CN105857429A - Stair climbing robot with planetary gear train - Google Patents

Abstract

The invention belongs to the field of mechatronics, and in particular relates to a planetary gear train climbing robot. The invention mainly solves the problems of low transmission efficiency, difficult deformation, slow motion, poor structural stability and the like existing in the existing stair-climbing robot. A planetary gear train climbing robot, including a transmission system, a conversion system and an execution system. The transmission system includes two transmission groups on the left and right. The two transmission groups on the left and right are parallel and symmetrically installed on the longitudinal center line. The conversion system includes four conversion groups. The four conversion groups are respectively installed on the four positions of the bottom plate, and each conversion group is composed of a sun gear shaft, a long sleeve, a shaft coupling, an electromagnetic clutch and a bearing; the execution system is composed of four wheel systems, and each wheel The group system consists of an inner triangle, an outer triangle, three planet shafts, six planet shaft sleeves, three planet blades, a sun gear and blade bearings.

Description

A planetary gear train climbing robot

technical field

The invention belongs to the field of mechatronics, and in particular relates to a planetary gear train climbing robot.

Background technique

Mobile robot is an important branch of robotics. It is a kind of highly intelligent machine system that can perceive the environment through sensors and realize multiple functions such as dynamic decision-making and planning, behavior control and execution in an irregular environment. And the stair-climbing robot wherein is its important branch again, mainly is divided into the stair-climbing device such as crawler type, wheel set type, walking type by the principle that stair-climbing function realizes. It embodies the latest achievements of information science and artificial intelligence technology, has important military and civilian values, and is an important and quite active research field in modern robotics.

The transformable impeller-type stair-climbing robot with application number 201420085626.2 includes a fuselage and a kinematic mechanism. The kinematic mechanism is composed of a geared motor, a drive shaft and four planetary gear trains. The geared motor drives the drive shaft to drive the sun gear in the gear train. Movement, using the difference in the movement trajectory of the planetary wheel when the sun gear rotates forward and reverse, realizes the difference in the motion posture of the blade, and controls the movement of the arc rod of the blade by controlling the slip between the sun gear and the planetary gear in the planetary gear system Attitude enables the robot to switch between the functions of climbing stairs and walking on the ground. However, the transformable impeller-type stair-climbing robot uses the square rod at the end of the output shaft to drive the sun gear to move, the structure is more complicated, and the required output torque is relatively large, and the strength of the sun gear will become weaker after the square groove is opened. In addition, the robot has no The self-locking mechanism uses ground friction to achieve deformation. It has certain requirements for the ground friction coefficient, and cannot guarantee that the four wheel sets are synchronized and deformed quickly. There are problems such as structural instability, insufficient power, and slow movement during the process of climbing stairs.

Contents of the invention

Aiming at the problems of low transmission efficiency, difficult deformation, slow movement, poor structural stability and the like existing in existing stair-climbing robots, the present invention proposes a more flexible and stable planetary gear train stair-climbing robot. The robot transmits the torque to the sleeve by the deceleration motor, and the sleeve drives the planetary gear to move. The sun gear shaft and the sleeve are connected by bearings, which realizes the separate control of the planetary gear and the sun gear. This structure can effectively reduce the impact on the output. Torque requirements; the present invention uses an electromagnetic clutch as a self-locking mechanism, and the four wheel trains can realize synchronous and rapid deformation, and move stably in one state after deformation.

Technical scheme of the present invention is:

A planetary gear train climbing robot, including a bottom plate, which also includes a transmission system, a conversion system and an execution system. The transmission system includes two left and right transmission groups, and the left and right two transmission groups are parallel and symmetrically installed with the longitudinal centerline. Each transmission group is composed of a DC geared motor, an intermediate shaft, a driving bevel gear, a driven bevel gear, two small sprockets, two large sprockets and two chains. The DC geared motor is installed on the bottom plate, and the DC geared motor’s The output shaft passes through the bottom plate and connects with the driving bevel gear. The driven bevel gear is installed on the intermediate shaft and meshed with the driving bevel gear. The intermediate shaft is installed on the transverse center line of the bottom plate through two bearing seats, and the two small sprockets are in turn Installed on the intermediate shaft, each small sprocket is connected with the large sprocket on one side through a chain to form a set of chain transmission, and the large sprocket is installed on the long sleeve;

