A radiation-resistant double-swing-arm crawler robot transmission device

Abstract

The present invention relates to the field of robotics, and specifically discloses a radiation-resistant double-swing-arm crawler robot transmission device. The two swing-arm crawler drive assemblies in the device are respectively arranged at the front and rear ends of the vehicle frame assembly, and the transmission parts in the swing-arm crawler drive assemblies are concentrated on one side in the left-right direction, and the transmission parts in the front and rear swing-arm crawler drive assemblies are located at the diagonal positions in front and back of the vehicle frame assembly; the main crawler drive assembly is a hollow structure, and the two main crawler drive assemblies are coaxially arranged on the other side of the transmission parts in the two swing-arm crawler drive assemblies; a main crawler is arranged between the main crawler drive wheel in the main crawler drive assembly on the same side of the vehicle frame assembly and the main crawler driven wheel in the swing-arm crawler drive wheel assembly. The present invention can overcome obstacles in irradiated environments and non-structured terrain environments to adapt to the problems of automated intelligent inspection and maintenance operations in complex environments.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a radiation-resistant double-swing-arm crawler robot transmission device. Background Art

[0002] The interior of a nuclear power plant has a very complex unstructured terrain environment. The platforms are connected by steep stairs. The largest single step can reach a height of 280mm and a depth of 290mm. The staircase slope is close to 45°. In addition, most of the passages leading to various rooms have stair obstacles.

[0003] To enable robots to conduct inspections and perform emergency response in these environments, their mobile chassis must possess strong obstacle-crossing capabilities and stability, enabling them to avoid or traverse obstacles and climb stairs. Single-arm tracked robots are not up to the task of navigating stairs with large steps and depths, while dual-arm tracked robots offer superior obstacle-crossing capabilities. When the robot is performing tasks, the extended arm increases its contact patch, and the addition of a rear arm provides rear support when climbing stairs, effectively improving the overall performance of the robot's mobile platform.

[0004] Considering the environmental characteristics of nuclear power plant inspections and emergency response, including strong radiation exposure and non-structural features, the crawler robot's transmission and kinematic structures are crucial for overcoming and adapting to these challenging environments. The design of the transmission structure is crucial for ensuring a compact internal structure, superior power output, and ease of assembly and disassembly. Summary of the Invention

[0005] The purpose of the present invention is to provide a radiation-resistant double-swing arm crawler robot transmission device to solve the problems of overcoming obstacles, climbing up and down stairs in radiation environments and unstructured terrain environments, so as to adapt to the problems of automated intelligent inspection and maintenance operations in complex environments.

[0006] The technical solution of the present invention is as follows: a radiation-resistant double-swing-arm crawler robot transmission device, which includes a vehicle frame assembly, a main crawler drive assembly and a swing-arm crawler drive assembly, wherein the two swing-arm crawler drive assemblies are respectively arranged at the front and rear ends of the vehicle frame assembly, and the transmission parts in the swing-arm crawler drive assemblies are concentrated on one side in the left and right directions, and the transmission parts in the front and rear swing-arm crawler drive assemblies are located at the front and rear diagonals of the vehicle frame assembly; the main crawler drive assembly is a hollow structure, and the two main crawler drive assemblies are coaxially arranged on the other side of the transmission parts in the two swing-arm crawler drive assemblies; a main crawler is arranged between the main crawler drive wheel in the main crawler drive assembly on the same side of the vehicle frame assembly and the main crawler driven wheel in the swing-arm crawler drive wheel assembly.

[0007] The transmission part in the swing arm track drive assembly includes a two-stage reduction component, wherein the first stage reduction is a planetary gear reduction box structure with a large reduction ratio; the second stage reduction component is a spur gear transmission mechanism; the output torque can be adjusted by replacing the input gear and output gear in the spur gear transmission mechanism.

[0008] The transmission part includes a swing arm driving gear, an idler gear and a swing arm driven gear, wherein the swing arm driving gear is arranged on the output shaft of the swing arm driving motor, and the swing arm driving gear forms a gear meshing transmission structure with the swing arm driven gear through the idler gear.

