box house; Described running part is made up of composition motor, synchronous belt drive mechanism, transmission shaft and output shaft, and the wheel for inputting of synchronous belt drive mechanism links to each other with composition motor, and the output wheel of synchronous belt drive mechanism and transmission axle key connect; Transmission shaft links to each other with casing by the bearing that is installed on the casing with output shaft;
Described traveling gear is made up of driving wheel, drive sprocket, drive flange and preceding counter flange dish four parts, and drive flange and transmission axle key connect, driving wheel and drive flange bolt, and drive sprocket is installed together by preceding counter flange dish and driving wheel;
Described supporting mechanism is made up of flower wheel, driven sprocket, pivot flange dish and back counter flange dish four parts, the pivot flange dish links to each other with output shaft by bearing, flower wheel and pivot flange dish bolt, driven sprocket is installed together by back counter flange dish and flower wheel.
The present invention has following advantage:
1. volume is little, in light weight, is convenient for carrying.The size of main body of portable mobile robot used on ice and snow surface of the present invention is 580mm * 400mm * 200mm, and weight is about 20Kg, is easy to carry.
2. the traveling gear kinematic velocity is fast, efficient is high.Portable mobile robot used on ice and snow surface of the present invention adopts wheeled construction, compares with track structure that kinematic velocity is fast, efficient is high.
3. simple in structure, flexible.Mobile robot used on ice and snow surface of the present invention can be finished complicated work in rugged environment, but self is simple in structure.Two traveling geaies about two motors drive respectively, identical speed are realized moving forward and backward, and differential is realized turning.
Description of drawings
Fig. 1 is a portable mobile robot used on ice and snow surface mounting structure scheme drawing.
Fig. 2 is the birds-eye view of Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail.
As shown in Figure 1, 2, portable mobile robot used on ice and snow surface is made up of box body 2, traveling gear 1 and supporting mechanism 3 three parts, and totally two of described traveling geaies 1 are installed in box body 2 fronts, and in box body 2 both sides left-right symmetric.Totally two of supporting mechanisms 3 are arranged on the back of box body 2, and in box body 2 both sides left-right symmetric.The drive flange 7 of described traveling gear 1 connects with transmission shaft 16 keys of box body 2, and the output shaft 20 that is installed in box body 2 back links to each other with the pivot flange dish 11 of supporting mechanism 3 by bearing, and bearing is used for the location.
As shown in Figure 1, 2, the box body 2 of portable mobile robot used on ice and snow surface comprises casing 9, running part 8 and control part 10, running part 8 and control part 10 (for prior art) are installed in the casing 9, control part 10 control running parts 8, and running part 8 is carried out action.Running part 8 is made up of composition motor 19, synchronous belt drive mechanism 17, transmission shaft 16 and output shaft 20, and the wheel for inputting 18 of synchronous belt drive mechanism 17 links to each other with composition motor 19, and the output wheel 15 of synchronous belt drive mechanism 17 connects with transmission shaft 16 keys; Transmission shaft 16 links to each other with casing 9 by the bearing that is installed on the casing 9 with output shaft 20, and bearing is used for supporting and the location.
As shown in Figure 1, 2, described traveling gear 1 is made up of driving wheel 5, drive sprocket 4, drive flange 7 and preceding counter flange dish 6 four parts, drive flange 7 connects with transmission shaft 16 keys of box body 2, driving wheel 5 and drive flange 7 bolts, drive sprocket 4 is installed together with driving wheel 5 by preceding counter flange dish 6.Transmission shaft 16 rotations of box body 2 drive drive flange 7 rotations, preceding counter flange dish 6 and drive sprocket 4 rotations that drive flange 7 rotations drive driving wheel 5 and are installed together with driving wheel 5.When traveling gear 1 kinematic velocity in the left and right sides was identical, portable mobile robot used on ice and snow surface moved forward or backward, left and right sides traveling gear 1 kinematic velocity not simultaneously, portable mobile robot used on ice and snow surface is turned.Driving wheel 5 is a pneumatic rubber wheel, and existing certain elasticity has certain rigidity again; The pitch circle diameter of drive sprocket 4 and tip diameter are bigger slightly than the diameter of driving wheel 5, and the gear teeth can be deep in the ice and snow, and such structure is applicable to ice and snow face environment.
