CN107521573A - A kind of damping crawler-type unmanned mobile platform - Google Patents
A kind of damping crawler-type unmanned mobile platform Download PDFInfo
- Publication number
- CN107521573A CN107521573A CN201710680654.7A CN201710680654A CN107521573A CN 107521573 A CN107521573 A CN 107521573A CN 201710680654 A CN201710680654 A CN 201710680654A CN 107521573 A CN107521573 A CN 107521573A
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- rotary shaft
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- car body
- wheel
- damping
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
- B62D55/125—Final drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of damping crawler-type unmanned mobile platform, including car body, module carrying platform and Liang Zu Athey wheels mechanism, module carrying platform is arranged on car body end face center, module installation position is reserved with module carrying platform, needed to carry out carrying disparate modules according to task, such as manipulator, fort etc..Liang Zu Athey wheels mechanism is symmetricly set at left and right sides of car body.The in-house lower section of Athey wheel is provided with five dampings, can reduce the vibrations of Athey wheel, make crawler belt uniform force.The present invention is using the integration mode design creeper undercarriage being embedded in motor in Athey wheel, it is compact-sized, space availability ratio is high, by increasing damping, passive adaptation environment, ensure that unmanned mobile platform does not jolt in the ground for having barrier still smooth running, it is simple in construction, practical, reliable.
Description
Technical field
The invention belongs to robot technology, and in particular to a kind of damping crawler-type unmanned mobile platform.
Background technology
Searched and rescued and thing under engineering exploration exploration, disaster scouting, fire patrol, the complex environments such as rescue of recovering in ruined city
In the reply of part, to avoid the injures and deaths of personnel, unmanned platform is more and more come into operation, and above-mentioned ground is typically very multiple
It is miscellaneous, it is dispersed with compared with multi-obstacle avoidance, in order to avoid mobile platform is absorbed in robot because the pressure distribution suffered by crawler belt is uneven
In mire or car body topples, it is necessary to crawler belt stress is buffered and uniformly using a kind of mechanism.Have so as to develop one kind
Shock-absorbing function is so as to obtaining the unmanned mobile platform of more preferable obstacle detouring and cross-country function.
The present situation of current crawler-type mobile platform is that a part still uses conventional track walking mechanism, and it is mainly by leading
Formed to wheel, track frame, tensioning apparatus, drive device, thrust wheel, link-supporting plate and creeper tread etc., more representational is state
The excavator and the caterpillar tank of the former Soviet Union 279 4 of interior 31 heavy industry group production, U.S.'s M113 panzers and Switzerland
BV206S all-terrain vehicle.Such crawler belt mobility is low, and cross-country ability is general, using by a definite limitation, if being applied to small-sized nothing
People's mobile platform easily topples on more obstacle road surfaces.
Another part platform uses deformable creeper undercarriage, and it is by the auxiliary machine inside mobile platform
The geometry of structure change chassis crawler belt reaches the purpose by obstacle terrain, the LMA developed such as University of Toronto
Robot, the deformable reconnaissance robot of crawler belt of Inuktun companies of the U.S.（VGTV）, domestic typical deformable crawler belt is state
Although the double leval jib deformed caterpillar formula robot that anti-University of Science and Technology develops, above-mentioned several typical deformable creepers undercarriage have
Certain obstacle climbing ability, but the deformation of crawler belt needs by other servicing units, to increase the free degree of robot so that machine
The energy consumption of people dramatically increases, and endurance is low, and controls complicated, not easy to operate.
Some mobile platform, in single-crawler single walking mechanism obstacle climbing ability deficiency, by increasing joint swing arm
Quantity, the walking mechanism of mobile platform obstacle climbing ability and flexibility is improved by effective cooperation between the swing arm of joint can be referred to as to close
Save crawler type walking mechanism.What the Silver robots that the K. N. Toosi Universities of Science and Technology in Iranian Teheran develop used
It is exactly joint swing arm structure.In-between crawler sections are used to normally walk, and front and rear two swing arms are used for obstacle detouring and stair climbing etc..
The robot of the PacBot series of iRobot companies of U.S. development is more typically counted, using two-segment type caterpillar belt structure,
The swing arm of front end joint uses fin-like designs, determines that it adapts to rugged operation landform.Above-mentioned walking mechanism is the same as variable
Shape creeper undercarriage is similar, though there is certain adaptive capacity to environment, to increase mechanism after all by other auxiliary bodies
The free degree and integrally-built complexity, increase weight, high energy consumption.