[0009] The swing arm drive motor is fixed inside the vehicle frame assembly through a support, and the gear plate in the swing arm driven gear is fixedly arranged at a position biased to one side in the left-right direction inside the vehicle frame assembly, and on this side, the swing arm driven gear is connected to the left half-shaft through a coupling; the other side of the swing arm driven gear is a long rod-shaped right half-shaft, and the left and right half-shafts are connected to the swing arm track assemblies arranged on the left and right sides of the outside of the vehicle frame assembly; the outermost side of the swing arm track assembly is an eccentric structure, and the eccentric structure on the outer side of the swing arm track assembly is driven by the left and right half-shafts to rotate around the eccentric axis to realize the swing arm movement of the vehicle frame assembly 1.

[0010] The right half-shaft in the swing arm drive assembly is sleeved with a main track drive assembly, and the main track drive assembly is fixed in the vehicle body frame assembly and does not interfere with the right half-shaft; the main track drive assembly includes an input shaft, a frameless motor assembly, a harmonic reducer and an output shaft, wherein a hollow input shaft is provided on the central axis of the frameless motor assembly, and the input shaft is driven to rotate by the rotor of the frameless motor assembly; one end of the input shaft is connected to the wave generator end of the harmonic reducer through a flange, and the rigid wheel of the harmonic reducer is connected to the output shaft, and the output shaft is connected to the main track drive mounting seat arranged between the outside of the vehicle body frame assembly and the inner side of the eccentric structure of the swing arm track assembly, and the main track drive mounting seat is provided with a main track drive wheel, which is meshed with the main track.

[0011] The frameless motor assembly is fixed inside the sleeve through a pressure plate, and the sleeve is arranged inside the vehicle body frame assembly; an encoder is also provided on the input shaft.

[0012] The vehicle body frame assembly includes a bottom plate, a cover plate, a left side plate and a right side plate, wherein the bottom plate, the cover plate and the left side plate and the right side plate form a closed shell structure; circular through holes are opened on the front and back sides of the left and right sides of the left and right sides of the left and right sides of the right side plate, and the through holes provide a connection channel for the outermost output structure of the swing arm track drive assembly and the main track drive assembly and the internal structure; the vehicle body frame assembly is made of radiation-resistant material.

[0013] The upper end of the vehicle body frame assembly is provided with a mechanical interface for mounting a mechanical arm assembly.

[0014] The vehicle body frame assembly is provided with a battery and a controller, and the controller is used to control the rotation of the main crawler drive assembly and the swing arm crawler drive assembly, and the battery is used to provide kinetic energy for operation.

[0015] The inner wall of the vehicle body frame assembly is provided with reinforcing ribs to meet the requirements of overall rigidity.

[0016] The significant effect of the present invention is that the radiation-resistant double-swing-arm crawler robot transmission device described in the present invention has the following advantages: (1) The main crawler drive assembly in the present invention adopts a front-to-rear diagonal arrangement structure, which avoids the structural congestion caused by the concentration of the left and right wheel transmission structure in the rear-drive form, and the main crawler assembly has a hollow structure, and the drive shaft of the swing arm drive assembly is arranged in this hollow hole, so the structure is very compact, saving a lot of internal space of the vehicle frame, and facilitating the installation of electrical components and wiring layout; (2) The swing arm drive assembly in the present invention has a two-stage deceleration component, that is, the first-stage deceleration adopts a planetary gear reducer with a large deceleration ratio, and the second-stage deceleration adopts a spur gear transmission mechanism, so that the swing arm drive has a large torque output, and can be driven by replacing the spur gear transmission mechanism. The input and output gears in the mechanism realize different transmission ratio outputs, and finally realize the output torque adjustment of the swing arm drive; (3) The drive shaft in the swing arm drive assembly of the present invention adopts a left and right half-axle split structure, and the left and right half-axles are connected into a whole through a selected coupling with suitable torque output, and supported by the middle support seat, so the rigidity of the whole assembly is good and easy to install and disassemble; (4) The main crawler drive adopts a frameless motor with a harmonic reducer, so it can provide large torque output and adapt to the large driving torque requirements of driving in complex environments, and the motor encoder adopts a rotary transformer, so that the robot body can be used in an environment with a strong radiation dose; (5) The inner wall of the mobile body frame assembly is provided with a reinforcing rib structure, and the overall rigidity is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic structural diagram of a radiation-resistant double-swing-arm crawler robot transmission device according to the present invention;

