3490 四履带搜救机器人机械结构设计—行星减速器设计
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3490
四履带搜救机器人机械结构设计—行星减速器设计
履带
搜救
机器人
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结构设计
行星减速器
设计
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3490 四履带搜救机器人机械结构设计—行星减速器设计,3490,四履带搜救机器人机械结构设计—行星减速器设计,履带,搜救,机器人,机械,结构设计,行星减速器,设计
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Mobile platform of rocker-type coalmine rescue robotLI Yun wang *, GE Shirong, ZHU Hua, FANG Haifang, GAO JinkeSchool of Mechanical and Electrical Engineering, China University of Mining & Technology, Xuzhou 221008, ChinaAbstract: After a coal mine disaster, especially a gas and coal dust explosion, the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle-surmounting performance and explosion-proof capability. For this type of environment, we designed a mobile platform for a rocker-type coal mine rescue robot with four independent drive wheels. The composition and operational principles of the mobile platform are introduced, we discuss the flameproof design of the rocker assembly, as well as the operational principles and mechanical structure of the bevel gear differential and the main parameters are provided. Motion simulation of the differential function and condition of the robot running on virtual, uneven terrain is carried out with ADAMS. The simulation results show that the differential device can maintain the main body of the robot at an average angle between two rockers. The robot model has good operating performance. Experiments on terrain adaptability and surmounting obstacle performance of the robot prototype have been carried out. The results indicate that the prototype has good terrain adaptability and strong obstacle-surmounting performance.Keywords: coal mine; rescue robot; rocker suspension; differential; explosion-proof design1 Introduction In the rescue mission of a gas and coal dust explosion ,rescuers easily get poisoned in underground coal mines full of toxic gases, such as high-concentrationCH4 and CO, if ventilation and protection are not up to snuff. Furthermore, secondary or multiple gas explosions may be caused by extremely unstable gases after such a disaster and may cause casualties among the rescuers 1. Therefore, in order to perform rescue missions successfully, in good time and decrease casualties, it is necessary to develop coal mine rescue robots. They are then sent to enter the disaster area instead of rescuers and carry out tasks of environmental detection, searching for wounded miners and victims after the disaster has occurred. The primary task of the robots in rescue work is to enter the disaster area. It is difficult for robots to move into restricted spaces and unstructured underground terrain, so these mobile systems require good obstacle-surmounting performance and motion performance in this rugged environment 2. The application of some sensors used for terrain identification are severely restricted by low visibility and surroundings full of explosive gas and dust; hence, a putative mobile system should, as much as possible, be independent from sensing and control systems3. Studies of coal mine rescue robots are just beginning at home and abroad. Most robot prototypes are simple wheel type and track robots. The mine exploration robot RATLER, developed by the Intelligent Systems and Robotics Center (ISRC) of Sandia National Laboratories, uses a wheel type mobile system 4. The Carnegie Mellon University Robot Research Center developed an autonomous mine exploration robot, called “groundhog 5. Both the mine rescue