The conversion system includes four conversion groups, and the four conversion groups are respectively installed in four directions of the bottom plate. Each conversion group is composed of a sun gear shaft, a long sleeve, a shaft coupling, an electromagnetic clutch and a bearing. The sun gear shaft Installed on the bottom plate, the long sleeve is sleeved on the sun gear shaft through the bearing to realize the relative movement between the sun gear shaft and the long sleeve. The inner ring of the electromagnetic clutch is connected with the sun gear shaft, and the outer ring of the electromagnetic clutch is connected with the coupling. Connect with the large sprocket;

The executive system is composed of four wheel systems, and each wheel system includes an inner triangular plate, an outer triangular plate, three planetary shafts, six planetary shaft sleeves, three planetary wheel blades, a sun wheel and blade bearings , the inner triangle plate is installed on the flange of the long sleeve and connected to the sun gear shaft through bearings, the outer triangle plate is connected to the sun gear shaft through bearings, and the inner triangle plate and the outer triangle plate are installed opposite to support three evenly distributed planet wheel shafts, each planet The axles pass through the inner triangular plate and the outer triangular plate, and the three planetary wheel blades are respectively installed in the middle of the three planetary wheel shafts through the blade bearings. The three planetary wheel blades form a circle, and two planetary wheel shaft sleeves are installed on each planetary wheel shaft. And the two planetary gear shaft sleeves are respectively located on both sides of the blade bearing, and the sun gear is installed on the sun gear shaft.

The invention drives four wheel sets to move by controlling two DC deceleration motors through bevel gears and sprockets, and the robot can realize basic actions such as forward, backward, acceleration, deceleration, and turning; by controlling the power-on and power-off of the electromagnetic clutch, the robot It can realize more complex actions such as deformation, climbing stairs, and overcoming obstacles. The robot has two motion modes, one is circular wheel walking, and the other is impeller walking. When the road surface is flat and there are many obstacles, the robot uses the round wheel to drive to ensure a faster driving speed. Depending on the road condition, it can accelerate and decelerate appropriately; when the road surface is rough and there are many obstacles, the robot round wheel is transformed into an impeller, and the electromagnetic clutch is energized , the mechanism is self-locking, the robot keeps the impeller moving, and can overcome obstacles and climb stairs. Compared with other stair-climbing robots, the biggest feature of the present invention is to utilize the deformation of the planetary gear train mechanism and realize the self-locking of the mechanism with the electromagnetic clutch. Compared with wheel-type, leg-type and crawler-type stair-climbing robots, the present invention has many advantages such as flexible movement, stable structure, simple mechanism, high bearing capacity, and strong adaptability to road conditions. It can be used as a means of transportation for people with disabilities in daily life, and can also be used as a detection and search and rescue platform under extreme environmental conditions.

Description of drawings

Fig. 1 is a perspective view of the present invention;

Fig. 2 is a top view of the present invention;

Fig. 3 is a schematic diagram of the intermediate shaft;

Fig. 4 is a schematic diagram of the small sprocket;

Fig. 5 is a schematic diagram of the large sprocket;

Fig. 6 is a sectional view of the long sleeve;

Fig. 7 is a schematic diagram of the sun gear shaft;

Fig. 8 is a schematic diagram of an electromagnetic clutch;

Fig. 9 is a three-dimensional view of the wheel set mechanism;

Fig. 10 is a schematic diagram of the wheel set mechanism;

Fig. 11 is a schematic diagram of the planetary wheel shaft;

Figure 12 is a schematic diagram of the impeller;

Fig. 13 is a schematic diagram of an inner triangular plate;

Figure 14 is a schematic diagram of the bottom plate;

Figure 15 is the planetary gear tooth shape when walking on level ground;

Figure 16 is the planetary gear tooth profile when climbing stairs.