[0018] Figure 2 This is a schematic structural diagram of a vehicle frame assembly in a radiation-resistant double-swing-arm crawler robot transmission device according to the present invention;

[0019] Figure 3 This is a schematic structural diagram of the main crawler drive assembly in a radiation-resistant double-swing-arm crawler robot transmission device according to the present invention;

[0020] Figure 4This is a schematic structural diagram of a swing arm crawler drive assembly in a radiation-resistant double-swing arm crawler robot transmission device according to the present invention;

[0021] In the figure: 1. Vehicle frame assembly; 2. First main crawler track drive assembly; 3. First swing arm crawler track drive assembly; 4. Main crawler; 5. Battery; 6. Controller; 7. Second main crawler track drive assembly; 8. Second swing arm crawler track drive assembly; 101. Base plate; 102. Cover plate; 103. Left side plate; 104. Right side plate; 201. Encoder; 202. Input shaft; 203. Pressure plate; 204. Frameless motor assembly; 205. Harmonic reducer; 206. Sleeve; 207. Output shaft; 208. Main crawler track drive mounting seat; 301. Swing arm drive motor; 302. Support; 303. Swing arm drive gear; 304. Idle wheel; 305. Swing arm driven gear; 306. Left half shaft; 307. Right half shaft; 308. Coupling; 309. Support seat; 310. Swing arm crawler assembly. DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figures 1 to 4 As shown, a radiation-resistant double-swing arm crawler robot transmission device includes a vehicle frame assembly 1, a first main crawler drive assembly 2, a first swing arm crawler drive assembly 3, a second main crawler drive assembly 7 and a second swing arm crawler drive assembly 8, wherein the first swing arm crawler drive assembly 3 and the second swing arm crawler drive assembly 8 have the same structure and are installed at the front and rear ends of the vehicle frame assembly 1; the first swing arm crawler drive assembly 3 and the second swing arm crawler drive assembly 8 are distributed on the left and right sides as a transmission component centralized end and a single-axis output end; the first main crawler drive assembly 2 and the second main crawler drive assembly 7 have the same structure and the axis is a hollow structure, the first main crawler drive assembly 2 and the second main crawler drive assembly 7 pass through the second swing arm crawler drive assembly 8, the first swing arm crawler drive assembly The single-axis output end side of the component 3 structure is fixed to the front and rear diagonal sides of the vehicle frame assembly 1, so that the concentrated ends of the transmission components in the first swing arm crawler drive assembly 3 and the second swing arm crawler drive assembly 8 are distributed diagonally on the front and rear sides of the vehicle frame assembly 1; main crawlers 4 are installed on the left and right sides of the vehicle frame assembly 1, and the main crawlers 4 can be driven by the first main crawler drive assembly 2 and the second main crawler drive assembly 7 to drive the vehicle frame assembly 1 to move forward and backward and turn; a battery 5 and a controller 6 are also installed on the vehicle frame assembly 1, and the controller 6 is used to control the rotation of the respective motors in the first main crawler drive assembly 2, the first swing arm crawler drive assembly 3, the second main crawler drive assembly 7 and the second swing arm crawler drive assembly 8, and the kinetic energy provided by the battery 5 is used for movement;

[0024] like Figure 2As shown, the vehicle body frame assembly 1 includes a shell structure consisting of a base plate 101, a cover plate 102, a left side plate 103 and a right side plate 104. Through holes are respectively opened on the front and rear sides of the left side plate 103 and the right side plate 104 to provide connection channels for the outermost output ends of the swing arm track drive assembly and the main track drive assembly and the internal structure; the vehicle body frame assembly 1 is made of radiation-resistant material as a whole, which can provide a radiation-resistant working environment for the internal structure; a mechanical interface for installing a robotic arm assembly is opened on the cover plate 102, and robotic arm assemblies for different purposes can be installed to meet the use of robots in different environments and usage scenarios.