robot V2 produced by the American Remote Company and the mine search and rescue robot CUMT developed by China University of Mining and Technology, use a two-track fixed type moving system6-7. These four prototypes are severely limited in underground coal mines. Rocker type robots have demonstrated good performance on complex terrain. All three Mars rovers, i.e., Sojourner, Spirit and Opportunity used mobile systems with six independent drive wheels8-9. Rocker-Bogie, developed by the American JPL laboratory has landed successfully on Mars. The SRR robot from the JPL laboratory with four independent drive and steering wheels consists of a moving rocker assembly system, similar to the four wheel-drive SR2 developed by the University of Oklahoma, USA 10. Both tests and practical experience have shown that this type of system has good motion performance, can adapt passively to uneven terrain, possesses the ability of self-adaptation and performs well in surmounting obstacles. Given the unstructured underground terrain environment and an atmosphere of explosive gases, we investigated a coalmine rescue robot with four independent drive wheels and an explosion-proof design, based on a rocker assembly structure. We introduce the composition and operational principles of this mobile system, discuss the design method of its rocker assembly and differential device and carried out motion simulation of the kinematic performance of the robot with ADAMS, a computer software package. In the end, we tested the terrain adaptability and performance of the prototype in surmounting obstacles.2 Mobile platform 11-12 As shown in Fig. 1, the mobile platform of the rocker-type four-wheel coal mine rescue robot includes a main body, a gear-type differential device, two rocker suspensions and four wheels. The shell of the differential device is attached to the interior of the main body. The two extended shafts of the differential device are supported by the axle seats in the lateral plate of the main body and connected to the rocker suspensions installed at both sides of the main body. The four wheels are separately connected to the bevel gear transmission at the terminal of the four landing legs. The four wheels are independently driven by a DC motor, installed inside the landing legs of the rocker suspension. A flameproof design ofthe legs has been developed, which includes a flameproof motor cavity and a flameproof connection cavity. Via a cable entry device, the power and control cables of the DC motor are connected to the power and controller of the main body. 2.1 Rocker suspension2.1.1 FunctionThe primary role of the rocker suspension is to provide the mobile platform with a mobile system that can adapt to the unstructured underground terrain, such as rails, steps, ditches and deposit of rock and coal dumps because of the collapse of the tunnel roof after a disaster. By connecting the differential device intermediate between the two rocker suspensions, the four drive wheels can touch the uneven ground passively and the wheels can bear the average load of the robot so that it is able to cross soft terrain. The wheels can supply enough propulsion, which allows the robot to surmount obstacles and pass through uneven terrain.2.1.2 StructureAs shown in Fig. 1, the rocker suspension is composed of a connecting block, landing legs and bevel gear transmissions. The angle between the landing legs on each side of the main body is carefully calibrated. The legs are connected to the connecting block and the terminals, which in turn are connected to the bevel gear