Synchronous pulley input planetary swing arm wheel set structure and mobile robot platform

Abstract

The present invention provides a synchronous pulley input planetary swing arm wheel set structure and a mobile robot platform. The planetary swing arm wheel set structure includes an input main shaft assembly, a wheel set bracket assembly, a first planetary swing arm assembly, a second planetary swing arm assembly, a first wheel assembly, and a second wheel assembly. Among them, the first planetary swing arm assembly and the second planetary swing arm assembly are arranged in parallel to install the first wheel assembly and the second wheel assembly, and the first planetary swing arm assembly and the second planetary swing arm assembly can also drive the first wheel assembly and the second wheel assembly to rotate synchronously; the input main shaft is connected to the first planetary swing arm assembly and the second planetary swing arm assembly to provide power for them; the mobile robot platform includes the planetary swing arm wheel set structure. The present invention has the advantages of being able to cross obstacles with a diameter less than 0.8 times the diameter of the swing arm wheel set structure wheels, climbing slopes below 50°, and being able to achieve continuous climbing or obstacle crossing, etc.

Description

Technical Field

[0001] The present invention relates to the technical field of oil and gas exploitation, and in particular, to a synchronous pulley input type planetary swing arm wheel set structure and a mobile robot platform. Background Art

[0002] Oil and natural gas are important energy sources for the industrial development of our country and also important driving forces for economic development. With the continuous development of the national economy of our country, the demand for energy is also increasing continuously. In the energy consumption composition of our country, the proportion of oil and natural gas is rising continuously. Nowadays, the acquisition of oil and gas resources is mainly through two ways: mine source exploitation and resource import. However, the production areas and distribution centers of oil and gas resources are often far from the consumption areas. Using long-distance pipelines and oil and gas stations to connect the production areas and consumption areas has become an important way of oil and gas resource distribution. As an important part of the oil and gas transportation pipeline network, oil and gas stations play a skeleton role in the pipeline network project and play an important role in ensuring the stable and safe operation of oil and gas transportation. There are many complexly distributed transportation pipelines, storage tanks, equipment for processing and treating oil and gas resources, and instruments for monitoring the state of transportation media in the station. The oil and gas media therein are generally in a high-pressure state, with a relatively large reserve and are flammable and explosive. The processing technology process is relatively concentrated, and personnel enter and exit frequently. Once oil and gas leakage occurs due to equipment failure or pipeline rupture and damage in the station, it will not only cause waste of resources, but may even cause dangerous accidents such as poisoning, fire, and explosion, resulting in huge losses of life and property. Therefore, timely safety detection and data collection of the operating state of equipment and real-time data of instruments in the station are important measures to ensure that the station is in a safe state for a long time and to maintain the operation quality of the station.

[0003] Due to the diverse detection tasks in oil and gas stations, including detection tasks such as gas leakage, equipment vibration state, on-site instrument data, and valve opening and closing state, the detection environment is complex, and the requirements for detection timeliness, accuracy, reliability, and safety are high. Therefore, aiming at the special detection environment of oil and gas stations, realizing multi-sensor fusion detection, realizing precise automatic inspection and automatic endurance of robots, and realizing remote transmission, processing and active early warning of safety hazards for multi-collected data fusion are key technical problems in the development of automatic inspection special robots.

[0004] The Japanese patent with the application number "JP2009-234534" and the title "Mobile Robot" discloses a mobile robot structure that realizes movement on complex terrains through four identical compound wheel-leg mechanisms symmetrically arranged at the four corners of the vehicle body. The compound wheel-leg mechanism includes two wheels, a wheel frame, and a support leg. The two wheels are hingedly installed at both ends of the wheel frame. One end of the support leg is hinged to the center of the wheel frame, and the other end of the support leg is hinged to the vehicle body. By actively controlling the angular postures between the support leg and the vehicle body and between the wheel frame and the support leg, different deformations of the wheel-leg structure are achieved, thereby realizing movement on complex terrains including stairs. However, although this mobile robot combines the high mobility performance of the wheeled structure and the discrete crossing performance of the legged structure, when crossing stairs or high platforms, it is necessary to actively adjust the posture of each joint of the four sets of support leg wheel frames distributed at the four corners of the vehicle body. The adjustment parameters are too numerous and the process is too complex. Therefore, the movement efficiency of this mobile robot on complex terrains is limited, restricting its popular application. Summary of the Invention

[0005] The object of the present invention is to solve at least one of the above deficiencies existing in the prior art. For example, one object of the present invention is to provide a synchronous pulley input planetary swing arm wheel set structure with a large adjustment ability and better adaptability to complex terrains. Another object of the present invention is to provide a mobile robot platform with a large adjustment ability, better adaptability to complex terrains, capable of forming multi-point contact with the terrain, and having high stability.

[0006] To achieve the above object, one aspect of the present invention provides a synchronous pulley input planetary swing arm wheel set structure. The planetary swing arm wheel set structure includes an input main shaft assembly, a first planetary swing arm assembly, a second planetary swing arm assembly, a first wheel assembly, and a second wheel assembly. Among them,

[0007] Both the first planetary swing arm assembly and the second planetary swing arm assembly include a first swing arm bracket, a second swing arm bracket, a swing arm input synchronous pulley, a synchronous belt, and a swing arm output synchronous pulley. Among them,

[0008] The first swing arm bracket and the second swing arm bracket form a hollow shell. On the shell, there are provided a first mounting hole, a second mounting hole, and a third mounting hole penetrating through the shell. The swing arm input synchronous pulley, the synchronous belt, and the swing arm output synchronous pulley are all arranged in the shell. The swing arm input synchronous pulley is coaxially arranged with the second mounting hole, the swing arm output synchronous pulley is coaxially arranged with the third mounting hole, and the synchronous belt is sleeved on the swing arm input synchronous pulley and the swing arm output synchronous pulley;

