CN109501875A - A kind of wedge type caterpillar type robot - Google Patents
A kind of wedge type caterpillar type robot Download PDFInfo
- Publication number
- CN109501875A CN109501875A CN201811628920.2A CN201811628920A CN109501875A CN 109501875 A CN109501875 A CN 109501875A CN 201811628920 A CN201811628920 A CN 201811628920A CN 109501875 A CN109501875 A CN 109501875A
- Authority
- CN
- China
- Prior art keywords
- reset spring
- driven wheel
- outside
- shaft
- crawler belt
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
Abstract
The invention discloses a kind of wedge type caterpillar type robots, including body, the two sides of the body are all rotatably connected to driving wheel, and it is rotatablely connected between the driving wheel at the ipsilateral both ends of body by the first crawler belt, shaft is provided on the outside of the driving wheel, reset spring is connected on the outside of the shaft, the shaft is connected with driven wheel by reset spring.The present invention is by being arranged shaft in the outside of driving wheel, reset spring is connected on the outside of shaft, driving wheel is connected with driven wheel by shaft, one end of reset spring is connected with driving wheel, its other end is connected with driven wheel, and driven wheel is connected with return pulley by connecting rod, robot travels on the biggish ground of the rough and uneven in surface or gradient to be made, under the action of reset spring, driven wheel is set to drive return pulley carry out activity by connecting rod, return pulley is lifted or is put down, to adapt to current landform, so as to make caterpillar type robot that can also have preferable terrain trafficability under complicated ground environment.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of wedge type caterpillar type robot.
Background technique
Currently, mobile robot is broadly divided into bionic leg formula, wheeled and crawler type three types, wherein legged mobile robot
Although telemechanical is flexible, control is complicated, is also difficult to reach application level in the non-structured environment of height, wheeled robot
Structure is simple, and research is mature, but poor for ground adaptability, and sagging phenomenon is easy to happen on soft ground, carries out
Belt robot refers mainly to the caterpillar robot of monomeric form, refers mainly to the robot for carrying crawler body mechanism, and crawler belt is mobile
Robot has many advantages, such as that tractive force is big, is not easy to skid, and is obtained and is widely applied.
Existing caterpillar type robot has good terrain trafficability on opposed flattened ground, but in uneven
Or when on the biggish ground of the gradient, terrain trafficability is poor, in some instances it may even be possible to be blocked and be stopped in situ by the gradient, and is existing
Caterpillar type robot be to carry camera and realize to make an inspection tour function mostly, it is dead to there is camera shooting in front end with caterpillar type robot
Angle, camera can not be irradiated to this region.
Summary of the invention
The purpose of the present invention is to provide a kind of wedge type caterpillar type robots, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the invention provides the following technical scheme: a kind of wedge type caterpillar type robot, including body,
The two sides of the body are all rotatably connected to driving wheel, and are connected between the driving wheel at the ipsilateral both ends of body by the rotation of the first crawler belt
It connects, shaft is provided on the outside of the driving wheel, reset spring is connected on the outside of the shaft, the shaft passes through multiple
Position spring is connected with driven wheel, is provided on the inside of the driven wheel and the mutually matched shrinkage pool of shaft, the reset bullet
One end of spring is connected with driving wheel, and the other end of reset spring is connected with driven wheel, and one end of the driven wheel is connected with
Extension bar, and one end of driven wheel is connected with return pulley by connecting rod, and the second shoe is rotatably connected between the driven wheel and return pulley
Band, the front end of the body is provided with through slot, and the inside of through slot is equipped with straight angle camera, separate through slot at the top of the body
One end be provided with boss, turntable is provided at the top of the boss, wide-angle camera is installed at the top of the turntable.
Preferably, one end of the reset spring is provided with the first buckle, and the other end of the reset spring is provided with
Two buckles.
Preferably, it is provided on the driving wheel and buckles mutually matched first card hole with first, set on the driven wheel
It is equipped with and the second mutually matched second card hole of buckle.
Preferably, the first raised item is provided on the outside of first crawler belt, the number of first raised item is multiple groups,
And the first raised item described in multiple groups is equally uniformly distributed in the outside of the first crawler belt.
Preferably, the second raised item is provided on the outside of second crawler belt, the number of second raised item is multiple groups,
And the second raised item described in multiple groups is equally uniformly distributed in the outside of the second crawler belt.
Preferably, the material of the body is steel, and body surface plating or plating paint are handled.