transmissions. Fig. 2 illustrates the structure of the landing leg. It is divided into an upper and a bottom section. The bottom section is cylindrical. The DC motor is in the leg and fixed to the connecting cylinder. The motor shaft connects to the bevel gear transmission and the wheel is also connected to the transmission. The upper section has a blind center hole through witch a connection is formed to the bottom section, via a connection cavity. Through the cable entry device of the upper section, the motor power and control cable from the main body of the robot are put into the connection cavity and connect to the wiring terminals which, in turn, connect to the guidance wires in the wire holder. Another end of the guidance wires connects to the motor in the bottom section.2.1.3 Flameproof designA coal mine environment is full of explosive gases; hence, a rescue robot must be designed to be flameproof. The DC motors, for driving each wheel, are installed in the landing legs of the rocker suspensions. At the present low-powered DC motors, available in the market, are of a standard design and not flameproof, hence a flameproof structure for these motors must be designed. Given the structural features of the rocker suspension, it is very much necessary that a flameproof design for the landing legs be carried out. There are two important points to be considered in this flameproof design. First, a flameproof cavity is needed, in which the standard DC motor is installed. Given the flameproof design requirements, a group of flameproof joints should be formed between the motor shaft and the shaft hole. Generally, the motor shaft made by the manufacturer is too short to comply with the requirement of flameproof joints, so the motor shaft needs to be extended. Second, a flameproof connection cavity should be designed to lead the c a- Fig. 1 Rocker-type four-wheel mobile platform Main body Rocker suspension Landing leg Wheel Rocker suspension Connecting block Differential device Bevel gear transmission Axle seat Upper section Wire holder Bottom section DC motor Flameproof joints Flameproof joints Bevel gear transmission Connecting cylinder Shaft sleeve Wheel Cable entry into the connection cavity through a flameproof cable entry device. DC motors, especially brush DC motors, may generate sparks in normal running and when the motor load is high, the working current may be more than 5 A, which exceeds the current limit in Appendix C2 of the National Standard GB3836.2- 2000 of China. Therefore, the motor power and control cable cannot be directly in the connection cavity。 Given these requirements, the landing legs have been designed as flameproof units, as shown in Fig. 2. An elongated shaft sleeve has been assembled from the motor shaft, with the same inside radius as that of the motor shaft and this is how the motor shaft is extended. The front flange of the motor is fixed to the intermediate plate of the connecting cylinder. The motor shaft with the shaft sleeve passes through the center hole embedded with a brass bush and then connects to the input gear of the bevel gear transmission at the end of the bottom section of the landing leg. Therefore, flameproof joints are formed between the motor shaft and the shaft sleeve, as well as between the shaft sleeve and the brass bush. The terminal of the bottom section of the leg connects to the connecting cylinder and a flameproof joint is formed between the external cylindrical surface of the terminal and the inner cylinder surface of the connecting cylinder. There is also a flameproof