[0009] The first planetary swing arm assembly and the second planetary swing arm assembly are arranged in parallel, and the first mounting hole and the third mounting hole on the first planetary swing arm assembly correspond to the third mounting hole and the first mounting hole on the second planetary swing arm assembly respectively;

[0010] Both the first wheel assembly and the second wheel assembly include a wheel and a wheel rotating shaft. One end of the wheel rotating shafts of the first wheel assembly and the second wheel assembly enters the first mounting hole, and the other end enters the third mounting hole and is coaxially and fixedly arranged with the swing arm output pulley;

[0011] The input main shaft assembly includes an input pulley and an input main shaft. One end of the input main shaft passes through the second mounting holes on the first planetary swing arm assembly and the second planetary swing arm assembly respectively and is coaxially and fixedly arranged with the swing arm input pulley in the first planetary swing arm assembly and the second planetary swing arm assembly;

[0012] The input pulley is sleeved on the other end of the input main shaft and is fixedly arranged.

[0013] In an exemplary embodiment of one aspect of the present invention, the planetary swing arm wheel group structure may further include a wheel group support assembly. The wheel group support assembly is fixedly arranged on the first planetary swing arm wheel group and / or the second planetary swing arm wheel group, and the wheel group support assembly can realize a rotating shaft fixed connection between the planetary swing arm wheel group structure and the main body frame of the mobile robot platform.

[0014] In an exemplary embodiment of one aspect of the present invention, the wheel group support assembly may include a wheel group support and a swing arm mounting bracket. The swing arm mounting bracket is fixedly arranged on the housing of the first planetary swing arm wheel group and / or the second planetary swing arm wheel group. The wheel group support is sleeved on the swing arm mounting bracket and can rotate relative to the swing arm mounting bracket along its axial direction.

[0015] In an exemplary embodiment of one aspect of the present invention, the wheel group support assembly may further include a wheel group support bearing assembly. The wheel group support bearing assembly includes a support bearing spacer sleeve, a support bearing mounting cover and a support bearing. Among them,

[0016] The support bearing spacer sleeve is sleeved on the swing arm mounting bracket. The support bearing is arranged inside the support bearing spacer sleeve and the wheel group support, and the support bearing mounting cover seals the support bearing.

[0017] In an exemplary embodiment of one aspect of the present invention, the support bearing spacer sleeve is sleeved on the input main shaft and one end is fixedly arranged on the housing of the first planetary swing arm assembly.

[0018] In an exemplary embodiment of one aspect of the present invention, the first planetary swing arm wheel set and the second planetary swing arm wheel set may further include a swing arm output shaft, a first swing arm output bearing, a second swing arm output bearing, and a swing arm output bearing end cover, wherein,

[0019] One end of the swing arm output shaft is axially disposed in the swing arm output synchronous pulley, and the other ends of the wheel shafts of the first wheel assembly and the second wheel assembly are rotationally connected to the first planetary swing arm wheel set and the third mounting holes on the second planetary swing arm wheel set through the swing arm output shaft, and the swing arm output bearing end cover closes the end of the swing arm output shaft that is not connected to the wheel shaft.

[0020] In an exemplary embodiment of one aspect of the present invention, the first planetary swing arm wheel set and the second planetary swing arm wheel set may further include a swing arm output shaft and a swing arm output bearing assembly, wherein,

[0021] One end of the swing arm output shaft passes through the swing arm output synchronous pulley and is fixedly connected to the swing arm output synchronous pulley, and the other end is fixedly connected to the wheel shafts of the first wheel assembly and the second wheel assembly.

[0022] In an exemplary embodiment of one aspect of the present invention, the swing arm output bearing assembly may include a first swing arm output bearing, a second swing arm output bearing, and a swing arm output bearing end cover, wherein,

[0023] The first swing arm output bearing and the second swing arm output bearing are respectively located on both sides of the swing arm output synchronous pulley. The first step swing arm output bearing is sleeved on the swing arm output shaft and acts on the first swing arm bracket, and the second swing arm output bearing is sleeved on the swing arm output shaft and acts on the first swing arm bracket;

[0024] The swing arm output bearing end cover closes the first swing arm output bearing.

[0025] In an exemplary embodiment of one aspect of the present invention, the first planetary swing arm wheel set and the second planetary swing arm wheel set may further include a swing arm wheel support shaft and a swing arm wheel support bearing assembly, wherein,

[0026] The swing arm wheel support shaft is disposed in the first mounting hole and is fixedly connected to the wheel shafts of the first wheel assembly and the second wheel assembly;

[0027] The swing arm wheel support bearing assembly is sleeved on the swing arm wheel support shaft and acts on the first planetary swing arm wheel set and the second planetary swing arm wheel set.

[0028] In an exemplary embodiment of one aspect of the present invention, the wheel shaft may include a planetary gearbox and a wheel support bearing assembly. The planetary gearbox is axially disposed in the wheel, and the wheel support bearing assembly is disposed between the planetary gearbox and the wheel.

[0029] On the other hand, the present invention provides a mobile robot platform, which may include the synchronous pulley input planetary swing arm wheel set structure described in any one of the above.

[0030] In an exemplary embodiment of another aspect of the present invention, the mobile robot platform can cross obstacles with a diameter less than 0.8 times that of the wheels of the obstacle-crossing swing arm wheel set structure, can continuously climb slopes or cross obstacles, and can climb over slopes with a gradient of less than 50°.

[0031] In an exemplary embodiment of another aspect of the present invention, the mobile robot platform can be driven by a motor, and the motor is connected to the main shaft assembly to input power so that the first wheel assembly and the second wheel assembly become driving wheels for synchronous movement, realizing the function of driving the platform. This platform has the high mobility characteristics of a wheeled mobile platform, and the synchronous pulley input planetary swing arm wheel set structure can automatically adjust the wheel set attitude under the self-weight of the mobile robot platform to adapt to the terrain.

