CN104875801A - Double ratchet wheel type telescopic obstacle-crossing support arm and obstacle-crossing robot - Google Patents

Abstract

The invention discloses a double-ratchet-type retractable obstacle-surmounting support arm and an obstacle-surmounting robot, wherein the double-ratchet-type retractable obstacle-surmounting support arm includes a telescopic support arm and a support arm body with clearance fit; the support arm body is fixed with The rear traveling wheel has a power output shaft in series in the axial direction; the front traveling wheel is fixed on the telescopic support arm, and the drive shaft is connected in series in the axial direction of the front traveling wheel; the obstacle-crossing crawler is fitted on the rear traveling wheel and the front traveling wheel ;A tensioning wheel mechanism is fixed on the arm body; a double ratchet mechanism is fixed on the arm body close to the end of the telescopic arm; the double ratchet mechanism drives the rack to move left and right under the control of the motor encoder; one end of the rack is connected to the telescopic arm The arm is connected, and the other end is connected with the cam; the cam is tangentially matched with the tensioner mechanism; the left and right movement of the rack drives the left and right movement of the cam and the telescopic sliding of the telescopic arm; the movement of the cam makes the tensioner mechanism slide up and down along the cam, and finally achieves more The barrier crawler is loosened and tightened to match the telescopic sliding of the telescopic support arm.

Description

Double ratchet retractable obstacle-surmounting arm and obstacle-surmounting robot

technical field

The invention belongs to the technical field of advanced manufacturing and automation, and in particular relates to a double-ratchet type retractable obstacle-surmounting support arm and an obstacle-surmounting robot.

Background technique

As more and more robots are put into work in complex environments in the wild, how to improve their adaptability to complex environments has become an important indicator to measure the performance of robots. Most of the obstacle-crossing robots currently on the market use obstacle-crossing crawlers on the support arm, climb through the crawler, and climb over obstacles. The obstacle-crossing height is determined by the length of the robot's support arm; Due to the influence of the overall size and weight, it is often not possible to make it very long, and the length is fixed, and the flexibility and operability are poor.

Contents of the invention

In order to solve the shortcomings of the prior art, the present invention provides a double-ratchet retractable obstacle-surmounting arm and an obstacle-surmounting robot. function of length.

To achieve the above object, the present invention adopts the following technical solutions:

A double ratchet type telescopic obstacle-climbing support arm, comprising a support arm body and a telescopic support arm, the telescopic support arm and the support arm body are in clearance fit;

A rear traveling wheel is fixed on the support of the arm body, and a power output shaft is connected in series in the axial direction of the rear traveling wheel;

The front traveling wheel is fixed on the support of the telescopic support arm, and a drive shaft is connected in series in the axial direction of the front traveling wheel;

The obstacle-crossing crawler, which fits on the rear traveling wheel and the front traveling wheel; the power output shaft drives the rear traveling wheel to rotate, and the rear traveling wheel drives the front traveling wheel to rotate through the obstacle-crossing crawler;

A tensioning wheel mechanism is fixed on the arm body; a double ratchet mechanism is fixed on the end of the arm body close to the telescopic arm;

Under the driving control, the double ratchet mechanism drives the rack to move left and right; one end of the rack is connected to the telescopic support arm, and the other end of the rack is connected to the cam; the cam is tangentially matched with the tensioner mechanism; The movement drives the cam to move left and right and the telescopic support arm to slide telescopically in the body cavity of the support arm body; the left and right movement of the cam makes the tensioner mechanism slide up and down along the cam, and finally makes the obstacle-crossing crawler loose and tighten to cooperate with the telescopic sliding of the telescopic support arm.

The double ratchet mechanism includes a forward ratchet and a reverse ratchet, the size of the forward ratchet and the reverse ratchet are the same; the axial series of the forward ratchet and the reverse ratchet is connected with a motor drive shaft, the A spacer sleeve is provided between the forward ratchet and the reverse ratchet and the motor transmission shaft, and axial end covers are respectively provided at both ends of the motor transmission shaft; positioning screws are provided on the axial end covers.