connection cavity in the upper section of the leg. In order to save space, the guidance wire is sealed together with the wire holder using a sealant. The seat of the guide wire is installed in the hole of the upper section of the landing leg. Another flameproof joint is formed between the wire holder and the hole. The cavity of the upper section connects to the rabbet structure of the bottom section, with yet another flameproof joint. There is a flameproof cable entry device at the end of the upper section of the landing leg. Hence, a flameproof connection cavity is formed in the upper section of the leg. Based on the structure described, the standard DC motor was installed in the flameproof cavity of the bottom section of the leg. The power and control cables of the motor connect to the flameproof connection cavity of its upper section through a wire holder. Moreover, the cable from the flameproof main body of the robot connects to the connection cavity via the flameproof cable entry device. Thus, the flameproof design of the landing leg of the rocker suspensionsection was completed.2.2 Differential device13-152.2.1 Characteristics of the differential mechanism The differential mechanism of a rocker-type robot is a motion transfer mechanism with two degrees of freedom, which can transform the two rotating inputs into a rotating output. The output is the linear mean values of the two inputs. If we let 1 and 2 be two angular velocity inputs, the angular velocity Two rotational input components connect to the left and the right rocker suspension of the robot and the output component connects to the main body of the robot. In this way, the swing angles of the left and right rocker suspensions are averaged by the differential mechanism and the mean value, transformed into the swing angle (pitching angle) of the main body, is the output. It is effective in decreasing the swing of the main body and thus reduces the terrain effect. Taking the main swing angle of the main body as input and the swing angles of the left and the right rocker suspension as outputs, the rotational input is decomposed into two different rotational outputs. If the output is the mean value of two inputs, it is helpful to allocate the average weight of the body to each wheel which can adjust its position passively alone in the terrain. Given the characteristics and operating requirements of differential mechanisms, a bevel gear type differential mechanism has been designed. We have analyzed the working principle of the bevel gear differential mechanism and present its detailed structural design.2.2.2 Principle of the bevel gear differential mechanism Fig. 3 shows the schematic diagram of the bevel gear differential mechanism. Two semi-axle bevel gears 1 and 2 mesh with the planetary bevel gear 3 orthogonally. Carrier H connects to planetary bevel gear 3 coaxially. Let the angular velocities of gears 1,It can clearly be seen that this bevel gear differential mechanism can be used in the rocker-type mobile robot.2.2.3 Bevel gear differential device Given the above principle of a bevel gear differential mechanism, we designed such a bevel gear differential device, shown in Fig. 4. Fig. 4a is the outline of the differential device, and Fig. 4 bitsinte rnalstructure . This bevel gear differential device is composed of a shell, end covers, an axle base, semi-axle bevel gears, planetary bevel gears, a connecting shaft, etc. The end covers and axle beds connect to the shell by screws. In the shell, two planetary bevel gears are coaxial and symmetrically installed at