[0032] In an exemplary embodiment of another aspect of the present invention, the mobile robot platform may include more than four groups of planetary swing arm wheel set structures distributed on the platform main body frame. The overall attitude of the mobile robot platform is adjusted through multiple groups of planetary swing arm wheel set structures to form a multi-point contact with the terrain, enhancing the obstacle-crossing stability of the mobile robot platform.

[0033] Compared with the prior art, the beneficial effects of the present invention include at least one of the following:

[0034] (1) The present invention provides a synchronous pulley input planetary swing arm wheel set structure. The adopted synchronous pulley input planetary swing arm wheel set structure has a much greater adjustment ability than that of ordinary suspension wheels, can better adapt to complex terrains, and the wheeled structure has a higher movement efficiency compared with tracked or legged structures;

[0035] (2) The present invention provides a mobile robot platform. By distributing more than four groups of synchronous pulley input planetary swing arm wheel set structures on the platform main body frame of the mobile robot platform, it can enter places such as oil and gas gathering stations, drilling sites, and treatment plants to carry out inspection tasks, and does not require treatment of the ground conditions of the detected places;

[0036] (3) Through the arrangement of multiple groups of structures, the mobile robot platform can realize the overall attitude adjustment of the platform, can form a multi-point contact with the terrain, enhance the obstacle-crossing stability of the mobile platform, further protect the carried sensing equipment, and has better movement stability;

[0037] (4) The mobile robot platform can overcome obstacles with a diameter less than 0.8 times that of the obstacle-crossing swing arm wheel, and can simultaneously achieve continuous climbing or obstacle crossing, and can climb over slopes below 50°. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Through the following description in conjunction with the drawings, the above and other objects and / or features of the present invention will become clearer, where:

[0039] Figure 1 The structural schematic diagram of the synchronous pulley input planetary swing arm wheel set structure of an exemplary embodiment of the present invention is shown;

[0040] Figure 2 Shows Figure 1 Cross-sectional view of

[0041] Description of reference numerals:

[0042] 1 - Input main shaft assembly, 101 - Input synchronous pulley, 102 - Input main shaft, 103 - First main shaft end cover, 104 - Second main shaft end cover, 2 - Wheel set bracket assembly, 201 - Wheel set bracket, 202 - Bracket bearing, 203 - Bracket bearing spacer, 204 - Bracket bearing mounting cover, 205 - Bracket support bearing, 206 - Bracket support bearing spacer, 207 - Swing arm mounting bracket, 3 - Planetary swing arm assembly, 301 - First swing arm bracket, 302 - Second swing arm bracket, 303 - Swing arm input synchronous pulley, 304 - Synchronous belt, 305 - Swing arm output synchronous pulley, 306 - First swing arm output bearing, 307 - Second swing arm output bearing, 308 - Swing arm output bearing end cover, 309 - Swing arm output shaft, 310 - First swing arm wheel support bearing, 311 - Second swing arm wheel support bearing, 312 - Swing arm support bearing spacer, 313 - First swing arm main shaft support bearing, 314 - Second swing arm main shaft support bearing, 315 - Swing arm wheel support shaft, 316 - Swing arm support bearing end cover, 4 - Wheel assembly, 401 - Wheel, 402 - Planetary gearbox, 403 - Wheel support bearing, 404 - Wheel support bearing end cover. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] In the following, the synchronous pulley input planetary swing arm wheel set structure and the mobile robot platform of the present invention will be described in detail in conjunction with exemplary embodiments.

[0044] In the first exemplary embodiment of the present invention, the synchronous pulley input planetary swing arm wheel set structure mainly includes an input main shaft assembly, a planetary swing arm assembly, and a wheel assembly. Among them, the planetary swing arm assembly includes a first planetary swing arm assembly and a second planetary swing arm assembly, and the wheel assembly includes a first wheel assembly and a second wheel assembly.

[0045] Among them, both the first planetary swing arm assembly and the second planetary swing arm assembly include a first swing arm bracket, a second swing arm bracket, a swing arm input synchronous pulley, a synchronous belt, and a swing arm output synchronous pulley.

[0046] Among them, the first swing arm bracket and the second swing arm bracket form a housing with a hollow interior. For example, the structures of the first swing arm bracket and the second swing arm bracket can be formed by cutting the housing along the central axes of the upper and lower sides in the length direction. First mounting holes, second mounting holes, and third mounting holes that penetrate the first swing arm bracket and the second swing arm bracket are provided at the left end, the middle, and the right end of the housing. The swing arm input synchronous pulley, the synchronous belt, and the swing arm output synchronous pulley are all arranged in the housing. Among them, the swing arm input synchronous pulley is coaxially arranged with the second mounting hole and can rotate relative to the housing along the axis of the second mounting hole. The swing arm output synchronous pulley is coaxially arranged with the third mounting hole and can rotate relative to the housing along the axis of the third mounting hole. The synchronous belt is sleeved on the swing arm input synchronous pulley and the swing arm output synchronous pulley so that the swing arm output synchronous pulley and the swing arm input synchronous pulley rotate synchronously.

[0047] The first planetary swing arm assembly and the second planetary swing arm assembly are arranged side by side, so that the positions of the first mounting holes of the first planetary swing arm assembly correspond to the positions of the third mounting holes of the second planetary swing arm assembly; the positions of the third mounting holes of the first planetary swing arm assembly correspond to the positions of the first mounting holes of the second planetary swing arm; the positions of the second mounting holes of the first planetary swing arm assembly correspond to the positions of the second mounting holes of the second planetary swing arm assembly.