detailed description

Example 1

A planetary gear train climbing robot, as shown in Figure 1-Figure 14, includes a base plate 1, a transmission system, a conversion system, and an execution system. Installed symmetrically with the longitudinal center line, each transmission group consists of a DC geared motor 2, an intermediate shaft 5, a driving bevel gear 3, a driven bevel gear 4, two small sprockets 6, two large sprockets 9 and two chains 7 The DC deceleration motor 2 is installed on the base plate 1, and its output shaft passes through a round hole on the base plate 1 and is fixedly connected with the driving bevel gear 3 with a top screw, and the driven bevel gear 4 is installed on the output shaft of the DC deceleration motor 2. The vertical intermediate shaft 5 is meshed with the driving bevel gear 3. The intermediate shaft 5 is installed on the transverse centerline of the bottom plate 1 through two bearing housings 8, and the two small sprockets 6 are sequentially installed on the intermediate shaft 5 through positioning screws. Above, one small sprocket 6 and the large sprocket 9 in the positive direction of the longitudinal axis form a set of chain transmission through the chain 7, and the other small sprocket 6 forms a set of chain transmission with the large sprocket 9 in the negative direction of the longitudinal axis, so that To realize the synchronous movement of the two wheel sets, the large sprocket 9 is installed on the long sleeve 22;

The conversion system includes four conversion groups, and the four conversion groups are respectively installed in four directions of the base plate 1, and each conversion group is composed of a sun gear shaft 24, a long sleeve 22, a shaft coupling 25, an electromagnetic clutch 26 and Composed of bearings 23, the sun gear shaft 24 is installed on the bottom plate 1, the long sleeve 22 is sleeved on the sun gear shaft 24 through the bearing 23 to realize the relative movement between the sun gear shaft 24 and the long sleeve 22, the inner ring of the electromagnetic clutch 26 and the sun gear shaft 24 utilize The surface connection can realize synchronous movement, the outer ring of the electromagnetic clutch 26 is connected with the coupling 25 through the top screw, and the coupling 25 is connected with the large sprocket 9 through three positioning screws interlaced by 120 degrees;

Described execution system is made up of four wheel set systems, and each wheel set system comprises an inner triangular plate 12, an outer triangular plate 16, three planetary wheel shafts 11, six planetary wheel shaft sleeves 14, three planetary wheel blades 15, one The sun gear 10 and three blade bearings 13, the inner triangular plate 12 is fixedly installed on the flange of the long sleeve 22 through three staggered 120 degree positioning screws 20 and connected with the sun gear shaft 24 through the bearing 23, the outer triangular plate 16 passes through The bearing 23 is connected with the sun gear shaft 24, and the inner triangular plate 12 and the outer triangular plate 16 are installed oppositely to support three planetary wheel shafts 11 evenly distributed, and each planetary wheel shaft 11 passes through the holes corresponding to the inner triangular plate 12 and the outer triangular plate 16, and the three planets The wheel blades 15 are respectively installed in the middle of the three planetary wheel shafts 11 through the blade bearings 13. The outer rings of the planetary wheel blades 15 and the blade bearings 13 adopt an interference fit, and the three planetary wheel blades 15 form a circle, and each planetary wheel shaft 11 Two planetary gear shaft sleeves 14 are installed on the top and the two planetary gear shaft sleeves 14 are respectively located on both sides of the blade bearing 13. The sun gear 10 is fixed on the sun gear shaft 24 through the sun gear inner splint 19 and the sun gear outer splint 17, each The sun gear 10 of the wheel set meshes with the three planetary wheel blades 15 at the same time, and the inner triangle plate 12 is fixedly connected with the long sleeve 22, that is, the torque of the long sleeve 22 is transmitted to the three planetary wheels through the inner triangle plate 12 and the three planetary wheel shafts 11. The wheel blades 15 and thus the long sleeve 22 determine the movement of the planet wheel blades 15 and the sun wheel shaft 24 ) determine the movement of the sun wheel 10 . That is, the electromagnetic clutch (26) is engaged—the long sleeve (22) rotates synchronously with the sun gear shaft (24)—there is no relative movement between the planetary gear (15) and the sun gear (10)—the device is self-locking—the stair climbing robot Stay in one state and keep moving.