the connecting shaft, with the shaft terminals supported at the end covers. There are bearings between the connecting shaft and bevel gears. The circlips are installed on the connecting shaft to limit the load on the bearings. Two semi-axle bevel gears are housed in the two axle beds separately, two axle beds are fixed on the shell symmetrically and two semi-axle bevel gears mesh with two planetary bevel gears orthogonally. The twoaxle bases have the same structure. The semi-axle bevel gears are located by the bearings, shaft sleeve and circlips in the axle beds. When the differential device is installed on the robot, the two axles of the left and right semi-axle bevel gears are connected to the left and right rockers. The shell of the differential is fixed on the main body of the robot.3 Mobile platform Test3.1 Simulation test Accurate, simulated 3D model of the robot was imported into the ADAMS software. Using the kinematic pairs in the joints database of the ADAMS/View, the movement of each part of the simulation model is constrained. For simulating the differential action of differential devices acting on the robot body, a revolute joint between the left and right rockers of the model and the “Ground” is established. Random moments of forces are exerted to the left and right rockers to simulate the rough action of the terrain on the rockers. For simulating the movements of the differential device accurately, contact forces are exerted to the pair of gears of the differential device. After corresponding marker points on the robot areestablished, the swinging angles of the left and right rockers and the robot body are measured and the curves of the swinging angles along with the time are obtained via the ADAMS/Post processor module, shown in Fig. 6. Curves 1 and 2 are swing angle curves of the two rockers, while curve 3 is the swing angle curve of the main body. The bevel gear differential device can average the swing angles of the right and left rockers, and the average value is the swing angle of the main body. The gap between two teeth and other factors cause the return difference of the gear drive, so when the main body is swinging at the early start-up and through the zero angle, there is a slight swinging angle deviation between the simulated and theoretical values. Typical steps, channels, slopes and other complex terrain models are built in the Solid Works software. For testing the traffic ability characteristics and ride comfort of the four wheel robot, all-terrains models are imported into the ADAMS software16-17. Then the joints and restraints are rebuilt, Contact Force between the terrain and the wheels is exerted and torque is exerted to each wheel. The running condition of the robot is simulated on the complex terrain, as shown in Fig. 7a. The vertical displacement, velocity and acceleration curves of the centroid of the body and the centers of the four wheels can be obtained, as shown in Figs. 7b7d. According to the curves, the curve of the centroid displacement of the main body (main body d curve) is very smooth and the velocity and acceleration of the main body is approximately the mean of that of the four wheels. The simulation results show that the mobile platform of the robot has good trafficability and rides comfortably on the complex terrain.3.2 Prototype test In order to verify the performance of the robot in surmounting obstacles and adapting to a complex terrain, an obstacle-surmounting test of the robot was carried out on a simple obstacle course built in the laboratory and on a complex outdoor