[0048] Both the first wheel assembly and the second wheel assembly include a wheel and a wheel rotating shaft. One end of the wheel rotating shaft of the first wheel assembly enters the first mounting hole on the first planetary swing arm assembly to form a shaft connection. The other end of the wheel rotating shaft of the first wheel assembly enters the third mounting hole on the second planetary swing arm assembly and is coaxially and fixedly connected to the swing arm output synchronous pulley in the second planetary swing arm assembly, and rotates together under the drive of the swing arm output synchronous pulley. Similarly, one end of the wheel rotating shaft of the second wheel assembly enters the third mounting hole on the second planetary swing arm assembly to form a shaft connection. And the other end of the wheel rotating shaft of the second wheel assembly enters the first mounting hole on the first planetary swing arm assembly and is coaxially and fixedly connected to the swing arm output synchronous pulley in the first planetary swing arm assembly, and rotates together under the drive of the swing arm output synchronous pulley.

[0049] The input main shaft assembly includes an input synchronous pulley and an input main shaft. One end of the input main shaft passes through the second mounting hole on the first planetary swing arm assembly and the swing arm input synchronous pulley in the first planetary swing arm assembly respectively; at the same time, one end of the input main shaft continues to pass through the second mounting hole on the second planetary swing arm assembly and the swing arm input synchronous pulley in the second planetary swing arm assembly. The input main shaft is fixedly arranged with the swing arm input synchronous pulley in the first planetary swing arm assembly and the swing arm input synchronous pulley in the second planetary swing arm assembly respectively to drive the two synchronous pulleys to rotate synchronously. The input synchronous pulley is fixedly sleeved on the other end of the input main shaft to drive the input main shaft to rotate.

[0050] In this exemplary embodiment, the planetary swing arm wheel group structure may further include a wheel group support assembly. The wheel group support assembly is fixedly arranged on the first planetary swing arm wheel group and / or the second planetary swing arm wheel group. The wheel group support assembly can enable the planetary swing arm wheel group structure to be rotationally connected to the main frame of the mobile robot platform. Here, the wheel group support assembly may include a wheel group support and a swing arm mounting bracket. The swing arm mounting bracket is fixedly arranged on the housing of the first planetary swing arm wheel group and / or the second planetary swing arm wheel group. The wheel group support is sleeved on the swing arm mounting bracket and can rotate axially relative to the swing arm mounting bracket. The main frame of the mobile robot platform is fixedly connected to the wheel group support.

[0051] Further, the wheel group support assembly may further include a wheel group support bearing assembly. The wheel group support bearing assembly includes a support bearing spacer sleeve, a support bearing mounting cover and a support bearing. Among them, the support bearing spacer sleeve is sleeved on the swing arm mounting bracket. The support bearing is arranged inside the support bearing spacer sleeve and the wheel group support. The support bearing mounting cover closes the support bearing. For example, the support bearing spacer sleeve is sleeved on the input main shaft and one end is fixedly arranged on the housing of the first planetary swing arm assembly.

[0052] In this exemplary embodiment, the first planetary swing arm wheel group and the second planetary swing arm wheel group may further include a swing arm output shaft, a first swing arm output bearing, a second swing arm output bearing and a swing arm output bearing end cover.

[0053] Among them, one end of the swing arm output shaft is axially arranged in the swing arm output synchronous pulley. The other ends of the wheel shafts of the first wheel assembly and the second wheel assembly are rotationally connected to the first planetary swing arm wheel group and the second planetary swing arm wheel group through the swing arm output shaft. The swing arm output bearing end cover closes the end of the swing arm output shaft that is not connected to the wheel shaft.

[0054] In this exemplary embodiment, the first planetary swing arm wheel group and the second planetary swing arm wheel group may further include a swing arm wheel support shaft and a swing arm wheel support bearing assembly.

[0055] Among them, the swing arm wheel support shaft is arranged in the first mounting hole and fixedly connected to one end of the wheel rotating shafts of the first wheel assembly and the second wheel assembly that is not connected to the swing arm output shaft. The swing arm wheel support bearing assembly is sleeved on the swing arm wheel support shaft and acts on the first planetary swing arm wheel set and the second planetary swing arm wheel set. For example, the swing arm wheel support bearing assembly may include a first swing arm wheel support bearing, a second swing arm wheel support bearing, and a swing arm support bearing end cover. The first swing arm wheel support bearing is sleeved on the swing arm wheel support shaft and acts on the first swing arm bracket, and the second swing arm wheel support bearing is sleeved on the swing arm wheel support shaft and acts on the second swing arm bracket.

[0056] In this exemplary embodiment, the wheel rotating shaft may include a planetary gearbox and a wheel support bearing assembly. The planetary gearbox is axially arranged in the wheel, and the wheel support bearing assembly is arranged between the planetary gearbox and the wheel.

[0057] In this exemplary embodiment, the wheel rotating shaft may include a planetary gearbox, a wheel support bearing assembly, and a swing arm wheel road support bearing assembly. The planetary gearbox is axially arranged in the wheel, and the wheel support bearing assembly is arranged between the planetary gearbox and the wheel to fix the planetary gearbox and the wheel. Here, an installation hole for installing the planetary gearbox is axially arranged on the wheel, and the planetary gearbox is fixedly arranged in the installation hole.

[0058] Figure 1 The structural schematic diagram of the synchronous pulley input type planetary swing arm wheel set structure of an exemplary embodiment of the present invention is shown; Figure 2 Shows Figure 1 The cross-sectional view of.

[0059] In the second exemplary embodiment of the present invention, as Figure 1 And Figure 2 As shown in, the synchronous pulley input type planetary swing arm wheel set structure mainly includes an input main shaft assembly 1, a planetary swing arm assembly 3, and a wheel assembly 4. Among them, the planetary swing arm assembly 3 includes a first planetary swing arm assembly and a second planetary swing arm assembly, and the wheel assembly 4 includes a first wheel assembly and a second wheel assembly.

[0060] Among them, as Figure 2 As shown in, both the first planetary swing arm assembly and the second planetary swing arm assembly include a first swing arm bracket 301, a second swing arm bracket 302, a swing arm input synchronous pulley 303, a synchronous belt 304, and a swing arm output synchronous pulley 305.

