Inner and outer shaft transmission device for driving wheel

Abstract

The invention discloses an inner and outer shaft transmission device for a driving wheel. The device comprises an elastic crawler belt, the left end of the elastic crawler belt is connected with the wheel through a shaft, and the right end of the elastic crawler belt is connected with an expanding mechanism in a sliding mode through a transmission shaft; the right end of the expanding mechanism isin shaft connection with an inner shaft, the inner shaft is arranged in an outer shaft, and a swing arm is arranged between the right end of the outer shaft and the expanding mechanism; the outer surface of the outer shaft is further connected with a speed reduction gear set through a bearing block, a speed reducer is further arranged at the right end of the speed reduction gear set, and the input end of the speed reducer is driven by a motor; the bearing block is arranged at the right end of the swing arm. The structural form composed of the inner shaft and the outer shaft is utilized, driving power is transmitted to the inner shaft by the motor through the planetary gear speed reducer integrated with the motor, a wheel-type motion of a whole robot platform is provided, power required bylinear moving, turning and the like of a robot is achieved, the stability is improved, and the obstacle crossing capability is further improved.

Description

technical field [0001] The invention relates to the technical field of driving wheels, in particular to an inner and outer shaft transmission device for driving wheels. Background technique [0002] Mobile robots have been widely used in dangerous and harsh environments such as reconnaissance, patrolling, alerting, and mine clearance. Their working environment may be a structured environment or a complex, unknown, and changeable unstructured environment in the natural environment. Therefore, the ability to overcome obstacles is an important indicator for testing the road passability of mobile robots. The current mobile robots mainly use wheel-track composite drive devices as the driving force of the robot, but there are still certain problems: [0003] (1) The wheel-track composite mobile platform is more commonly composed of two sets of crawler swing arms and 4 wheels. When the road conditions are good, the swing arms are retracted and the wheels are used to move forward, g...

AI Technical Summary

Problems solved by technology

However, the separate design of the wheels and tracks makes the mechanism more complicated. The wheels and tracks are only superimposed and cannot be converted, and the structure is not compact;

[0004] (2) Existing mobile devices all adopt four-wheeled mobile platforms, which have fast moving speed, high reliability, simple structure and low cost, but poor road adaptability, unable to go up and down stairs, and the wheels are prone to slipping when encountering soft roads

[0005] (3) Due to the poor transmission efficiency and frictional resistance between the driving wheels, the existing driving device makes the driving efficiency poor and the practicability is not strong

Images