CN101117137A - Wheel-track and swing arm consolidated barrier getting over mechanism - Google Patents
Wheel-track and swing arm consolidated barrier getting over mechanism Download PDFInfo
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- CN101117137A CN101117137A CNA2007100499607A CN200710049960A CN101117137A CN 101117137 A CN101117137 A CN 101117137A CN A2007100499607 A CNA2007100499607 A CN A2007100499607A CN 200710049960 A CN200710049960 A CN 200710049960A CN 101117137 A CN101117137 A CN 101117137A
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- wheel
- swing arm
- vehicle frame
- belt wheel
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Abstract
An obstacle surmounting mechanism with integration of wheel track and oscillating arm is provided with a wheel track transmission mechanism arranged on the lower part of a frame (8). The wheel track transmission mechanism comprises a front belt wheel (4) which is arranged on the front lower part of the frame (8) with the lower edge of the front belt wheel (4) higher than that of a guide wheel (7), and a rear belt wheel (2) which has a smaller wheel diameter than that of a rear wheel (15) and is arranged on a rear wheel spindle (1) through a bearing, wherein the front and rear belt wheels (4,2) are driven by a track (3), and the axle of the front belt wheel (4) is driven by the obstacle surmounting mechanism (14). An oscillating arm mechanism is arranged on the upper part of the frame (8). The oscillating arm mechanism comprises an oscillating arm (11) which is hinged onto the frame (8), an oscillating gear (10) which is connected with the cardinal axis (16) of the oscillating arm (11) and meshes with the output gear (5) of an obstacle surmounting motor (14) arranged on the frame, and an oscillating arm wheel (12) which is arranged on the other end of the oscillating arm (11). The mechanism has a simple structure, high obstacle clearance, powerful driving, stable obstacle surmounting and flexible operation on the flat land.
Description
Technical field
The present invention relates to a kind of barrier getting over mechanism.
Background technology
Existing barrier getting over mechanism can generally be divided into wheeled and crawler type.Wheeled barrier getting over mechanism mainly is a principle of work of utilizing row heart train, and its application is mainly more extensive the robot field.But for the heavy grade straight slopes of 90 degree for example, and obstacle is when higher, and row heart gear mechanism is just powerless.The crawler type barrier getting over mechanism then is to utilize crawler belt to contact with obstacle, then by the conversion of train, adjusts the center of gravity of car load, and utilizes high-performance drive source to drive and realize obstacle detouring.It is mainly used in military and high-power vehicle for construction aspect.Because crawler belt directly contacts with ground, area of contact is bigger, and friction force is bigger, and maneuverability can not be protected.
Summary of the invention
Purpose of the present invention just provides a kind of barrier getting over mechanism of taking turns shoe and swing arm combination, and this mechanism structure is simple, the obstacle clearing capability height, and powerful, obstacle detouring is steady, and level land operation maneuverability.
The present invention realizes its goal of the invention, and the technical scheme that is adopted is: a kind of barrier getting over mechanism of taking turns shoe and swing arm combination, comprise the track adjusting wheel in vehicle frame, the place ahead, vehicle frame bottom, the trailing wheel at rear, vehicle frame bottom, and hind axle be is characterized in that by motor-driven:
Described vehicle frame bottom is equipped with wheel and carries out transmission device, and it consists of: the place ahead, vehicle frame bottom is equipped with preceding belt wheel, and preceding belt wheel lower edge is higher than the lower edge of track adjusting wheel; By bearing installation the back belt wheel of wheel footpath less than trailing wheel arranged on the hind axle, forward and backward belt wheel is by cterpillar drive, and the axle of preceding belt wheel is by the obstacle detouring drive mechanism;
Vehicle frame top is equipped with oscillating arm mechanisms, and it consists of: vehicle frame is hinged with swing arm, connects the swing arm gear on the hinge of swing arm, the output gear engagement of the obstacle detouring driver train on swing arm gear and the vehicle frame; The other end of swing arm is equipped with the swing arm wheel.
Principle of work of the present invention is:
When travel in the plane, rotate, and drive the track adjusting wheel rotation, can order about vehicle frame and travel in the plane by the driven by motor trailing wheel.Because the back belt wheel is connected by bearing with hind axle, back belt wheel can not rotate this moment.And control obstacle detouring driver train is in closed condition, and the whole shoe transmission device of taking turns is not worked.Like this, under whole level road operating mode, have only trailing wheel and track adjusting wheel work, promote the vehicle frame motion of keeping straight on forward.