[0061] Among them, the first swing arm bracket 301 and the second swing arm bracket 302 form a hollow shell. For example, the structures of the first swing arm bracket and the second swing arm bracket can be formed by cutting a strip-shaped box along the central axes of the upper and lower sides in the length direction, and the left and right ends of the shell can be arc-shaped curved surfaces. First mounting holes, second mounting holes, and third mounting holes penetrating through the first swing arm bracket 301 and the second swing arm bracket 302 are provided at the left end, middle, and right end of the shell. The swing arm input synchronous pulley 303, the synchronous belt 304, and the swing arm output synchronous pulley 305 are all arranged in the shell. Through holes are axially provided on both the swing arm input synchronous pulley 303 and the swing arm output synchronous pulley 305. Among them, the swing arm input synchronous pulley 303 is coaxially arranged with the second mounting hole and can rotate relative to the shell along the axis of the second mounting hole. The swing arm output synchronous pulley 305 is coaxially arranged with the third mounting hole and can rotate relative to the shell along the axis of the third mounting hole. The synchronous belt 304 is sleeved on the swing arm input synchronous pulley 303 and the swing arm output synchronous pulley 305 so that the swing arm output synchronous pulley 305 and the swing arm input synchronous pulley 303 rotate synchronously.

[0062] As Figure 1 and 2 shown in, the first planetary swing arm assembly and the second planetary swing arm assembly are arranged in parallel, so that the position of the first mounting hole of the first planetary swing arm assembly corresponds to the position of the third mounting hole of the second planetary swing arm assembly; the position of the third mounting hole of the first planetary swing arm assembly corresponds to the position of the first mounting hole of the second planetary swing arm; the position of the second mounting hole of the first planetary swing arm assembly corresponds to the position of the second mounting hole of the second planetary swing arm assembly.

[0063] As Figure 2 shown in, both the first wheel assembly and the second wheel assembly include a wheel 401 and a wheel rotating shaft. One end of the wheel rotating shaft of the first wheel assembly enters the first mounting hole on the first planetary swing arm assembly to form a shaft connection. The other end of the wheel rotating shaft of the first wheel assembly enters the third mounting hole on the second planetary swing arm assembly and is coaxially and fixedly connected to the swing arm output synchronous pulley in the second planetary swing arm assembly, and rotates together under the drive of the swing arm output synchronous pulley. Similarly, one end of the wheel rotating shaft of the second wheel assembly enters the third mounting hole on the second planetary swing arm assembly to form a shaft connection. And the other end of the wheel rotating shaft of the second wheel assembly enters the first mounting hole on the first planetary swing arm assembly and is coaxially and fixedly connected to the swing arm output synchronous pulley in the first planetary swing arm assembly, and rotates together under the drive of the swing arm output synchronous pulley.

[0064] As Figure 2As shown in the figure, the input main shaft assembly 1 includes an input synchronous pulley 101 and an input main shaft 102. One end of the input main shaft 102 passes through the second mounting hole on the first planetary swing arm assembly and the swing arm input synchronous pulley in the first planetary swing arm assembly respectively; at the same time, one end of the input main shaft 102 continues to pass through the second mounting hole on the second planetary swing arm assembly and the swing arm input synchronous pulley in the second planetary swing arm assembly. The input main shaft 102 passes through the opening on the swing arm input synchronous pulley 303 in the first planetary swing arm assembly and the swing arm input synchronous pulley 303 in the second planetary swing arm assembly respectively and is fixedly arranged with them so as to drive the two synchronous pulleys to rotate synchronously. The input synchronous pulley 101 is fixedly sleeved on the other end of the input main shaft to drive the input main shaft 102 to rotate. For example, the input synchronous pulley is driven to rotate by a power device so as to drive the input main shaft to rotate. Here, the input main shaft assembly 1 further includes a first main shaft end cover 103 and a second main shaft end cover 104. The first main shaft end cover 103 is arranged at the end of the end where the input main shaft 102 is connected to the input synchronous pulley 101. The second main shaft end cover 104 is arranged at the end of the end where the input main shaft 102 passes through the second mounting hole of the second planetary swing arm assembly. Here, the first main shaft end cover and the second main shaft end cover are provided to protect the rotating part of the main shaft and prevent the rotating part from being exposed and damaged.

[0065] In the present exemplary embodiment, as Figure 2 shown in the figure, the planetary swing arm wheel group structure may further include a wheel group support assembly 2. The wheel group support assembly 2 is fixedly arranged on the first planetary swing arm wheel group and / or the second planetary swing arm wheel group. The wheel group support assembly can enable the planetary swing arm wheel group structure to be rotationally connected to the main body frame of the mobile robot platform. Here, the wheel group support assembly 2 may include a wheel group support 201 and a swing arm mounting bracket 207. The swing arm mounting bracket 207 is fixedly arranged on the housing of the first planetary swing arm wheel group and / or the second planetary swing arm wheel group. The wheel group support 201 is sleeved on the swing arm mounting bracket 207 and can rotate relative to the swing arm mounting bracket 207 along its axial direction. The main body frame of the mobile robot platform is fixedly connected to the wheel group support 201.

[0066] Further, the wheel group support assembly 2 may further include a wheel group support bearing assembly. The wheel group support bearing assembly includes a support bearing spacer 203, a support bearing mounting cover 204 and a support bearing 202. Among them, the support bearing spacer 203 is sleeved on the swing arm mounting bracket 207. The support bearing 202 is arranged inside the support bearing spacer 203 and the wheel group support 201. The support bearing mounting cover 204 closes the support bearing 202. Further, as Figure 2 shown in the figure, the support bearing spacer 203 is sleeved on the input main shaft 102 and one end of it is fixedly arranged on the housing of the first planetary swing arm assembly. As Figure 2As shown in the figure, the wheel set bracket assembly 2 may further include a bracket support bearing assembly. The bracket support bearing assembly may include a bracket support bearing 205 and a bracket support bearing spacer 206. The bracket support bearing spacer 206 is sleeved on the input main shaft, and the bracket support bearing 205 is disposed between the bracket bearing spacer 203 and the bracket support bearing spacer 206.