terrain bestrewn with messy bricks and stones. Fig. 8 shows the video image of the robot when moving on the complex terrain. The tests indicate that the four drive wheels of the robot can passively keep contact with the uneven ground and the robot performed well in surmounting obstacles. When moving on uneven ground, the swing angle of the main body was small and the differential device could effectively reduce the effect ofthe changing terrain to the main body. One side of the robot can cross a 260 mm-high obstacle. Only large obstacles between the landing legs of the rockers appear to block progress. The performance in surmounting obstacles by the four wheels of the robots is clearly better than that of a track-type robot of the same size.4 Conclusions1) Coal mine accidents, especially gas and coal dust explosions, occur frequently. Therefore, it is necessary to investigate and develop coal mine rescue robots that can be sent into mine disaster areas to carry out tasks of environmental detection and rescue missions after disasters have occurred, instead ofsending rescuers which might become exposed to danger.2) An underground coal mine environment presents a space-restricted, unstructured terrain environment, with a likely explosive gas atmosphere after a disaster. Hence, any mobile system would require a high motion performance and obstacle-surmounting performance on complex terrain.3) Given an unstructured underground terrain environment and an explosive atmosphere, we investigated an explosion-proof coal mine rescue robot with four independent drive wheels, based on a rocker type structure. Our simulation and test results indicate that the robot performs satisfactorily, can passively adapt to uneven terrain, is self-adaptive and performs well in surmounting obstacles.4) In our study, we only investigated the rocker type mobile platform of a coal mine rescue robot. In order to adapt to the underground coal mine environment, we also carried out a flameproof design for the main body. It was necessary to improve the rocker suspensions in order for the robot to be able to adjust the angle between two landing legs automatically, sothat the height of the center of gravity of the robot can be controlled, which should improve the anti-rollover performance of the robot.Acknowledgements The authors thank the National Hi-tech Research and Development Program of China for its financial support (No.2006AA04Z208).References1 Peng G J. Elementary discussion on the gist and difficultyof technology in processing gas explosion. Safety in Coal Mines, 2004, 11: 29-30. (In Chinese)2 Xu S F. Applied prospect of the industry robot in mining.Safety in Coal Mines, 1993, 1: 28-31. (In Chinese)3 Hao J F, Pan W, Li X. Recognition of work space usingmultiple ultrasonic sensor. Journal of China Universityof Mining & Technology, 2000, 29(4): 373-376. (In Chinese)4 Krotkov E, Bares J, Katragadda L, Simmons R and Whittaker R. Lunar rover technology demonstrations with dante and ratler. 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Gear-type differential mechanismsfor rocker-type mobile robots. Robot, 2009, 31(3): 235-241. (In Chinese)16 Tong G. Study on Simulation Platform of Lunar Rover Based on ADAMS Master dissertation. Changchun: Jilin University, 2007. (In Chinese)17 Shang J Z, Luo Z R, Zhang X F. Two kinds of wheeled lunar rover suspension scheme & their virtual prototype simulation. China Mechanical Engineering, 2006, 17(1):49-52. (In Chinese) 移动平台rocker-type煤矿的救援机器人 （中国矿业大学机械与电气工程系，中国徐州221008） 摘要：在煤矿灾害,特别是一个气体和煤尘爆炸事故,space-restricted和非结构化的地下地形易爆气体需要救援机器人具有良好煤矿obstacle-surmounting性能和防爆能力。