[0025] like Figure 4 The swing arm crawler drive assembly includes a swing arm drive motor 301, a swing arm drive gear 303, a support 302 and a swing arm crawler assembly 310, wherein the swing arm drive motor 301 is fixed to the base plate 101 in the vehicle frame assembly 1 through the support 302; the swing arm drive gear 303 installed on the output shaft of the swing arm drive motor 301 forms a gear transmission structure with the swing arm driven gear 305 through the idler gear 304, and the swing arm driven gear 305 is fixed to the base plate 101 through the support seat 309; the right side of the swing arm driven gear 305 is a long rod-shaped right half shaft 307, and the swing arm The left side of the driven gear 305 is connected to the left half shaft 306 via a fixed coupling 308, and the ends of the right half shaft 307 and the left half shaft 306 are respectively connected to the two swing arm track assemblies 310 via flat keys; the power output by the motor reduction box in the swing arm drive motor 301 is transmitted to the swing arm driven gear 305 through the drive gear 303 and the idler gear 304, and drives the rotation of the right half shaft 307 and the left half shaft 306, thereby driving the swing arm track assemblies 310 on both sides to move. The direction of the swing arm movement can be changed by changing the operating direction of the swing arm drive motor 301;

[0026] like Figure 3The main crawler drive assembly includes an input shaft 202, a frameless motor assembly 204, a harmonic reducer 205, a sleeve 206 and an output shaft 207, wherein the frameless motor assembly 204 is fixed in the sleeve 206 by a pressure plate 203, and a hollow input shaft 202 is provided on the central axis of the frameless motor assembly 204. The rotor of the frameless motor assembly 204 can drive the input shaft 202 to rotate, so that the upper end of the input shaft 202 passing through the frameless motor assembly 204 is connected to the wave generator end of the harmonic reducer 205 provided in the sleeve 206 through a flange, and the lower end of the input shaft 202 Connected to the encoder 201; the rigid wheel of the harmonic reducer 205 is connected to the output shaft 207, so that the movement of the input shaft 202 is transmitted to the output shaft 207 through the harmonic reducer 205, and the output shaft 207 is connected to the main crawler drive mounting seat 208 through a flat key. The main crawler drive mounting seat 208 is provided with a main crawler drive wheel, which engages with the main crawler 4 and drives the driven wheel on the swing arm crawler assembly 310 to move; the vehicle body can be moved forward, backward, and left and right by the rotation direction of each frameless motor assembly 204 in the two main crawler drive assemblies;

[0027] The center of the main crawler drive assembly is a hollow structure, which is inserted into the right half shaft 307 in the swing arm crawler drive assembly and fixed on the base plate 101. The structure of the main crawler drive assembly combined with the main crawler drive assembly can greatly save space inside the vehicle frame assembly 1, making it easier to install electrical components and arrange wiring.