[0067] In the present exemplary embodiment, as Figure 2 shown in the figure, the first planetary swing arm wheel set and the second planetary swing arm wheel set may further include a swing arm output shaft 309, a first swing arm output bearing 306, a second swing arm output bearing 307, and a swing arm output bearing end cover 308. Among them, one end of the swing arm output shaft 309 is axially disposed in the swing arm output synchronous pulley 305, and the other ends of the wheel shafts of the first wheel assembly and the second wheel assembly are rotationally connected to the third mounting holes on the first planetary swing arm wheel set and the second planetary swing arm wheel set through the swing arm output shaft 309. The swing arm output bearing end cover 308 closes the end of the swing arm output shaft 309 that is not connected to the wheel shaft.

[0068] In the present exemplary embodiment, as Figure 2 shown in the figure, the first planetary swing arm wheel set and the second planetary swing arm wheel set may further include a swing arm wheel support shaft 315 and a swing arm wheel support bearing assembly.

[0069] Among them, the swing arm wheel support shaft 315 is disposed in the first mounting hole and fixedly connected to the ends of the wheel shafts of the first wheel assembly and the second wheel assembly that are not connected to the swing arm output shaft 309. The swing arm wheel support bearing assembly is sleeved on the swing arm wheel support shaft 315 and acts on the first planetary swing arm wheel set and the second planetary swing arm wheel set. For example, the swing arm wheel support bearing assembly may include a first swing arm wheel support bearing 310, a second swing arm wheel support bearing 311, and a swing arm support bearing end cover 316. The first swing arm wheel support bearing 310 is sleeved on the swing arm wheel support shaft 315 and acts on the first swing arm bracket 301. The second swing arm wheel support bearing 311 is sleeved on the swing arm wheel support shaft 315 and acts on the second swing arm bracket 302.

[0070] In the present exemplary embodiment, as Figure 2 shown in the figure, the wheel shaft may include a planetary gearbox 402 and a wheel support bearing assembly. The planetary gearbox 402 is axially disposed in the wheel 401, and the wheel support bearing assembly is disposed between the planetary gearbox 402 and the wheel 401. Here, an installation hole for installing the planetary gearbox is axially provided on the wheel, and the planetary gearbox is fixedly disposed in the installation hole. The wheel support bearing assembly includes a wheel support bearing 403 and a wheel support bearing end cover 404.

[0071] Specifically, as Figure 1 and 2As shown in the figure, a pair of bracket bearings 202 are installed on the wheel set bracket 201. Axial positioning of the bearing group is achieved through the bracket bearing mounting cover 204 and the bracket bearing spacer 203. The swing arm mounting bracket 207 is installed within the bracket bearing 202. The bracket bearing mounting cover 204 is positioned and installed through the outer circle of the swing arm mounting bracket 207. The bracket support bearing 205 is installed on the swing arm mounting bracket 207, and the bracket support bearing spacer 206 functions to limit the axial position.

[0072] The first swing arm bracket 301 and the second swing arm bracket 302 combine to form the housing of the planetary swing arm. The swing arm input synchronous pulley 303, the synchronous belt 304, and the swing arm output synchronous pulley 305 form a belt drive for power transmission. The middle part of the planetary swing arm assembly 3 is installed on the input main shaft 102 through the swing arm input synchronous pulley 303, the first swing arm main shaft support bearing 313, and the second swing arm main shaft support bearing 314. The second swing arm main shaft support bearing 314 is installed at the stepped ends of the input main shaft 102, playing a positioning role in the installation of the planetary swing arm assembly 3. The swing arm output shaft 309 is installed at one end of the planetary swing arm assembly 3 through the first swing arm output bearing 306, the second swing arm output bearing 307, and the swing arm output bearing end cover 308. At the other end of the planetary swing arm assembly 3, the first swing arm wheel support bearing 310 and the second swing arm wheel support bearing 311 are installed for mounting the wheel assembly 4, and the swing arm support bearing spacer 312 functions to limit the axial position.

[0073] The wheel 401 is fixedly installed with the swing arm wheel support shaft 315. The output end of the planetary gearbox 402 is fixedly connected to the swing arm wheel support shaft 315 by screws. The wheel support bearing 403 is installed within the swing arm wheel support shaft 315 to support the housing of the planetary gearbox 402, and the wheel support bearing end cover 404 achieves axial limitation of the wheel support bearing 403. One end of the formed integral body is positioned and installed on the planetary swing arm assembly 3 through the input end of the planetary gearbox 402 and the swing arm output shaft 309. The other end is installed in the first swing arm wheel support bearing 310 and the second swing arm wheel support bearing 311 through the swing arm wheel support shaft 315, and axial limitation is achieved by screwing the swing arm support bearing end cover 316 and the swing arm wheel support shaft 315 tightly.

[0074] The planetary swing arm assembly 3, the wheel assembly 4, and the input main shaft 102 form an integral body. The formed integral body is fastened to the swing arm mounting bracket 207 by screws. The input main shaft 102 passes through the bracket support bearing 205, and axial positioning of the overall structure is achieved through the swing arm mounting bracket 207, the bracket bearing mounting cover 204, the bracket support bearing 205, the bracket bearing spacer 206, the first main shaft end cover 103, and the second main shaft end cover 104.