The content of the invention
It is an object of the invention to provide a kind of damping crawler-type unmanned mobile platform, by mechanical mechanism passive adaptation
Face, reduce the vibrations of Athey wheel, make crawler belt uniform force, avoid mobile platform because the pressure distribution suffered by crawler belt is uneven and make
During robot embogs or car body topples, and the motion of the mechanism has preferable flatness, control simple.
The technical solution for realizing the object of the invention is：A kind of damping crawler-type unmanned mobile platform, including car body, mould
Block carrying platform and Liang Zu Athey wheels mechanism, module carrying platform are arranged on car body end face center, reserved on module carrying platform
There is a module installation position, Liang Zu Athey wheels mechanism is symmetricly set at left and right sides of car body, and the Athey wheel mechanism includes support arm, interior
Support, follower mechanism, driving wheel mechanism, crawler belt, lower support wheel, three upper support wheels, three first rotary shafts, three rotate
Axle, the 4th rotary shaft and five dampings；Support arm and inner support be arranged in parallel, form cavity, active turbine between the two
Structure and follower mechanism are separately positioned on the both ends of above-mentioned cavity, and three upper support wheels are parallel to be distributed in driving wheel mechanism and passive
Take turns in the cavity between mechanism, each support and fix by respective first rotary shaft through its center, the first rotary shaft direction
One end of car body is connected on car body through inner support, and one end outside passes through the support arm in outside；It is provided with below cavity
Five dampings；Lower support wheel is arranged on the underface of follower mechanism, does not interfere, and is fixed by the 3rd rotary shaft
Onto car body；Crawler belt is set around follower mechanism, driving wheel mechanism, upper support wheel and lower support wheel；Whole piece Athey wheel mechanism leads to
Cross the first rotary shaft, the 4th rotary shaft is affixed on car body.
Compared with prior art, its remarkable advantage is the present invention：
（1）By increasing damping, passive adaptation environment, realize that mobile platform is walked steady, simple in construction, practical,
Reliably.
（2）Follower position is made slidably by strainer, at the same have the function that it is driven follow, support crawler belt, again
Have tension concurrently.
（3）Creeper undercarriage, compact-sized, space are designed by being embedded in the in-house integration mode of Athey wheel in motor
Utilization rate is high.
Brief description of the drawings
Fig. 1 is the overall structure diagram of damping crawler-type unmanned mobile platform of the present invention.
Fig. 2 is the damping Athey wheel structural representation of damping crawler-type unmanned mobile platform of the present invention, wherein（a）For car
External view,（b）For car inside view.
Fig. 3 is the damping structural representation of damping crawler-type unmanned mobile platform of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
With reference to Fig. 1, a kind of damping crawler-type unmanned mobile platform, including car body 1, module carrying platform 3 and two groups of crawler belts
Mechanism 2 is taken turns, module carrying platform 3 is arranged on the end face center of car body 1, module installation position is reserved with module carrying platform 3.Two groups
Athey wheel mechanism 2 is symmetricly set on the left and right sides of car body 1.
The present invention needs to carry out carrying disparate modules, such as manipulator, fort etc. by module carrying platform 3 according to task.
Athey wheel mechanism 2 has suitable cross-country and obstacle crossing function, ensures unmanned mobile platform under complex environment by property and adaptation
Property, meanwhile, the shock-absorbing function that Athey wheel mechanism 2 possesses ensures that unmanned mobile platform is also walking on the ground for spreading all over barrier
Do not jolt steadily, then ensure that carrying module more steadily can smoothly complete task.（As shown in Figure 1）.
With reference to Fig. 2, the Athey wheel mechanism 2 includes support arm 6, inner support 8, follower mechanism, driving wheel mechanism, crawler belt
25th, three upper support wheels, 4, three first rotary shafts 5, lower support wheel 12, the 3rd rotary shaft 13 and five dampings.
Support arm 6 and inner support 8 be arranged in parallel, form cavity, driving wheel mechanism and follower mechanism difference between the two
It is arranged on the both ends of above-mentioned cavity, three parallel cavitys being distributed between driving wheel mechanism and follower mechanism of upper support wheel 4
It is interior, each support and fix by the respective through its center of first rotary shaft 5, the first rotary shaft 5 passes through towards one end of car body 1
Inner support 8 is simultaneously connected on car body 1 by bolt, and one end outside passes through the support arm 6 in outside, and is connected with it.It is empty
Five dampings are provided with below chamber.Lower support wheel 12 is arranged on the underface of follower mechanism, does not interfere, and passes through
Three rotary shafts 13 are fixed on car body 1.Crawler belt 25 is set around follower mechanism, driving wheel mechanism, upper support wheel 4 and lower support wheel 12
Put.Whole piece Athey wheel mechanism 2 is affixed on car body 1 by the first rotary shaft 5, the 4th rotary shaft 15.