Preferably, the bottom of the driven wheel and the bottom of return pulley are located in same horizontal line.
Preferably, the material of the reset spring is steel, and reset spring surface plating paint is handled.
Preferably, the rotational angle of the turntable is zero to 360 deg.
Compared with prior art, the beneficial effects of the present invention are: the present invention is by being arranged shaft in the outside of driving wheel, and
Reset spring is connected on the outside of shaft, driving wheel is connected with driven wheel, one end of reset spring and driving by shaft
Wheel is connected, and the other end is connected with driven wheel, and driven wheel is connected with return pulley by connecting rod, when robot convex-concave not
Travel on the flat or biggish ground of the gradient makes, under the action of reset spring, can make driven wheel by connecting rod drive return pulley into
Row activity, return pulley are lifted or are put down, to change the angle between the second crawler belt bottom and level ground, to adapt to current position
Shape, so as to make caterpillar type robot that can also have preferable terrain trafficability under complicated ground environment, by body
Front end through slot is set, and straight angle camera is installed in the inside of through slot, can detect the environment of body front end, and at the top of body
Wide-angle camera match, monitoring range is wide.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is partial structural diagram of the invention；
Fig. 3 is the structural schematic diagram of driven wheel of the present invention；
Fig. 4 is the structural schematic diagram of boss of the present invention；
Fig. 5 is the structural schematic diagram of reset spring of the present invention；
Fig. 6 is the structural schematic diagram of driving wheel of the present invention.
In figure: 1, body；2, driving wheel；3, the first crawler belt；4, shaft；5, reset spring；6, driven wheel；7, shrinkage pool；8,
Connecting rod；9, return pulley；10, the second crawler belt；11, through slot；12, straight angle camera；13, boss；14, turntable；15, wide-angle imaging
Head；16, the first buckle；17, the second buckle；18, the first card hole；19, the second card hole；20, the first raised item；21, the second protrusion
Item.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It please refers to Fig. 1-6, a kind of wedge type caterpillar type robot, including body 1, the two sides of body 1 and is all rotatably connected to drive
Driving wheel 2, and be rotatablely connected between the driving wheel 2 at the ipsilateral both ends of body 1 by the first crawler belt 3, the outside of driving wheel 2, which is provided with, to be turned
Axis 4, the outside of shaft 4 are connected with reset spring 5, and shaft 4 is connected with driven wheel 6, driven wheel by reset spring 5
6 inside be provided with the mutually matched shrinkage pool 7 of shaft 4, one end of reset spring 5 is connected with driving wheel 2, and reset spring 5
The other end be connected with driven wheel 6, one end of driven wheel 6 is connected with connecting rod 8, and one end of driven wheel 6 is connected by connecting rod 8
It is connected to return pulley 9, the second crawler belt 10 is rotatably connected between driven wheel 6 and return pulley 9, the front end of body 1 is provided with through slot 11, and logical
The inside of slot 11 is equipped with straight angle camera 12, and 1 top of body is provided with boss 13, the top of boss 13 far from one end of through slot 11
Portion is provided with turntable 14, and the top of turntable 14 is equipped with wide-angle camera 15.
The present invention is by being arranged shaft 4 in the outside of driving wheel 2, and the outside of shaft 4 is connected with reset spring 5,
Driving wheel 2 is connected with driven wheel 6 by shaft 4, and one end of reset spring 5 is connected with driving wheel 2, the other end and driven wheel
6 are connected, and driven wheel 6 is connected with return pulley 9 by connecting rod 8, when robot is on the biggish ground of the rough and uneven in surface or gradient
Traveling makes, and under the action of reset spring 5, driven wheel 6 can be made to drive 9 carry out activity of return pulley by connecting rod 8, return pulley 9 lifts
Or put down, to change the angle between 10 bottom of the second crawler belt and level ground, to adapt to current landform, so as to make crawler belt
Formula robot can also have preferable terrain trafficability under complicated ground environment.
Fig. 2, Fig. 3 and Fig. 5 are please referred to, one end of reset spring 5 is provided with the first buckle 16, the other end of reset spring 5
It is provided with the second buckle 17, is provided on driving wheel 2 and buckles 16 mutually matched first card holes 18 with first, set on driven wheel 6
It is equipped with and the second 17 mutually matched second card holes 19 of buckle.