[0075] Among them, the input synchronous pulley 101 and the input main shaft 102 are connected by a flat key. The external power source realizes the overall power input through the input synchronous pulley 101. The power drives the input main shaft 102 to move. Through the swing arm input synchronous pulley 303, the synchronous belt 304 is transmitted to the swing arm output synchronous pulley 305, and then transmitted to the planetary gearbox 402 through the bearing and the swing arm output shaft 309, and finally transmitted to the wheel 401 through the swing arm wheel support shaft 315 and the wheel support bearing 403.

[0076] The first swing arm bracket 301 and the second swing arm bracket 302 can rotate freely around the input main shaft 102. The wheel assembly 4 is installed on the planetary swing arm assembly 3, so that the wheel 401 has the freedom to revolve around the input main shaft 102 during the rotation process, so that the overall structure has the ability to adjust the attitude according to the terrain.

[0077] In the third exemplary embodiment of the present invention, the mobile robot platform may include the synchronous pulley input type planetary swing arm wheel set structure as described in the above first or second exemplary embodiment.

[0078] In the present exemplary embodiment, the mobile robot platform can be driven by a motor. The motor is connected to the main shaft assembly to input power to make the first wheel assembly and the second wheel assembly become driving wheels for synchronous movement, realizing the function of driving the platform. This platform has the high mobility characteristics of a wheeled mobile platform, and the synchronous pulley input type planetary swing arm wheel set structure can realize the automatic adjustment of the wheel set attitude of the first wheel assembly and the second wheel assembly under the self-weight of the mobile robot platform to adapt to the terrain.

[0079] In the present exemplary embodiment, the mobile robot platform may include more than four groups of planetary swing arm wheel set structures distributed on the platform main body frame. The overall attitude of the mobile robot platform is adjusted through multiple groups of planetary swing arm wheel set structures to form multi-point contact with the terrain and enhance the obstacle-crossing stability of the mobile robot platform. For example, here, the mobile robot platform can cross obstacles below 0.8 times the diameter of the wheels of the obstacle-crossing swing arm wheel set structure, can continuously climb slopes or cross obstacles, and can climb over slopes with a slope of less than 50°.

[0080] Currently, traditional wheeled structures, tracked structures, and legged structure mobile robots on the market all have problems such as limited adaptability, relatively complex maintenance of the tracked system and low stability, and slow movement efficiency on complex terrains. In addition, a combined structure with both the high mobility of a wheeled structure and the discrete crossing performance of a legged structure requires active attitude adjustment for each joint of the four sets of support leg wheel frames distributed at the four corners of the vehicle body when crossing stairs or high platforms. There are too many adjustment parameters and the process is too complex, which also limits its movement efficiency on complex terrains and restricts its popular application.

[0081] The mobile robot platform of the present application can overcome obstacles with a diameter less than 0.8 times that of the obstacle-crossing swing arm wheel, and at the same time can achieve continuous climbing or obstacle crossing, and can climb slopes below 50°. At the same time, the ground conditions of the detection site do not need to be processed by the platform robot. Through the arrangement of multiple groups of structures, the overall attitude of the platform can be adjusted, and a multi-point contact terrain can be formed, enhancing the obstacle-crossing stability of the mobile platform, further protecting the carried sensing equipment, and having better motion stability.

[0082] In summary, the beneficial effects of the present invention include at least one of the following:

[0083] (1) The present invention provides a synchronous pulley input planetary swing arm wheel set structure. The adopted synchronous pulley input planetary swing arm wheel set structure has a much greater adjustment ability than that of ordinary suspended wheels, can better adapt to complex terrains, and the wheeled structure has a higher motion efficiency compared with tracked or legged structures;

[0084] (2) The present invention provides a mobile robot platform. By distributing more than four groups of synchronous pulley input planetary swing arm wheel set structures on the platform main frame of the mobile robot platform, it can enter places such as oil and gas gathering stations, drilling sites, and treatment plants to carry out inspection tasks, and the ground conditions of the detection sites do not need to be processed;

[0085] (3) Through the arrangement of multiple groups of structures, the mobile robot platform can achieve the overall attitude adjustment of the platform, and can form a multi-point contact terrain, enhancing the obstacle-crossing stability of the mobile platform, further protecting the carried sensing equipment, and having better motion stability;

[0086] (4) The mobile robot platform can overcome obstacles with a diameter less than 0.8 times that of the obstacle-crossing swing arm wheel, and at the same time can achieve continuous climbing or obstacle crossing, and can climb slopes below 50°.

[0087] Although the present invention has been described above in conjunction with exemplary embodiments and the accompanying drawings, those of ordinary skill in the art should understand that various modifications can be made to the above embodiments without departing from the spirit and scope of the claims.