在这种类型的环境,我们设计了一个移动平台救援机器人rocker-type煤矿四个独立驱动轮。其组成及工作原理,介绍了移动平台,我们讨论的防火设计摇臂总成,以及工作原理和机械结构的微分和锥齿轮主要参数提供参考。微分运动仿真机器人的功能和状态运行在虚拟的,非平坦地形下的现象进行了ADAMS。仿真结果表明,所提出的微分装置能够维持的主体之间的夹角机器人在平均两个摇滚。机器人模型具有很好的操作性能。实验、超越障碍地形适应性的性能进行了机器人原型。结果表明该模型具有良好的适应性和强大的obstacle-surmounting地形的性能。 关键词：煤矿,救援机器人;悬架摇臂,微分,防爆设计1. 简介 在救援任务的气体和煤尘爆炸,救援人员很容易中毒煤矿井下充满有毒的气体,如high-concentrationCH4和CO,如果通风和保护不符合标准。此外,二次或多个气体爆炸可能是由于极不稳定的气体在这样的一个灾难,也可能会造成人员伤亡在救援人员1。因此,为了成功执行救援任务,在适当的时间,减少人员伤亡,这是必要的,以开发煤矿救援的机器人。然后他们被送到进入灾区,而不是救援者和执行下一个任务的环境检测,寻找受伤的矿工和受害者在这场灾难之后发生。机器人的首要任务是在营救工作进入灾区。很难进入受限空间机器人和非结构化的地下的地形,所以这些移动通信系统需要进行良好的obstacle-surmounting性能和运动性能在这崎岖的环境2。使用传感器用于地形识别低能见度严格限制和环境充满了爆炸性气体和尘埃;因此,所谓的移动电话系统应当尽可能地,独立于传感和控制系统3。 在国内还是在国外研究煤矿的救援机器人是刚刚开始。大多数机器人原型是简单类型和轨道轮机器人。RATLER矿山勘探机器人开发的智能系统和机器人学中心(ISRC)的美国山迪亚国家实验室,使用一个车轮式移动系统4。卡内基梅隆大学的机器人研究中心自主机器人开发矿藏的开采,被称为“鼠”5。煤矿救灾机器人都产生了由美国偏远V2公司和矿井搜救机器人CUMT中国矿业大学开发的技术,使用一个two-track固定式系统7移动。这四个原型是煤矿井下严重限制。摇杆式机器人在复杂的地形具有良好的性能。所有三个火星布莱克本,也就是说,寄居的,精神号与机会使用移动系统有六个独立驱动轮(8 - 9。Rocker-Bogie、发达的由美国领导的实验室成功登陆在火星上。这个SRR机器人实验室有四个独立传动领导与方向盘包括一个移动摇杆装配系统,类似于四wheel-drive所研制开发的SR2俄克拉荷马大学、美国10。两个测试和实践经验表明,这种类型的系统具有良好的运动性能,能适应对非平坦地形下的被动,拥有的能力,具有良好的适应性和超越的障碍。给非结构化的地下地形环境和一个爆炸性气体环境的气氛,我们研究了煤矿四个独立救援机器人驱动轮和一个防爆设计,基于摇臂总成结构。介绍了构成和经营原则的移动电话系统,讨论了其设计方法和微分装置及摇臂总成进行运动仿真的机器人运动学性能的亚当斯,计算机软件。最后,我们测试了地形适应性和性能的一个原型在克服的障碍。2. 移动平台 如图1、移动平台的四轮煤矿rocker-type救援机器人包括主体,一个gear-type微分装置,二,四个轮子摇臂禁赛。外壳微分的设备被连接到内地的主体。这两个扩展微分装置轴支撑轴侧板的席位的主体和连接到摇滚的悬架安装在双方的主体。四个轮子的分别连接到齿轮传动在终端上显示的四个着陆的腿。四个轮子是由一个直流电机驱动的独立,内安装腿悬架摇臂着陆。一个防爆设计腿,开发研制了包括矿用隔爆型电机腔和防爆连接腔。通过一个出线的设备,电源和控制电缆的直流电机和控制器连接到电源的主体。2.1摇臂悬挂2.1.1功能最首要的任务是提供摇臂悬架动平台与移动通信系统能够适应残缺渣油地下的地形,如扶手、步骤、沟渠和存款的岩石和煤的崩溃将因为灾后隧道屋顶。通过与微分装置中间两个摇臂停赛,这四个驱动轮能触及不平的地面被动地和车轮,能忍受平均负荷的机器人,所以这是能够跨柔软的地形。车轮可提供足够的推进,它可以让机器人去超越、通过非平坦地形下的障碍。2.1.2结构 如图1、摇臂悬架系统是由一个连接块、降落的腿和锥齿轮的变速器。着陆腿之间的角度两边的主体是精心校正。腿被连接到连接块和终端,依次是相互关联的对齿轮变速器。图2说明了结构的着陆的腿。它分为上、下一个部分。圆柱形底部部分。直流电机的腿和固定连接钢瓶。电机轴锥齿轮传动连接,轮子也与传输。上面的部分有一个盲目的中心孔,通过女巫连接部分形成底部,通过连接腔。通过电缆进入上层设备,电机电源和控制电缆,从主体的机器人被放进连接腔和连接线路终端,反过来,连接到指导根电线在电线持有人。另一端的电线连接到电机的指导在底部的部分。2.1.3防爆设计煤矿环境充满了爆炸性气体环境;因此,救援机器人必须设计为隔爆型。直流电机、驱动每轮,安装在降落的脚、摇臂停赛。目前low-powered直流电机,可在市场,是一个标准的设计,而不是防爆,于是一个防火结构,这些电机必须设计。给定的结构特征摇臂悬架,它是非常必要的,一个防火设计进行降落的腿。 有两个重要的方面应该考虑防爆设计。首先,防爆腔是必要的,在标准直流电机安装。给防爆设计要求,一群隔爆型接头都要之间形成的马达轴轴洞。一般来说,电机轴的生产厂家太短,符合防火关节的要求,所以电机轴的需要被扩展。其次,防爆连接型腔设计应引导-图1 Rocker-type四轮移动平台主体摇臂悬架着陆腿轮摇臂连接块微分装置悬挂锥齿轮传动轴座位下节线持有人上层防火防爆关节直流电机螺旋伞齿轮传动滚筒轴电缆连接套筒轮进入连接腔通过隔爆型电缆入口装置。直流电机,尤其是刷直流电机、可能产生的火花,在正常运行和电机负荷高、工作电流可能超过5，这超过了限流在附录C2的GB3836.2 - 2000国家标准。因此,马达权力和控制电缆不能直接在连接腔。鉴于这些要求,登陆腿就一直设计为隔爆型单位,显示在图2。一个细长轴袖已经装配从电机轴的一样,有着同样的半径内的电机轴和电机轴就是这样,是延长服务时间。前面的法兰固定电机的中间板连接钢瓶。这电机轴通过中心孔套筒内含铜布什,然后连接到输入的锥齿轮传动齿轮尽头的最后一部分降落的腿。因此,隔爆型关节之间形成的马达轴,套,以及之间轴套筒。终端的底部分连接缸和防爆关节之间形成的外部圆柱水陆码头的表面和内部连接钢瓶。 也有一种矿用隔爆型连接洞的上层的腿。为了节省空间,引导线是密封在一起用钢支架使用密封。导线的座位安装在上层的孔的着陆的腿。另一个防爆关节之间形成的线架、洞里。体腔内连接rabbet上层结构底部部分,与另一个隔爆型接头。有一个防爆电缆入口装置上层结束的着陆的腿。因此,隔爆型连接形成的空腔的上层的腿。基于此结构描述,是标准的直流电机安装在防爆腔的下节腿。电源和控制电缆的连接到矿用隔爆型电机连接腔的上级部门通过导线架。此外,电缆,从防火主体机器人的腔连接通过隔爆型电缆入口装置。因此,防火设计的着陆站的摇滚悬挂部分已经完成。2.2微分装置2.2.1差动机构的特点rocker-type鉴别机制的机器人是运动传递机制两个自由度,可以把两个旋转输入到一个旋转的输出。输出线性的平均值的两个输入。如果我们让两角速度输入1 和2 、角速度。输入两个转角和一个输出角。既得如下公式 两个旋转输入组件连接摇臂左翼和右翼的暂停机器人与输出构件连接到主体的机器人。以这种方式,摆动的左和右摇杆禁赛的平均差动机构和均值、转化摆动角度(俯仰角)的主体,是输出。它能有效的减少的摇摆,从而降低主体地形效果。以主要主体的摆动角度作为输入,的摆动摇臂左翼和右翼的禁赛处罚是输出,旋转输入分解成两个不同的转动输出。如果输出数据量均值的两个输入,它有助于分配的平均体重身体每轮可以调整其位置被动地独自在地形。 给出的特点和操作要求的微分机制,一个伞齿轮式差动机构设计。我们的工作原理,分析了齿轮差动机构和现在的详细结构设计。 2.2.2齿轮差原理动机构图3显示示意图齿轮差动机构。两个semi-axle伞齿轮1和2网格正交锥齿轮行星3。承运人H连接到行星伞齿轮三同轴。让齿轮角速度1,它可以很明显地看出这伞齿轮差速器机制,可用于rocker-type移动机器人。2.2.3伞齿轮微分装置鉴于上述原则伞齿轮差动机构,我们设计这样一个伞齿轮微分装置,显示在图4。图4 a的轮廓微分装置、和无花果。4 b其
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