The present invention is by being respectively arranged with the first buckle 16 and the second buckle 17, the first buckle at the both ends of reset spring 5
16 fasten with the first card hole 18, and the second buckle 17 fastens with the second card hole 19, when caterpillar type robot is rough
On ground when driving, it is influenced by landform, under the action of reset spring 5, return pulley 9 is lifted or put down, to change second
Angle between 10 bottom of crawler belt and level ground, to adapt to current landform, so as to make caterpillar type robot on complicated ground
There can also be preferable terrain trafficability under face ring border.
Referring to Fig. 1, the outside of the first crawler belt 3 is provided with the first raised item 20, the number of the first raised item 20 is multiple groups,
And the first raised item of multiple groups 20 is equally uniformly distributed in the outside of the first crawler belt 3.
The present invention is by being uniformly arranged the first raised item of multiple groups 20 in the outside of the first crawler belt 3, when the first crawler belt 3 is operating
When in the process, the first raised item 20 and ground face contact, it is possible to increase the frictional force between the first crawler belt 3 and ground, road holding is more preferable,
It is not susceptible to the phenomenon that skidding.
Referring to Fig. 1, the outside of the second crawler belt 10 is provided with the second raised item 21, the number of the second raised item 21 is more
Group, and the second raised item of multiple groups 21 is equally uniformly distributed in the outside of the second crawler belt 10.
The present invention is by being uniformly arranged the second raised item of multiple groups 21 in the outside of the second crawler belt 10, when the second crawler belt 10 is being transported
When during turning, the second raised item 21 and ground face contact, it is possible to increase the frictional force between the second crawler belt 10 and ground is not susceptible to
The phenomenon that skidding.
Referring to Fig. 2, the material of body 1 is steel, and 1 electroplating surface of body or plating paint processing, the present invention is by by body 1
Material be set as steel, body 1 can be made to have preferable hardness, be not susceptible to deformation, pass through body 1 electroplating surface or plating paint
Processing can be such that 1 surface abrasion resistance of body damages.
Fig. 1 and Fig. 3 are please referred to, the bottom of driven wheel 6 and the bottom of return pulley 9 are located in same horizontal line, and the present invention passes through
The bottom of the bottom of driven wheel 6 and return pulley 9 is located in same horizontal line, under the action of reset spring 5, return pulley 9 lift or
It puts down, to change the angle between 10 bottom of the second crawler belt and level ground, to adapt to current landform.
Referring to Fig. 5, the material of reset spring 5 is steel, and 5 surface of reset spring plating paint is handled, and the present invention will be by that will answer
The material of position spring 5 is set as steel, and reset spring 5 can be made to have preferable toughness, and the elastic duration is longer, by resetting bullet
Paint processing is plated on 5 surface of spring, reset spring 5 can be made to be not easy to get rusty, service life is longer.
Please refer to Fig. 1 and Fig. 4, the rotational angle of turntable 14 is zero to 360 deg, and the present invention is by by turntable 14
Rotational angle is zero to 360 deg, and turntable 14 drives wide-angle camera 15 to carry out the rotation of 360 deg, cooperates wide-angle
The own rotation of camera 15 can make monitoring range wider.
Working principle: starting the power supply of caterpillar type robot, and body 1 is started to work, and control 1 motor internal of body carries out work
Make, so that driving wheel 2 be driven to be rotated, under the action of driving wheel 2, the first crawler belt 3 starts running, and drives body 1 forward
Movement, so that the second crawler belt 10 be driven to be operated, the, with raised item 20 and the second raised item 21 equably face contact, increases shoe
Then frictional force between band and ground, the phenomenon that preventing it from having skidded, control turntable 14 and wide-angle camera 15 carry out work
Make, by turntable 14 to driving wide-angle camera 15 to be rotated, at the same time, control wide-angle camera 15 itself occurs to turn
Dynamic, to be monitored to the surrounding enviroment of body 1, control straight angle camera 12 is started to work, 12 monitoring machine of straight angle camera
The environment of 1 front end of body, straight angle camera 12 and 15 cooperating of wide-angle camera, monitoring range is wider, if caterpillar type robot
On broken terrain when driving, it influencing by landform, under the action of reset spring 5, return pulley 9 is lifted or is put down,
To change the angle between 10 bottom of the second crawler belt and level ground, to adapt to current landform, so as to make crawler frame
People can also have preferable terrain trafficability under complicated ground environment.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (9)
1. a kind of wedge type caterpillar type robot, including body (1), it is characterised in that: the two sides of the body (1) are all rotatablely connected
Have driving wheel (2), and is rotatablely connected between the driving wheel (2) at body (1) ipsilateral both ends by the first crawler belt (3), the driving
It is provided with shaft (4) on the outside of wheel (2), is connected with reset spring (5) on the outside of the shaft (4), the shaft (4) is logical
It crosses reset spring (5) to be connected with driven wheel (6), be provided on the inside of the driven wheel (6) mutually matched with shaft (4)
One end of shrinkage pool (7), the reset spring (5) is connected with driving wheel (2), and the other end of reset spring (5) be connected with it is driven
It takes turns (6), one end of the driven wheel (6) is connected with connecting rod (8), and one end of driven wheel (6) is connected with by connecting rod (8)
Return pulley (9) is rotatably connected to the second crawler belt (10) between the driven wheel (6) and return pulley (9), and the front end of the body (1) is set
It is equipped with through slot (11), and the inside of through slot (11) is equipped with straight angle camera (12), far from through slot (11) at the top of the body (1)
One end be provided with boss (13), be provided with turntable (14) at the top of the boss (13), the installation of the top of the turntable (14)
There are wide-angle camera (15).
