Swing arm track driving device of mobile robot

Abstract

A mobile robot swing arm track driving device comprises a hollow shaft harmonic speed reducer, a track driving structure and a swing arm driving structure, a driving shaft of the track driving structure is arranged in the hollow shaft harmonic speed reducer, and the swing arm driving structure is arranged outside the hollow shaft harmonic speed reducer. The swing arm driving structure and the track driving structure coaxially drive so as to respectively output a rotating effect; the hollow shaft harmonic speed reducer comprises a hollow input shaft, a harmonic speed reducer fixing end and a harmonic speed reducer output end, the hollow input shaft is meshed with the harmonic speed reducer output end, and the harmonic speed reducer fixing end is in contact with the harmonic speed reducer output end. The transmission structure is simple, and the appearance size is compact; the harmonic speed reducer with a large reduction ratio is used for driving the swing arm structure, so that the load capacity of the swing arm is greatly improved; the swing arm and the crawler are coaxially driven, and the characteristic of large driving force of a crawler structure and the characteristic of high adaptability of a swing arm structure are integrated.

Description

technical field [0001] The invention relates to a technology in the field of robots, in particular to a mobile robot swing arm crawler drive device. Background technique [0002] With the continuous development of robotics technology, there are many applications requiring mobile robots, especially mobile robot platforms with excellent obstacle-surmounting capabilities, such as areas with dense urban buildings or areas with complex terrain conditions in the wild. The swing arm crawler robot is a mobile robot platform with a deformable chassis structure. The swing arm structure can be adjusted according to different terrain conditions to actively adapt to the terrain features to provide better driving effects. The traditional swing arm crawler structure mobile robot separates the swing arm drive structure and the crawler drive structure to realize its driving function, which often leads to excessive volume and weight of the transmission structure, making it difficult to fully ...

AI Technical Summary

Problems solved by technology

The traditional swing arm track structure mobile robot separates the swing arm drive structure and the track drive structure to realize its driving function, which often leads to excessive volume and weight of the transmission structure, making it difficult to fully utilize the advantages of the swing arm track drive structure of the mobile robot.

Images