The forward ratchet is connected with several forward ratchet pawls through a pin shaft, and a ratchet preload spring is connected between each of the forward ratchet pawls and the forward ratchet; the reverse ratchet is connected with a pin shaft. There are several reverse ratchet pawls, and a ratchet preload spring is connected between each reverse ratchet pawl and the reverse ratchet.

When the double ratchet mechanism rotates clockwise, under the push of the ratchet preload spring, the forward ratchet pawl is turned outward, and the rack is engaged to make the rack move to the left, while the reverse ratchet pawl rotates clockwise , the rack presses the pawl of the reverse ratchet to attach it to the reverse ratchet;

When the double ratchet mechanism rotates counterclockwise, under the push of the ratchet preload spring, the pawls of the reverse ratchet are turned outward, and the rack is buckled to make the rack move to the right, while the pawl of the forward ratchet rotates counterclockwise , the rack presses the pawl of the reverse ratchet to be attached to the forward ratchet; the rack moves and drives the telescopic support arm connected with the rack to move back and forth.

When the rack accidentally moves, the forward ratchet pawl and the reverse ratchet pawl are turned outward under the push of the ratchet preload spring. At this time, the double ratchet mechanism is self-locked by the motor connected to the motor drive shaft. The function remains locked, and the forward ratchet pawl and the reverse ratchet pawl will block the rack so that the rack cannot move.

The tensioner mechanism includes a base, and a sliding rod body is worn on the base, and the sliding rod body and the base can slide mutually; there is a fixed block at the upper end of the sliding rod body; Spring, the tensioning and pre-tensioning spring is sleeved on the sliding rod body; a shaft-side tensioning wheel and a hole-side tensioning wheel are respectively provided on both sides of the fixed block; there is a horizontal shaft on the shaft-side tensioning wheel. There is a bearing at both ends of the shaft; the hole side tensioner is worn on the horizontal shaft; the port of the horizontal shaft is provided with an axial end cover, and the axial end cover is provided with a positioning screw.

Both the hole-side tensioner and the shaft-side tensioner are tangentially matched with the cam; under the action of the cam and the tensioning pre-tension spring, the hole-side tensioner and the shaft-side tensioner move up and down along the cam slide.

The vertical sliding movement range of the hole side tensioner and shaft side tensioner is determined by the cam profile.

The support arm body, the telescopic support arm and the cam are all made of duralumin material.

Both the hole side tensioner and the axle side tensioner are made of duralumin.

An obstacle-surmounting robot is provided with the above-mentioned double-ratchet type retractable obstacle-overmounting support arm.

According to the present invention, when the forward ratchet rotates clockwise, it is defined as the double ratchet mechanism rotates clockwise; when the forward ratchet rotates counterclockwise, it is defined as the double ratchet mechanism rotates counterclockwise.

The beneficial effects of the present invention are:

(1) The double ratchet mechanism adopted in the present invention cleverly solves the problem that the rack drive cannot be positioned and locked, and has a novel concept and a reliable structure;

(2) The cam mechanism and tensioner mechanism adopted in the present invention are simple in structure, easy to manufacture, safe and reliable;

(3) The length of the support arm designed by the present invention can be telescopically changed, and has strong adaptability to complex environments.

(4) The purpose of adjusting the total length of the support arm can be easily achieved by replacing the telescopic support arms of different lengths and the tension wheels of different sizes.

Description of drawings

Fig. 1 is a structural schematic diagram of a retractable obstacle-climbing support arm;

Fig. 2 is the structural representation of double ratchet mechanism;

Fig. 3 is a schematic diagram of the movement of the double ratchet mechanism;

Fig. 4a) is a structural schematic diagram of the tensioner mechanism;

Figure 4b) is a front view of the structure of the tensioner mechanism.