Claims

1. A synchronous pulley input type planetary swing arm wheel set structure, characterized in that, the planetary swing arm wheel set structure includes an input main shaft assembly, a first planetary swing arm assembly, a second planetary swing arm assembly, a first wheel assembly and a second wheel assembly, wherein, both the first planetary swing arm assembly and the second planetary swing arm assembly include a first swing arm bracket, a second swing arm bracket, a swing arm input synchronous pulley, a synchronous belt and a swing arm output synchronous pulley, wherein, the first swing arm bracket and the second swing arm bracket form a hollow shell, and a first mounting hole, a second mounting hole and a third mounting hole penetrating the shell are provided on the shell. The swing arm input synchronous pulley, the synchronous belt and the swing arm output synchronous pulley are all arranged in the shell, and the swing arm input synchronous pulley is coaxially arranged with the second mounting hole, the swing arm output synchronous pulley is coaxially arranged with the third mounting hole, and the synchronous belt is sleeved on the swing arm input synchronous pulley and the swing arm output synchronous pulley; the first planetary swing arm assembly and the second planetary swing arm assembly are arranged in parallel, and the first mounting hole and the third mounting hole on the first planetary swing arm assembly correspond to the third mounting hole and the first mounting hole on the second planetary swing arm assembly respectively; both the first wheel assembly and the second wheel assembly include a wheel and a wheel rotating shaft. One end of the wheel rotating shaft of the first wheel assembly and the second wheel assembly enters the first mounting hole, and the other end enters the third mounting hole and is coaxially and fixedly arranged with the swing arm output synchronous pulley; the input main shaft assembly includes an input synchronous pulley and an input main shaft. One end of the input main shaft passes through the second mounting holes on the first planetary swing arm assembly and the second planetary swing arm assembly respectively and is coaxially and fixedly arranged with the swing arm input synchronous pulley in the first planetary swing arm assembly and the second planetary swing arm assembly; the input synchronous pulley is sleeved on the other end of the input main shaft and fixedly arranged; the first planetary swing arm assembly and the second planetary swing arm assembly further include a swing arm output shaft; one end of the swing arm output shaft is axially arranged in the swing arm output synchronous pulley, and the other ends of the wheel rotating shafts of the first wheel assembly and the second wheel assembly are rotationally connected to the third mounting holes on the first planetary swing arm assembly and the second planetary swing arm assembly through the swing arm output shaft; one end of the swing arm output shaft passes through the swing arm output synchronous pulley and is fixedly connected to the swing arm output synchronous pulley, and the other end is fixedly connected to the wheel rotating shafts of the first wheel assembly and the second wheel assembly; the first planetary swing arm assembly and the second planetary swing arm assembly further include a swing arm wheel support shaft and a swing arm wheel support bearing assembly, wherein, the swing arm wheel support shaft is arranged in the first mounting hole and is fixedly connected to the wheel rotating shafts of the first wheel assembly and the second wheel assembly; the swing arm wheel support bearing assembly is sleeved on the swing arm wheel support shaft and acts on the first planetary swing arm assembly and the second planetary swing arm assembly; the wheel rotating shaft includes a planetary gear box and a wheel support bearing assembly. The planetary gear box is axially arranged in the wheel, and the wheel support bearing assembly is arranged between the planetary gear box and the wheel; the first swing arm bracket and the second swing arm bracket can rotate freely around the input main shaft.

2. The synchronous pulley input type planetary swing arm wheel set structure according to claim 1, It is characterized in that the planetary swing arm wheel set structure further includes a wheel set support assembly, the wheel set support assembly is fixedly arranged on the first planetary swing arm assembly and / or the second planetary swing arm assembly, and the wheel set support assembly can rotatably connect the planetary swing arm wheel set structure with the main frame of the mobile robot platform.

3. The synchronous belt wheel input type planetary swing arm wheel set structure according to claim 2 It is characterized in that the wheel set support assembly includes a wheel set support and a swing arm mounting bracket, the swing arm mounting bracket is fixedly arranged on the housing of the first planetary swing arm assembly and / or the second planetary swing arm assembly, and the wheel set support is sleeved on the swing arm mounting bracket and can rotate relative to the swing arm mounting bracket along its axial direction.

4. The synchronous belt wheel input type planetary swing arm wheel set structure according to claim 3 It is characterized in that the wheel set support assembly further includes a wheel set support bearing assembly, the wheel set support bearing assembly includes a support bearing spacer sleeve, a support bearing mounting cover and a support bearing, wherein the support bearing spacer sleeve is sleeved on the swing arm mounting bracket, the support bearing is arranged inside the support bearing spacer sleeve and the wheel set support, and the support bearing mounting cover seals the support bearing.

5. The synchronous belt wheel input type planetary swing arm wheel set structure according to claim 4 It is characterized in that the support bearing spacer sleeve is sleeved on the input main shaft and one end is fixedly arranged on the housing of the first planetary swing arm assembly.

6. The synchronous belt wheel input type planetary swing arm wheel set structure according to claim 1 It is characterized in that the first planetary swing arm assembly and the second planetary swing arm assembly further include a swing arm output bearing assembly, the swing arm output bearing assembly includes a swing arm output bearing end cover, and the swing arm output bearing end cover seals one end of the swing arm output shaft that is not connected to the wheel rotating shaft.

7. The synchronous belt wheel input type planetary swing arm wheel set structure according to claim 6 It is characterized in that the swing arm output bearing assembly includes a first swing arm output bearing and a second swing arm output bearing, wherein the first swing arm output bearing and the second swing arm output bearing are respectively located on both sides of the swing arm output synchronous belt wheel, the first step swing arm output bearing is sleeved on the swing arm output shaft and acts on the first swing arm support, and the second swing arm output bearing is sleeved on the swing arm output shaft and acts on the second swing arm support; the swing arm output bearing end cover seals the first swing arm output bearing.

8. A mobile robot platform It is characterized in that the mobile robot platform includes the synchronous belt wheel input type planetary swing arm wheel set structure according to any one of claims 1 to 7.

9. The mobile robot platform according to claim 8 It is characterized in that the mobile robot platform can cross obstacles with a height less than 0.8 times the diameter of the wheels of the planetary swing arm wheel set structure, can continuously climb slopes or cross obstacles, and can climb over slopes with a gradient of less than 50°.

10. The mobile robot platform according to claim 8 It is characterized in that The mobile robot platform is driven by a motor. The motor is connected to an input main shaft assembly to input power, making the first wheel assembly and the second wheel assembly become driving wheels for synchronous movement, realizing the function of driving the platform. This platform has the high mobility characteristics of a wheeled mobile platform, and the synchronous pulley input planetary swing arm wheel set structure can automatically adjust the wheel set attitude of the first wheel assembly and the second wheel assembly under the self-weight of the mobile robot platform to adapt to the terrain.

11. The mobile robot platform according to claim 8, wherein, the mobile robot platform includes more than four groups of planetary swing arm wheel set structures distributed on the platform main body frame. The overall attitude adjustment of the mobile robot platform is realized through multiple groups of planetary swing arm wheel set structures, forming multi-point contact with the terrain and enhancing the obstacle-crossing stability of the mobile robot platform.

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