Claims

1. A radiation-resistant double-swing arm crawler robot transmission device, characterized in that: The device comprises a vehicle frame assembly (1), a main crawler drive assembly and a swing arm crawler drive assembly, wherein the two swing arm crawler drive assemblies are respectively arranged at the front and rear ends of the vehicle frame assembly (1), the transmission parts in the swing arm crawler drive assembly are concentrated on one side in the left and right directions, and the transmission parts in the front and rear swing arm crawler drive assemblies are located at the front and rear diagonals of the vehicle frame assembly (1); the main crawler drive assembly is a hollow structure, and the two main crawler drive assemblies are coaxially arranged on the other side of the transmission parts in the two swing arm crawler drive assemblies; the main crawler drive assemblies in the main crawler drive assemblies located on the same side of the vehicle frame assembly (1) are respectively coaxially arranged on the other side of the transmission parts in the two swing arm crawler drive assemblies; A main crawler (4) is provided between the belt drive wheel and the main crawler driven wheel in the swing arm crawler drive wheel assembly; the transmission part in the swing arm crawler drive assembly includes a two-stage reduction component, wherein the first stage reduction is a planetary gear reduction box structure with a large reduction ratio; the second stage reduction component is a spur gear transmission mechanism; the output torque can be adjusted by replacing the input gear and the output gear in the spur gear transmission mechanism; the swing arm drive motor (301) in the transmission part is fixed to the inside of the vehicle body frame assembly (1) through a support (302); the transmission part includes a swing arm driven gear (305), and the gear plate in the swing arm driven gear (305) is fixed. The swing arm driven gear (305) is arranged at a position deviated to one side in the left-right direction inside the vehicle body frame assembly (1), and on this side, the swing arm driven gear (305) is connected to the left half shaft (306) through a coupling (308); the other side of the swing arm driven gear (305) is a long rod-shaped right half shaft (307), and the left half shaft (306) and the right half shaft (307) are connected to the swing arm crawler assembly (310) arranged on the left and right sides of the vehicle body frame assembly (1); the outermost side of the swing arm crawler assembly (310) is an eccentric structure, and the outer eccentric structure of the swing arm crawler assembly (310) is driven by the left half shaft (306) and the right half shaft (307) to rotate around the eccentric The axis rotates to realize the swing arm movement of the vehicle frame assembly (1); the right half shaft (307) in the swing arm crawler drive assembly is sleeved with a main crawler drive assembly, and the main crawler drive assembly is fixed in the vehicle frame assembly (1) and does not interfere with the right half shaft (307); the main crawler drive assembly comprises an input shaft (202), a frameless motor assembly (204), a harmonic reducer (205) and an output shaft (207), wherein a hollow input shaft (202) is provided on the central axis of the frameless motor assembly (204), and the input shaft (202) is driven to rotate by the rotor of the frameless motor assembly (204);One end of the input shaft (202) is connected to the wave generator end of the harmonic reducer (205) through a flange, the rigid wheel of the harmonic reducer (205) is connected to the output shaft (207), and the output shaft (207) is connected to a main crawler drive mounting seat (208) located between the outside of the vehicle frame assembly (1) and the inside of the eccentric structure of the swing arm crawler assembly (310), and the main crawler drive wheel is provided on the main crawler drive mounting seat (208), which is engaged with the main crawler (4).

2. The radiation-resistant double-swing arm crawler robot transmission device according to claim 1, characterized in that: The transmission part further comprises a swing arm driving gear (303) and an idler gear (304), wherein the swing arm driving gear (303) is arranged on the output shaft of the swing arm driving motor (301), and the swing arm driving gear (303) forms a gear meshing transmission structure with the swing arm driven gear (305) via the idler gear (304).

3. The radiation-resistant double-swing arm crawler robot transmission device according to claim 1, characterized in that: The frameless motor assembly (204) is fixed inside a sleeve (206) via a pressure plate (203); the sleeve (206) is arranged inside the vehicle body frame assembly (1); an encoder (201) is also provided on the input shaft (202).

4. The radiation-resistant double-swing arm crawler robot transmission device according to claim 1, characterized in that: The vehicle frame assembly (1) comprises a bottom plate (101), a cover plate (102), a left side plate (103) and a right side plate (104), wherein the bottom plate (101), the cover plate (102) and the left side plate (103) and the right side plate (104) form a closed shell structure; circular through holes are opened on the left and right sides and the front and back of the left and right sides of the left and right sides of the right side plate (103) and the right side plate (104), and the through holes provide connection channels for the outermost output structures of the swing arm crawler drive assembly and the main crawler drive assembly and the internal structure; the vehicle frame assembly (1) is made of radiation-resistant material.

5. The radiation-resistant double-swing-arm crawler robot transmission device according to claim 1 or 4, characterized in that: The upper end of the vehicle body frame assembly (1) is provided with a mechanical interface for mounting a mechanical arm assembly.

6. The radiation-resistant double-swing-arm crawler robot transmission device according to claim 1, characterized in that: The vehicle body frame assembly (1) is provided with a battery (5) and a controller (6), and the controller (6) is used to control the rotation of the main crawler drive assembly and the swing arm crawler drive assembly, and the battery (5) is used to provide kinetic energy for operation.

7. The radiation-resistant double-swing-arm crawler robot transmission device according to claim 1, characterized in that: The inner wall of the vehicle body frame assembly (1) is provided with reinforcing ribs to meet the requirements of overall rigidity.

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