Among them, 1 arm body, 2 telescopic arm, 3 tensioner mechanism, 4 double ratchet mechanism, 5 power output shaft, 6 cam, 71 rear travel wheel, 72 front travel wheel, 8 drive shaft, 9 obstacle crawler, 10 rack, 101 forward ratchet, 102 reverse ratchet, 111 forward ratchet pawl, 112 reverse ratchet pawl, 12 pin shaft, 13 ratchet preload spring, 14 spacer sleeve, 15 motor drive shaft, 16 axial End cover, 17 positioning screws, 18 base, 19 hole side tensioner, 20 fixed block, 21 sliding rod body, 22 tension preload spring, 23 shaft side tensioner, 24 bearing.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

As shown in Figure 1, a double-ratchet type telescopic obstacle-climbing support arm includes a support arm body 1 and a telescopic support arm 2, and the telescopic support arm 2 is in clearance fit with the support arm body 1; the support arm body 1 A rear traveling wheel 71 is fixed on the support of the rear traveling wheel 71, and a power output shaft 5 is connected in series in the axial direction of the rear traveling wheel 71; A transmission shaft 8 is connected in series; the obstacle-crossing crawler 9 fits on the rear traveling wheel 71 and the front traveling wheel 72; the power output shaft 5 drives the rear traveling wheel 71 to rotate, and the rear traveling wheel 71 passes through the obstacle-crossing crawler 9 Drive the front walking wheel 72 to rotate; the tensioner mechanism 3 is fixed on the arm body 1; the double ratchet mechanism 4 is fixed on the end of the arm body 1 close to the telescopic arm 2;

The double ratchet mechanism 4 drives the rack 10 to move left and right under the driving control; one end of the rack 10 is connected with the telescopic support arm 2, and the other end of the rack 10 is connected with the cam 6; the cam 6 is connected with the tensioner mechanism 3 tangential fit; the left and right movement of the rack 10 drives the left and right movement of the cam 6 and the telescopic arm 2 telescopically slides in the body cavity of the arm body 1; the left and right movement of the cam 6 makes the tensioner mechanism 3 slide up and down along the cam 6, finally making Obstacle-surmounting crawler belt 9 relaxes and tightens up and cooperates telescopic support arm 2 telescopic slides.

As shown in Figure 2, double ratchet mechanism 4 comprises a forward ratchet 101 and a reverse ratchet 102, and described forward ratchet 101 and reverse ratchet 102 are of the same size; A motor transmission shaft 15 is connected in series, a spacer sleeve 14 is provided between the forward ratchet 101 and the reverse ratchet 102 and the motor transmission shaft 15, and axial end covers 16 are respectively provided at both ends of the motor transmission shaft 15 ; The axial end cover 16 is provided with a positioning screw 17 .

The forward ratchet 101 is connected with several forward ratchet pawls 111 through the pin shaft 12, and a ratchet preload spring 13 is connected between each of the forward ratchet pawls 111 and the forward ratchet 101; A plurality of reverse ratchet pawls 112 are connected to the ratchet 1012 through pin shafts 12 , and a ratchet preload spring 13 is connected between each of the reverse ratchet pawls 112 and the reverse ratchet 102 .

As shown in Figure 3, when the double ratchet mechanism 4 rotates clockwise, under the push of the ratchet preload spring 13, the positive ratchet pawl 111 is turned outward, and the positive ratchet pawl 111 is engaged with the rack 10 so that The rack 10 translates to the left, while the reverse ratchet pawl 112 rotates clockwise, and the rack 10 presses the reverse ratchet pawl 112 so that it is attached to the reverse ratchet 102 ;

When the double ratchet mechanism 4 rotates counterclockwise, under the push of the ratchet preload spring 13, the reverse ratchet pawl 112 is turned outward, and the reverse ratchet pawl 112 is engaged with the rack 10 to make the rack 10 translate to the right At the same time, the forward ratchet pawl 112 rotates counterclockwise, and the rack 10 presses the reverse ratchet pawl 112 so that it is attached to the forward ratchet 101; the rack 10 moves and drives the telescopic support connected to the rack 10 Arm 2 moves back and forth.

When the rack 10 moves unexpectedly, the forward ratchet pawl 111 and the reverse ratchet pawl 112 are turned outward under the push of the ratchet preload spring 13, and the double ratchet mechanism 4 is connected by the motor drive shaft 15 at this time. The self-locking function of the motor remains locked, and the forward ratchet pawl 111 and the reverse ratchet pawl 112 will block the rack 10, so that the rack 10 cannot move.