The damping includes the second rotary shaft 7, damper 16, load-bearing swing arm set, the 5th rotary shaft the 18, the 6th and rotated
Axle 19 and BOGEY WHEEL 20.Load-bearing swing arm set in two neighboring damping is parallel to each other, and every group of load-bearing swing arm set includes two pieces
Load-bearing swing arm 17 that is symmetrical and be arrangeding in parallel, top, middle part, the bottom of load-bearing swing arm 17 are respectively equipped with a hole, and the 4th
Rotary shaft 15, the 5th rotary shaft 18, the 6th rotary shaft 19 are correspondingly arranged in above-mentioned hole respectively, under the top of load-bearing swing arm 17 is inclined to
The side of support wheel 12, same group of two pieces of load-bearing swing arms 17 are rotated with support arm and inner support respectively by the 4th rotary shaft 15 to be connected
Connect.Damper 16 is set in the 5th rotary shaft 18 by itself lower stomidium, and the both ends of the second rotary shaft 7 are each passed through the He of support arm 6
Inner support 8, the upper end hole of damper are arranged in the second rotary shaft 7, and BOGEY WHEEL 20 is arranged in the 6th rotary shaft 19, damping machine
BOGEY WHEEL 20 in structure is placed on the inner surface of lower floor's crawler belt 25, plays support tension（As shown in Figure 3）.
The driving wheel mechanism includes driving wheel 23, decelerator 21, key 22, flange driver plate 24, motor cabinet 26 and motor
27, motor cabinet 26 is arranged on the tail of cavity body between support arm 6 and inner support 8, and is connected with car body 1 by bolt, decelerator
21 are bolted in motor cabinet 26, and motor 27 supports the use with decelerator 21.Driving wheel 23 is enclosed on the outer of motor cabinet 26,
And general design is continued to use, centre sets bearing.The outer face of driving wheel 23 is connected with flange driver plate 24 by bolt, motor 27
Output shaft is stretched into the hole among flange driver plate 24, drives driving wheel to rotate by key 22.
The follower mechanism includes clutch shaft bearing 9, passive wheel shaft 10, follower 11, fixed seat 28, nutted rod 29, cunning
Dynamic connecting seat 30 and cover plate 31.Circular hole on sliding connecting base 30 is connected with the mounting hole on the side plate of car body 1 by bolt, passively
Wheel shaft 10 is fixed on sliding connecting base 30, and is overhang away, and the other end is erected on support arm 6 by clutch shaft bearing 9.Passively
Wheel 11 is arranged on passive wheel shaft 10.Nutted rod 29 is horizontal positioned, and sliding connecting base 30, the other end and fixed seat 28 are withstood in one end
With synthesis pair of nut, fixed seat 28 is connected by bolt and car body 1.Slided by rotating the adjustment sliding connecting base 30 of nutted rod 29
It is dynamic, then drive follower change in location so that follower plays the role of to support crawler belt 25, there is tensioning again, is tensioned
Power is also adjustable.
Mobile platform walking process：Mobile platform is rear wheel drive, and the place end of follower 11 is car front, motor 21
Output shaft drives driving wheel 23 to rotate by flange driver plate 24, and driving wheel 23 drives crawler belt 25 to run forward.Met in front of car
When step, convex heap, because follower position is higher, barrier can be easily climbed up and over（The height of climbing barrier thing depends on
In follower centre-height）.When chad, pit are met in front of car, crawler belt can slowly be shunk by damping, then slowly extensive
Again, cushioning effect, steady, smooth the putting down of guarantee carrying module action execution of guarantee car body and the carrying module on car body are played
Surely.