During obstacle detouring, when the close obstacle of vehicle frame, the work of control obstacle detouring driver train, the output gear of obstacle detouring driver train drives the swing arm gear and rotates, and the drive swing arm is rotated forward, and the swing arm wheel of swing arm front end descends and contacts with obstacle; The swing arm gear is rotated further, and the crawler belt that drives the vehicle frame bottom is provoked to the obstacle top, makes the swing arm in car body the place ahead and rear subframe constitute " people " font structure, and track adjusting wheel is higher than obstacle.Swing arm this moment gear stops operating, under the driving of motor, the back-wheel drive vehicle frame moves on, near obstacle, make crawler belt touch obstacle, belt wheel drives crawler belt and rotates before this moment obstacle detouring drive mechanism, under the propulsive effort combined action on crawler belt and obstacle, trailing wheel and ground, makes steadily throwing over barrier successfully of mechanism of the present invention.
After trailing wheel was climbed up obstacle, the output gear of control obstacle detouring driver train also drove the wobble gear contrarotation, and swing arm rotates up, and swing arm is retracted to the plane motoring condition, and whole vehicle frame recovers the plane motoring condition.
Compared with prior art, the invention has the beneficial effects as follows: under the obstacle detouring operating mode, trailing wheel and crawler belt are worked simultaneously, powerful during obstacle detouring; The obstacle detouring process stabilization; Utilize the motion of the oscillating arm mechanisms that is installed in front end simultaneously, improved obstacle clearing capability greatly.And, having only trailing wheel and track adjusting wheel work under the operating mode of level land, oscillating arm mechanisms and crawler belt are not worked, and move again very maneuverability.
The hinge of above-mentioned swing arm by bearing installation on the arm swing support of vehicle frame.Swing arm is when swing like this, and friction force is little, flexible swinging, and the operation of swing arm and obstacle detouring driver train is more reliable, and the life-span is longer.
Below in conjunction with accompanying drawing to further detailed explanation of do of the present invention.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention.
Fig. 2 is the scheme drawing of the embodiment of the invention when beginning obstacle detouring near obstacle.
Fig. 3 is the scheme drawing of the embodiment of the invention when clearing the jumps.
Fig. 4 is the embodiment of the invention scheme drawing of rear-swing arm mechanism when being in reseting procedure that clear the jumps.
The specific embodiment
Embodiment
Fig. 1～4 illustrate, and a kind of specific embodiment of the present invention is: a kind of barrier getting over mechanism of taking turns shoe and swing arm combination, comprise the track adjusting wheel 7 in vehicle frame 8, the place ahead, vehicle frame 8 bottom, the trailing wheel 15 at rear, vehicle frame 8 bottom, and hind axle 1 be is characterized in that by motor-driven:
Described vehicle frame 8 bottoms are equipped with wheel and carry out transmission device, and it consists of: the place ahead, vehicle frame 8 bottom is equipped with preceding belt wheel 4, and preceding belt wheel 4 lower edges are higher than the lower edge of track adjusting wheel 7; By bearing installation the back belt wheel 2 of wheel footpath less than trailing wheel 15 arranged on the hind axle 1, forward and backward belt wheel 4,2 is by crawler belt 3 transmissions, and the axle of preceding belt wheel 4 is driven by obstacle detouring driver train 14;
The hinge 16 of swing arm 11 by bearing installation on the arm swing support 9 of vehicle frame 8.
Obstacle detouring driver train of the present invention can only be that a motor constitutes, and in conjunction with the prior motor control setup, realizes the driving at the same time or separately to wobble gear and preceding belt wheel; Also can be that two motors drive swing arm gear and preceding belt wheel respectively.Can also link to each other with control setup with automatic sensing in the obstacle detouring driver train, realize the crossing obstacle automatically of mechanism of the present invention, can certainly realize obstacle detouring by manual operation.
Claims (2)
1. a barrier getting over mechanism of taking turns shoe and swing arm combination comprises the track adjusting wheel (7) in vehicle frame (8), vehicle frame (8) the place ahead, bottom, the trailing wheel (15) at vehicle frame (8) rear, bottom, and hind axle (1) be is characterized in that by motor-driven:
Described vehicle frame (8) bottom is equipped with wheel and carries out transmission device, and it consists of: vehicle frame (8) the place ahead, bottom is equipped with preceding belt wheel (4), and preceding belt wheel (4) lower edge is higher than the lower edge of track adjusting wheel (7); Hind axle (1) is gone up by bearing installation the back belt wheel (2) of wheel footpath less than trailing wheel (15), and forward and backward belt wheel (4,2) is by crawler belt (3) transmission, and the axle of preceding belt wheel (4) is driven by obstacle detouring driver train (14);
Vehicle frame (8) top is equipped with oscillating arm mechanisms, it consists of: vehicle frame (8) is hinged with swing arm (11), the hinge (16) of swing arm (11) is gone up and is connected swing arm gear (10), output gear (5) engagement of the obstacle detouring driver train (14) on swing arm gear (10) and the vehicle frame; The other end of swing arm (11) is equipped with swing arm wheel (12).