As shown in Figure 4, the tensioner mechanism 3 includes a base 18, and a sliding rod body 21 is pierced on the base 18, and the sliding rod body 21 and the base 18 can slide mutually; the upper end of the sliding rod body 21 has a fixed block 20; Between the base 18 and the fixed block 21 there is a tension pre-tension spring 22, the tension pre-tension spring 22 is sleeved on the sliding rod body 21; the two sides of the fixed block 20 are respectively provided with a shaft side tension wheel 23 and a Hole side tensioner 19. The shaft-side tensioner 23 is a tensioner with a horizontal shaft, bearings 24 are respectively provided at both ends of the horizontal shaft, and the outer edge of the bearing 24 fits on the inner hole of the fixed block 20; the port of the horizontal shaft is provided with There is an axial end cover 16 on which a set screw 17 is arranged.

Both the hole-side tensioning wheel 19 and the shaft-side tensioning wheel 23 are tangentially matched with the cam 6; Wheel 23 slides up and down along cam 6 .

The vertical sliding movement range of the hole side tensioner 19 and the shaft side tensioner 23 is determined by the profile of the cam 6 .

The support arm body 1, the telescopic support arm 2 and the cam 6 are all made of duralumin material, which greatly reduces the overall weight and improves the battery life under the premise of ensuring the structural strength.

An obstacle-surmounting robot is provided with the above-mentioned double-ratchet type retractable obstacle-overmounting support arm.

Working principle of the present invention is:

(1) When the forward ratchet 101 rotates clockwise, it is defined as the double ratchet mechanism 4 rotating clockwise; when the forward ratchet 101 rotates counterclockwise, it is defined as the double ratchet mechanism 4 rotates counterclockwise.

(2) Under normal driving conditions, the double ratchet mechanism 4 rotates counterclockwise to move the rack 10 inward and push the cam 6 to the innermost side, then the hole-side tensioner 19 and the shaft-side tensioner tangentially matched with the cam 6 Wheel 23 rises to the highest position under the effect of cam 6; this moment, the crawler belt 9 for overcoming obstacles is in the length state of the shortest stroke. At the same time, driven by the rack 10, the telescopic support arm 2 is retracted to the innermost side of the support arm body 1, and the overall length of the support arm is at the shortest state at this time to perform general obstacle-crossing and walking actions.

(3) When encountering an obstacle higher than the normal state, the double ratchet mechanism 4 rotates counterclockwise to move the rack 10 outward and push the cam 6 to the outermost side, and the hole-side tensioner 19 tangentially matched with the cam 6 And shaft side tensioner 23 is withdrawn in the support arm body 1 under the combined action of cam 6 and tension pretension spring 22, and obstacle crawler belt 9 begins to become loose, reserves space for the extension of support arm; The telescopic support arm 2 connected with the rack 10 is pushed out, and reaches the required length under the control of the motor encoder;

When the hole side tensioner 19 and the axle side tensioner 23 dropped to the lowest position, the obstacle-crossing crawler belt 9 was in the longest formed length state; meanwhile, driven by the rack 10, the telescopic arm 2 stretched out to the support The outermost side of the arm body 1, at this time the overall length of the arm is in the longest state.

(4) After the obstacle surmounting is completed, the double ratchet mechanism 4 rotates clockwise, and the cam 6 is pushed into the hole-side tensioner 19 and the shaft-side tensioner 23, and the hole-side tensioner 19 and the shaft-side tensioner 23 Under the action of the cam 6, it is ejected outwards, and the obstacle-crossing crawler belt 9 is contracted; at the same time, the telescopic support arm 2 is pulled into the support arm body 1, and finally reaches the tightened position. This process is the reverse process of extending the support arm.

Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.