Claims (3)
1. a kind of damping crawler-type unmanned mobile platform, including car body（1）, module carrying platform（3）With Liang Zu Athey wheels mechanism
（2）, module carrying platform（3）It is arranged on car body（1）End face center, module carrying platform（3）On be reserved with module installation position, two
Group Athey wheel mechanism（2）It is symmetricly set on car body（1）The left and right sides, it is characterised in that：The Athey wheel mechanism（2）Including outer branch
Frame（6）, inner support（8）, follower mechanism, driving wheel mechanism, crawler belt（25）, lower support wheel（12）, three upper support wheels（4）、
Three first rotary shafts（5）, the 3rd rotary shaft（13）, the 4th rotary shaft（15）With five dampings；Support arm（6）With interior branch
Frame（8）It is arranged in parallel, forms cavity between the two, driving wheel mechanism and follower mechanism is separately positioned on the two of above-mentioned cavity
End, three upper support wheels（4）In the parallel cavity being distributed between driving wheel mechanism and follower mechanism, each by respective
First rotary shaft（5）Through its center support is fixed, the first rotary shaft（5）Towards car body（1）One end pass through inner support（8）Gu
It is connected in car body（1）On, one end outside passes through the support arm in outside（6）；Five dampings are provided with below cavity；Lower branch
Support wheel（12）The underface of follower mechanism is arranged on, is not interfered, and passes through the 3rd rotary shaft（13）Fixed to car body（1）
On；Crawler belt（25）Around follower mechanism, driving wheel mechanism, upper support wheel（4）With lower support wheel（12）Set；Whole piece crawler belt turbine
Structure（2）Pass through the first rotary shaft（5）, the 4th rotary shaft（15）It is affixed to car body（1）On.
2. damping crawler-type unmanned mobile platform according to claim 1, it is characterised in that：The damping includes the
Two rotary shafts（7）, damper（16）, load-bearing swing arm set, the 5th rotary shaft（18）, the 6th rotary shaft（19）And BOGEY WHEEL（20）；
Every group of load-bearing swing arm set includes two pieces of load-bearing swing arms that are symmetrical and be arrangeding in parallel（17）, load-bearing swing arm（17）Top, in
Portion, bottom are respectively equipped with a hole, the 4th rotary shaft（15）, the 5th rotary shaft（18）, the 6th rotary shaft（19）Correspond to and set respectively
Put in above-mentioned hole, load-bearing swing arm（17）The lower support wheel of top tendency（12）Side, same group of two pieces of load-bearing swing arms（17）It is logical
Cross the 4th rotary shaft（15）It is rotatablely connected respectively with support arm and inner support；Damper（16）The 5th is set by itself lower stomidium
Rotary shaft（18）On, the second rotary shaft（7）Both ends are each passed through support arm（6）And inner support（8）, the upper end hole setting of damper
In the second rotary shaft（7）On, BOGEY WHEEL（20）It is arranged on the 6th rotary shaft（19）On, and BOGEY WHEEL（20）Positioned at lower floor's crawler belt
（25）Inner surface, rise support tension.
3. damping crawler-type unmanned mobile platform according to claim 2, it is characterised in that：In two neighboring damping
Load-bearing swing arm set be parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710680654.7A CN107521573A (en) | 2017-08-10 | 2017-08-10 | A kind of damping crawler-type unmanned mobile platform |
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| CN201710680654.7A CN107521573A (en) | 2017-08-10 | 2017-08-10 | A kind of damping crawler-type unmanned mobile platform |
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| CN201710680654.7A Pending CN107521573A (en) | 2017-08-10 | 2017-08-10 | A kind of damping crawler-type unmanned mobile platform |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108116520A (en) * | 2018-02-05 | 2018-06-05 | 东北大学 | A kind of new type of passive formula suspension |
| CN108216408A (en) * | 2018-03-09 | 2018-06-29 | 北京华信智航科技有限公司 | A kind of foldable robot crawler platform based on resilient support wheel |
| CN108238120A (en) * | 2018-02-13 | 2018-07-03 | 洛阳理工学院 | A kind of six crawler units that can realize single multi- dimension motion switch |
| CN108275215A (en) * | 2018-02-13 | 2018-07-13 | 洛阳理工学院 | A kind of wall climbing vehicle and the detection robot based on the wall climbing vehicle |