Since the planetary gear and the sun gear rotate at most 120 degrees relative to each other, the wheel set can be deformed, so each planetary gear is an incomplete gear mechanism of 120 degrees, as shown in Figure 12. According to the design scheme of the mechanical structure, the working hours of the robot car are divided into the following situations:

(1) When the trolley is in the state of the round wheel and the clutch is energized, the trolley can keep the round wheel moving forward, backward, turning, accelerating, and decelerating under any circumstances.

(2) When the clutch is energized when the trolley is in the state of the impeller, the trolley can keep the impeller moving forward, backward, turning, accelerating and decelerating under any circumstances.

(3) When the clutch is powered off: as shown in Figure 15, since the planetary wheel blade is an incomplete gear mechanism, the planetary wheel rotates clockwise in the circular wheel state, and there will be no teeth to mesh with the sun gear, so the sun gear and the planet There will be no relative movement of the wheels, and the circular wheels will remain unchanged without resistance. Thereby, when there is no resistance and the clutch is powered off, the dolly can keep advancing with the circular wheel. In Fig. 15, the planetary wheel turns clockwise to advance.

(4) Similarly, as shown in Figure 16, when there is no resistance and the clutch is powered off, the trolley can keep the impeller backward, but when there is resistance, the impeller will be deformed.

Claims (1)

1. a planet circular system stair climbing robot, including base plate (1), is characterized in that also including drive system, converting system and holding Row system, described drive system includes two transmission groups in left and right, and two, left and right transmission group is parallel and pacifies with longitudinal centre line symmetry Dress, each transmission group by DC speed-reducing (2), jackshaft (5), drive bevel gear (3), driven wheel of differential (4), two Individual minor sprocket (6), two big sprocket wheels (9) and two chain (7) compositions, DC speed-reducing (2) is arranged on base plate (1) On, the output shaft of DC speed-reducing (2) is connected through base plate (1) with drive bevel gear (3), driven wheel of differential (4) Being arranged on jackshaft (5) above and to be connected with drive bevel gear (3) engagement, jackshaft (5) is pacified by two bearing blocks (8) Being contained on the cross central line of base plate (1), two minor sprockets (6) are sequentially arranged on jackshaft (5), each minor sprocket (6) The big sprocket wheel (9) all passing through a chain (7) and side connects and composes one group of Chain conveyer, and big sprocket wheel (9) is arranged on long sleeve (22) on；

Described converting system includes that four conversion group, four conversion group are separately mounted to four orientation of base plate (1), Mei Gezhuan Changing group is all by sun wheel shaft (24), long sleeve (22), shaft coupling (25), electromagnetic clutch (26) and bearing (23) group Becoming, sun wheel shaft (24) is arranged on base plate (1), and long sleeve (22) is enclosed within sun wheel shaft (24) by bearing (23) On realize the relative motion of sun wheel shaft (24) and long sleeve (22), the inner ring of electromagnetic clutch (26) and sun wheel shaft (24) Connecting, the outer ring of electromagnetic clutch (26) is connected with shaft coupling (25), and shaft coupling (25) is connected with big sprocket wheel (9)；

Described execution system is made up of four wheel set system, each wheel set system include a Triangle ID plate (12), one outer three Gusset (16), three planet wheel spindles (11), six planet wheel spindle sleeves (14), three planetary gear blades (15), one too Sun wheel (10) and blade bearing (13), Triangle ID plate (12) is arranged on the flange of long sleeve (22) and by bearing (23) Being connected with sun wheel shaft (24), outer set square (16) is connected with sun wheel shaft (24) by bearing (23), and interior three Gusset (12) and outer set square (16) are mounted opposite to support equally distributed three planet wheel spindles (11), every planet wheel spindle (11) all passing Triangle ID plate (12) and outer set square (16), three planetary gear blades (15) are respectively by blade bearing (13) Being arranged on the centre of three planet wheel spindles (11), three planetary gear blade (15) one circles of composition, in every planet wheel spindle (11) Two planet wheel spindle sleeves (14) of upper installation and two planet wheel spindle sleeves (14) lay respectively at the both sides of blade bearing (13), Sun gear (10) is arranged in sun wheel shaft (24).