As shown in Figure 1, 2, described supporting mechanism 3 is made up of flower wheel 13, driven sprocket 14, pivot flange dish 11 and back counter flange dish 12 4 parts, and pivot flange dish 11 links to each other with output shaft 20 by the bearing that is installed on the casing 9, and bearing is used for supporting and the location.Flower wheel 13 and pivot flange dish 11 bolts, driven sprocket 14 is installed together with flower wheel 13 by back counter flange dish 12.During traveling gear 1 motion, the flower wheel 13 of supporting mechanism 3 and be installed together driven sprocket 14 by back counter flange dish 12 with flower wheel 13 and under the effect of frictional ground force, move.The main effect of supporting mechanism 3 is supporting roles, increases the stability and the reliability of portable mobile robot used on ice and snow surface motion.
Claims (3)
1. a portable mobile robot used on ice and snow surface comprises box body (2), traveling gear (1) and supporting mechanism (3), it is characterized in that: described traveling gear (1) is installed in box body (2) front, and in box body (2) both sides left-right symmetric; Supporting mechanism (3) is installed box body (2) back, and in box body (2) both sides left-right symmetric; Described traveling gear (1) is made up of driving wheel (5), drive sprocket (4), drive flange (7) and preceding counter flange dish (6) four parts, drive flange (7) be positioned at box body (2) fwd transmission shaft (16) key and connect, driving wheel (5) and drive flange (7) bolt, drive sprocket (4) is installed together by preceding counter flange dish (6) and driving wheel (5); The output shaft (20) that is installed in box body (2) back links to each other with the flower wheel (13) of supporting mechanism (3) by bearing.
2. by the described portable mobile robot used on ice and snow surface of claim 1, it is characterized in that: described box body (2) comprises casing (9), running part (8) and control part (10), and described running part (8) and control part (10) are installed in casing (9) inside; Described running part (8) is made up of composition motor (19), synchronous belt drive mechanism (17), transmission shaft (16) and output shaft (20), the wheel for inputting (18) of synchronous belt drive mechanism (17) links to each other with composition motor (19), and the output wheel (15) of synchronous belt drive mechanism (17) connects with transmission shaft (16) key; Transmission shaft (16) links to each other with casing (9) by the bearing that is installed on the casing (9) with output shaft (20).
3. by the described portable mobile robot used on ice and snow surface of claim 1, it is characterized in that: described supporting mechanism (3) is made up of flower wheel (13), driven sprocket (14), pivot flange dish (11) and back counter flange dish (12) four parts, pivot flange dish (11) links to each other with output shaft (20) by bearing, flower wheel (13) and pivot flange dish (11) bolt, driven sprocket (14) is installed together by back counter flange dish (12) and flower wheel (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101584185A CN101439671B (en) | 2007-11-21 | 2007-11-21 | Portable mobile robot used on ice and snow surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101584185A CN101439671B (en) | 2007-11-21 | 2007-11-21 | Portable mobile robot used on ice and snow surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101439671A CN101439671A (en) | 2009-05-27 |
| CN101439671B true CN101439671B (en) | 2011-07-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101584185A Expired - Fee Related CN101439671B (en) | 2007-11-21 | 2007-11-21 | Portable mobile robot used on ice and snow surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101439671B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2717789Y (en) * | 2004-06-04 | 2005-08-17 | 山东鲁能智能技术有限公司 | Four-wheel driving wheel type robot moving vehicle |
| CN1673016A (en) * | 2005-04-05 | 2005-09-28 | 北京航空航天大学 | Portable reconfigurable crawler robot |
| CN2747088Y (en) * | 2004-07-09 | 2005-12-21 | 北京工业大学 | Travelling mechanism of mini pipeline robot driven by single electric motor with directly advancing wheels |
| US7011171B1 (en) * | 2002-10-08 | 2006-03-14 | Poulter Andrew R | Rugged terrain robot |
| CN201092260Y (en) * | 2007-11-21 | 2008-07-30 | 中国科学院沈阳自动化研究所 | Portable ice and snow surface moving robot |
-
2007
- 2007-11-21 CN CN2007101584185A patent/CN101439671B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7011171B1 (en) * | 2002-10-08 | 2006-03-14 | Poulter Andrew R | Rugged terrain robot |
| CN2717789Y (en) * | 2004-06-04 | 2005-08-17 | 山东鲁能智能技术有限公司 | Four-wheel driving wheel type robot moving vehicle |
| CN2747088Y (en) * | 2004-07-09 | 2005-12-21 | 北京工业大学 | Travelling mechanism of mini pipeline robot driven by single electric motor with directly advancing wheels |
| CN1673016A (en) * | 2005-04-05 | 2005-09-28 | 北京航空航天大学 | Portable reconfigurable crawler robot |
| CN201092260Y (en) * | 2007-11-21 | 2008-07-30 | 中国科学院沈阳自动化研究所 | Portable ice and snow surface moving robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101439671A (en) | 2009-05-27 |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20110720 Termination date: 20161121 |