| CN108327809A (en) * | 2018-02-13 | 2018-07-27 | 洛阳理工学院 | Double-track robot mobile platform |
| CN108693089A (en) * | 2018-05-22 | 2018-10-23 | 连云港宝联实业有限公司 | Tank body detects alarm system and the climbing robot suitable for the system |
| CN108818492A (en) * | 2018-07-05 | 2018-11-16 | 池州市浮子信息技术服务有限公司 | A kind of tank robot |
| CN108839721A (en) * | 2018-09-07 | 2018-11-20 | 湖南千智机器人科技发展有限公司 | A kind of walking mechanism, crawler type running system and mechanically moving |
| CN108860344A (en) * | 2018-08-29 | 2018-11-23 | 宁波史河机器人科技有限公司 | A kind of creeper truck |
| CN109305238A (en) * | 2018-12-03 | 2019-02-05 | 河北工业大学 | A kind of passive adaptive caterpillar robot mobile platform |
| CN109367635A (en) * | 2018-09-30 | 2019-02-22 | 湖南农夫机电有限公司 | A kind of crawler tractor damping |
| CN110316268A (en) * | 2019-06-21 | 2019-10-11 | 青岛澳西智能科技有限公司 | A kind of damping walking mechanism of fire-fighting robot |
| CN110341818A (en) * | 2019-06-18 | 2019-10-18 | 中国农业机械化科学研究院 | A kind of mobile robot and its caterpillar chassis |
| CN111515917A (en) * | 2020-05-07 | 2020-08-11 | 中自机器人技术(安庆)有限公司 | Robot for inspecting underground pipeline |
| CN114524025A (en) * | 2022-03-14 | 2022-05-24 | 中国北方车辆研究所 | Integrated modular action system |
| CN108693089B (en) * | 2018-05-22 | 2024-05-14 | 连云港宝联实业有限公司 | Tank body detection alarm system and wall climbing robot suitable for same |
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| CN103273976A (en) * | 2013-06-04 | 2013-09-04 | 中国北方车辆研究所 | Design method of tank suspension system based on riding comfort |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108116520A (en) * | 2018-02-05 | 2018-06-05 | 东北大学 | A kind of new type of passive formula suspension |
| CN108275215B (en) * | 2018-02-13 | 2023-04-14 | 洛阳理工学院 | Wall climbing vehicle and detection robot based on same |
| CN108238120A (en) * | 2018-02-13 | 2018-07-03 | 洛阳理工学院 | A kind of six crawler units that can realize single multi- dimension motion switch |
| CN108275215A (en) * | 2018-02-13 | 2018-07-13 | 洛阳理工学院 | A kind of wall climbing vehicle and the detection robot based on the wall climbing vehicle |
| CN108327809A (en) * | 2018-02-13 | 2018-07-27 | 洛阳理工学院 | Double-track robot mobile platform |
| CN108238120B (en) * | 2018-02-13 | 2023-07-11 | 洛阳理工学院 | Six-crawler walking device capable of realizing single/multi-dimensional switching movement |
| CN108327809B (en) * | 2018-02-13 | 2023-08-01 | 洛阳理工学院 | Double-track robot moving platform |
| CN108216408A (en) * | 2018-03-09 | 2018-06-29 | 北京华信智航科技有限公司 | A kind of foldable robot crawler platform based on resilient support wheel |
| CN108693089B (en) * | 2018-05-22 | 2024-05-14 | 连云港宝联实业有限公司 | Tank body detection alarm system and wall climbing robot suitable for same |
| CN108693089A (en) * | 2018-05-22 | 2018-10-23 | 连云港宝联实业有限公司 | Tank body detects alarm system and the climbing robot suitable for the system |
| CN108818492A (en) * | 2018-07-05 | 2018-11-16 | 池州市浮子信息技术服务有限公司 | A kind of tank robot |
| CN108860344A (en) * | 2018-08-29 | 2018-11-23 | 宁波史河机器人科技有限公司 | A kind of creeper truck |
| CN108839721A (en) * | 2018-09-07 | 2018-11-20 | 湖南千智机器人科技发展有限公司 | A kind of walking mechanism, crawler type running system and mechanically moving |
| CN109367635A (en) * | 2018-09-30 | 2019-02-22 | 湖南农夫机电有限公司 | A kind of crawler tractor damping |
| CN109367635B (en) * | 2018-09-30 | 2020-07-14 | 湖南农夫机电有限公司 | Crawler tractor damper |
| CN109305238B (en) * | 2018-12-03 | 2023-09-29 | 河北工业大学 | Passive self-adaptive tracked robot moving platform |
| CN109305238A (en) * | 2018-12-03 | 2019-02-05 | 河北工业大学 | A kind of passive adaptive caterpillar robot mobile platform |
| CN110341818B (en) * | 2019-06-18 | 2020-10-20 | 中国农业机械化科学研究院 | Mobile robot and crawler-type chassis thereof |
| CN110341818A (en) * | 2019-06-18 | 2019-10-18 | 中国农业机械化科学研究院 | A kind of mobile robot and its caterpillar chassis |
| CN110316268A (en) * | 2019-06-21 | 2019-10-11 | 青岛澳西智能科技有限公司 | A kind of damping walking mechanism of fire-fighting robot |
| CN111515917A (en) * | 2020-05-07 | 2020-08-11 | 中自机器人技术(安庆)有限公司 | Robot for inspecting underground pipeline |
| CN114524025A (en) * | 2022-03-14 | 2022-05-24 | 中国北方车辆研究所 | Integrated modular action system |
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Application publication date: 20171229 |