2. a kind of wedge type caterpillar type robot according to claim 1, it is characterised in that: the one of the reset spring (5)
End is provided with the first buckle (16), and the other end of the reset spring (5) is provided with the second buckle (17).
3. a kind of wedge type caterpillar type robot according to claim 2, it is characterised in that: be arranged on the driving wheel (2)
Have and buckle (16) mutually matched first card hole (18) with first, is provided on the driven wheel (6) and second buckles (17) phase
The second card hole (19) mutually cooperated.
4. a kind of wedge type caterpillar type robot according to claim 1, it is characterised in that: outside first crawler belt (3)
Side is provided with the first raised item (20), and the number of first raised item (20) is multiple groups, and the first raised item described in multiple groups
(20) equally it is uniformly distributed in the outside of the first crawler belt (3).
5. a kind of wedge type caterpillar type robot according to claim 1, it is characterised in that: outside second crawler belt (10)
Side is provided with the second raised item (21), and the number of second raised item (21) is multiple groups, and the second raised item described in multiple groups
(21) equally it is uniformly distributed in the outside of the second crawler belt (10).
6. a kind of wedge type caterpillar type robot according to claim 1, it is characterised in that: the material of the body (1) is
Steel, and body (1) electroplating surface or plating paint processing.
7. a kind of wedge type caterpillar type robot according to claim 1, it is characterised in that: the bottom of the driven wheel (6)
It is located in same horizontal line with the bottom of return pulley (9).
8. a kind of wedge type caterpillar type robot according to claim 1, it is characterised in that: the material of the reset spring (5)
Matter is steel, and reset spring (5) surface plating paint is handled.
9. a kind of wedge type caterpillar type robot according to claim 1, it is characterised in that: the angle of rotation of the turntable (14)
Degree is zero to 360 deg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811628920.2A CN109501875B (en) | 2018-12-28 | 2018-12-28 | Wedge-shaped crawler-type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811628920.2A CN109501875B (en) | 2018-12-28 | 2018-12-28 | Wedge-shaped crawler-type robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109501875A true CN109501875A (en) | 2019-03-22 |
| CN109501875B CN109501875B (en) | 2020-11-20 |
Family
ID=65755673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811628920.2A Active CN109501875B (en) | 2018-12-28 | 2018-12-28 | Wedge-shaped crawler-type robot |
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| Country | Link |
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| CN (1) | CN109501875B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271617A (en) * | 2019-06-24 | 2019-09-24 | 广西科技大学 | A kind of two-segment type crawler belt climbing robot |
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| CN206794978U (en) * | 2017-05-26 | 2017-12-26 | 潍坊路加精工有限公司 | Eliminate the wire feeder for sending tin gap |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2035411U (en) * | 1988-06-21 | 1989-04-05 | 杜忠祥 | Torsion spring clutch |
| CN2168806Y (en) * | 1993-07-22 | 1994-06-15 | 代玉林 | Energy-accumulating buffer transmission wheel |
| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| US20100116566A1 (en) * | 2006-10-06 | 2010-05-13 | Irobot Corporation | Maneuvering Robotic Vehicles Having A Positionable Sensor Head |
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| CN110271617A (en) * | 2019-06-24 | 2019-09-24 | 广西科技大学 | A kind of two-segment type crawler belt climbing robot |
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| CN109501875B (en) | 2020-11-20 |
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