2. a kind of wheel the according to claim 1 carried out and the barrier getting over mechanism of swing arm combination, it is characterized in that: the hinge (16) of described swing arm (11) by bearing installation on the arm swing support (9) of vehicle frame (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100499607A CN100503343C (en) | 2007-09-06 | 2007-09-06 | Wheel-track and swing arm combined barrier climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100499607A CN100503343C (en) | 2007-09-06 | 2007-09-06 | Wheel-track and swing arm combined barrier climbing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101117137A true CN101117137A (en) | 2008-02-06 |
| CN100503343C CN100503343C (en) | 2009-06-24 |
Family
ID=39053442
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100499607A Expired - Fee Related CN100503343C (en) | 2007-09-06 | 2007-09-06 | Wheel-track and swing arm combined barrier climbing mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN100503343C (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101746427B (en) * | 2008-12-19 | 2011-06-29 | 中国科学院沈阳自动化研究所 | Mobile robot on ruin surface |
| CN107323550A (en) * | 2017-06-15 | 2017-11-07 | 华南理工大学 | A kind of mechanical arm auxiliary is gone upstairs and across the mechanical device and method of complicated landform |
| CN108890686A (en) * | 2018-07-09 | 2018-11-27 | 胡俊 | A kind of changeable gravity centre formula Caterpillar robot |
| CN109178140A (en) * | 2018-09-30 | 2019-01-11 | 荆门它山之石电子科技有限公司 | A kind of wheel type barrier-crossing robot |
| CN112757317A (en) * | 2020-12-30 | 2021-05-07 | 北京信息科技大学 | Large-scale aerogenerator wall climbing detection robot |
| CN112894751A (en) * | 2021-01-18 | 2021-06-04 | 李爽剑 | Obstacle crossing robot |
| JP2022518880A (en) * | 2019-12-26 | 2022-03-17 | ベイジン センスタイム テクノロジー デベロップメント カンパニー， リミテッド | Methods, devices, robots that control the robot to escape from the trapped state |
| CN114212166A (en) * | 2021-12-17 | 2022-03-22 | 清华大学 | Obstacle-surmounting robot |
| CN114872809A (en) * | 2022-05-24 | 2022-08-09 | 深圳市乐惠光电科技有限公司 | Obstacle-crossing self-walking chassis and self-walking equipment |
-
2007
- 2007-09-06 CN CNB2007100499607A patent/CN100503343C/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101746427B (en) * | 2008-12-19 | 2011-06-29 | 中国科学院沈阳自动化研究所 | Mobile robot on ruin surface |
| CN107323550A (en) * | 2017-06-15 | 2017-11-07 | 华南理工大学 | A kind of mechanical arm auxiliary is gone upstairs and across the mechanical device and method of complicated landform |
| CN108890686A (en) * | 2018-07-09 | 2018-11-27 | 胡俊 | A kind of changeable gravity centre formula Caterpillar robot |
| CN108890686B (en) * | 2018-07-09 | 2021-03-09 | 白捷东 | Caterpillar robot with variable gravity center |
| CN109178140A (en) * | 2018-09-30 | 2019-01-11 | 荆门它山之石电子科技有限公司 | A kind of wheel type barrier-crossing robot |
| JP2022518880A (en) * | 2019-12-26 | 2022-03-17 | ベイジン センスタイム テクノロジー デベロップメント カンパニー， リミテッド | Methods, devices, robots that control the robot to escape from the trapped state |
| CN112757317A (en) * | 2020-12-30 | 2021-05-07 | 北京信息科技大学 | Large-scale aerogenerator wall climbing detection robot |
| CN112894751A (en) * | 2021-01-18 | 2021-06-04 | 李爽剑 | Obstacle crossing robot |
| CN114212166A (en) * | 2021-12-17 | 2022-03-22 | 清华大学 | Obstacle-surmounting robot |
| CN114872809A (en) * | 2022-05-24 | 2022-08-09 | 深圳市乐惠光电科技有限公司 | Obstacle-crossing self-walking chassis and self-walking equipment |
| CN114872809B (en) * | 2022-05-24 | 2023-02-28 | 深圳市乐惠光电科技有限公司 | Obstacle-crossing self-walking chassis and self-walking equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100503343C (en) | 2009-06-24 |
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Granted publication date: 20090624 Termination date: 20110906 |