Claims (10)

1. the two telescopic obstacle detouring support arm of ratchet-type, it is characterized in that, comprise support arm body and telescopic boom, described telescopic boom coordinates with support arm body space;

The support of described support arm body is fixed with rear walking wheel, and the axial series of described rear walking wheel has a power take-off shaft;

Front walking wheel fixed by the support of described telescopic boom, and the axial series of described front walking wheel has a transmission shaft;

Obstacle detouring crawler belt, it is linked on described rear walking wheel and front walking wheel; Described power take-off shaft drives rear walking wheel to rotate, and rear walking wheel drives front walking wheel to rotate by obstacle detouring crawler belt;

Described support arm body is fixed with expansion tightening wheel mechanism; Described support arm body is fixed with two ratchet device near one end of telescopic boom;

Described pair of ratchet device, under drived control, is with carry-over bar side-to-side movement; Described tooth bar one end is connected with telescopic boom, and the tooth bar other end is connected with cam; Described cam coordinates with expansion tightening wheel mechanism is tangent; The moving cam side-to-side movement of tooth bar side-to-side movement band and telescopic boom telescopic slide in the body cavity of support arm body; Cam side-to-side movement makes expansion tightening wheel mechanism slide up and down along cam, finally makes obstacle detouring slack of track and tightens up to coordinate telescopic boom telescopic slide.

2. the telescopic obstacle detouring support arm of ratchet-type as claimed in claim 1 a kind of two, is characterized in that, described pair of ratchet device, comprises a forward ratchet and a reverse ratchet, described forward ratchet and reverse ratchet in the same size; The axis of described forward ratchet and reverse ratchet is serially connected with motor transmission shaft, described forward ratchet and be oppositely provided with spacing sleeve between ratchet and motor transmission shaft, and the two ends of described motor transmission shaft are respectively equipped with axial end cap; Described axial end cap is provided with fixing screw.

3. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 2, it is characterized in that, described forward ratchet there are some forward clicks by pinned connection, between each described forward click and forward ratchet, are connected with a ratchet preloading spring; Described reverse ratchet there are some reverse clicks by pinned connection, between each described reverse click and reverse ratchet, are connected with a ratchet preloading spring.

4. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 3, it is characterized in that, when described pair of ratchet device rotates clockwise, under the promotion of ratchet preloading spring, forward click is outwards routed up, and fastening tooth bar makes tooth bar to left, oppositely click rotates clockwise simultaneously, and tooth bar compresses reverse click makes it be attached on described reverse ratchet;

When described pair of ratchet device rotates counterclockwise, under the promotion of ratchet preloading spring, reverse click is outwards routed up, and fastening tooth bar makes tooth bar to right translation, forward click rotates counterclockwise simultaneously, and tooth bar compresses reverse click makes it be attached on described forward ratchet; Tooth bar moves and drives the telescopic boom be connected with tooth bar to move forward and backward.

5. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 3, it is characterized in that, when tooth bar meets accident mobile, described forward click and reverse click are all outwards routed up under the promotion of ratchet preloading spring, the auto-lock function of motor that now two ratchet device is connected by motor transmission shaft keeps locking state, forward click and reverse click, by stuck tooth bar, make tooth bar move.

6. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 1, it is characterized in that, described expansion tightening wheel mechanism, comprises base, described base is installed with a slip body of rod, and the described slip body of rod and base can slide mutually; There is a fixed block described slip body of rod upper end; Between base and fixed block, have a tensioner preloading spring, tensioner preloading spring is set on the slip body of rod; The both sides of described fixed block are respectively equipped with an axle side expansion tightening wheel and side, a hole expansion tightening wheel; Described axle side expansion tightening wheel has a transverse axis, and respectively there is a bearing at transverse axis two ends; Side, described hole expansion tightening wheel is through on described transverse axis; Described transverse axis port is provided with axial end cap, and described axial end cap is provided with fixing screw.

7. the telescopic obstacle detouring support arm of ratchet-type as claimed in claim 6 a kind of two, is characterized in that, described hole side expansion tightening wheel and axle side expansion tightening wheel is all tangent with cam coordinates; Under the effect of cam and tensioner preloading spring, described hole side expansion tightening wheel and axle side expansion tightening wheel slide up and down along cam.

8. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 7, it is characterized in that, described hole side expansion tightening wheel and axle side expansion tightening wheel slide up and down motion amplitude and are determined by camb contour.

9. a kind of two telescopic obstacle detouring support arm of ratchet-type as claimed in claim 1, it is characterized in that, described support arm body, telescopic boom and cam are duralumin material and make.

10. a barrier-surpassing robot, is characterized in that, described barrier-surpassing robot is provided with the telescopic obstacle detouring support arm of two ratchet-types as described in claim 1-9.