CN102424071B - Track-wheel combined type mobile robot - Google Patents

Track-wheel combined type mobile robot Download PDF

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Publication number
CN102424071B
CN102424071B CN 201110370907 CN201110370907A CN102424071B CN 102424071 B CN102424071 B CN 102424071B CN 201110370907 CN201110370907 CN 201110370907 CN 201110370907 A CN201110370907 A CN 201110370907A CN 102424071 B CN102424071 B CN 102424071B
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CN
China
Prior art keywords
wheel
track
base plate
lifting
traveling
Prior art date
Application number
CN 201110370907
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Chinese (zh)
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CN102424071A (en
Inventor
赵国权
张天弛
王玉甲
张波
杨超
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哈尔滨工程大学
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Application filed by 哈尔滨工程大学 filed Critical 哈尔滨工程大学
Priority to CN 201110370907 priority Critical patent/CN102424071B/en
Publication of CN102424071A publication Critical patent/CN102424071A/en
Application granted granted Critical
Publication of CN102424071B publication Critical patent/CN102424071B/en

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Abstract

The invention provides a track-wheel combined type mobile robot. The track-wheel combined type mobile robot comprises a base plate, a track travelling mechanism, a wheel travelling mechanism and a switching mechanism, wherein the base plate comprises a track base plate and a wheel base plate, the track travelling mechanism is arranged on the track base plate to form a track chassis, the wheel travelling mechanism is arranged on the wheel base plate to form a wheel chassis, the switching mechanism is a transmission mechanism connected between the track chassis and the wheel chassis, and the switching mechanism is mainly composed of a lifting driving motor, a lifting screw and a lifting nut. In the track-wheel combined type mobile robot provided by the invention, screw drive of the lifting screw and the lifting nut is used for realizing mutual switching between a track travelling manner and a wheel travelling manner, the problems that mechanism is complex, motion control difficulty is higher and reliability is low as a leg-type structure is adopted are solved, structure is simplified, and flexibility, reliability and obstacle-crossing capability of a robot are guaranteed. A double-chassis structure is adopted, and driving systems of the track travelling mechanism and the wheel travelling mechanism are independent and not interfered, thus the flexibility of the robot is enhanced.

Description

Crawler belt and wheel combined mobile robot
Technical field
That the present invention relates to is a kind of mobile robot, specifically the combined mobile robot that combines with wheel of a kind of crawler belt.
Background technology
Wheel type, crawler type, leg formula travel mechanism are people's most studies, also are the most widely three kinds of travel mechanisms that are applied at present on the mobile robot.Wheeled mobile robot is simple in structure, speed is fast, and energy consumption is low, but its obstacle climbing ability is poor, is not suitable for crossing over the obstacles such as gully, step, stair; Caterpillar mobile robot obstacle performance, all stronger to comformability and the stability of landform is adapted at travelling on the complex road surface, but crawler belt is easy to wear, the power of consumption is also relatively large, and traveling mechanism is relatively heavier; Leg type mobile robot is very strong to the comformability of landform, and outstanding cross country power is arranged, but complicated structure, and the difficulty of motion control is larger, and moving velocity is slower, realizes comparatively difficulty.
In order to make robot can adapt to the environment of Various Complex, the scientific research personnel just carries out different mechanisms compound, makes different institutions performance advantage separately, thereby reaches the purpose that adapts to complicated external environment.Thereby the composite mechanism robot has become various countries' research mobile robot's emphasis, focus.But it is also relative less to relate to the compound research of crawler belt and wheeled traveling mechanism, and the crawler belt of existing crawler leg composite movable robot and wheel all are to share a drive motor or Athey wheel is treated as wheel easily travel, come obstacle detouring by leg formula structure when running into obstacle, so that the global reliability of robot, alerting ability reduce, and control is complicated like this.For example application number is disclosed " a kind of step wheel combined mobile robot " in 200710177635.9 the patent document; Application number is disclosed " small crawler leg composite movable robot mechanism " in 200510004969.7 the patent document; Application number is that disclosed " rocker-type wheel and track joint robot " and application number are disclosed " a kind of Deformable wheel-tracked wheel chair robot " etc. in 200920014100.4 the patent document in 200810023572.6 the patent document.
Summary of the invention
The object of the present invention is to provide a kind of alerting ability, reliability and obstacle detouring that can either guarantee robot, can avoid again controlling crawler belt and the wheel combined mobile robot of complicated trouble.
The object of the present invention is achieved like this:
Comprise base plate, crawler belt traveling mechanism, wheel traveling mechanism and switching mechanism, described base plate comprises crawler belt base plate and wheel base plate, the crawler belt traveling mechanism is installed on the crawler belt base plate and consists of crawler body, the wheel traveling mechanism is installed on the wheel base plate and consists of wheel chassis, described switching mechanism is the transmission device that is connected between crawler body and the wheel chassis, and switching mechanism mainly is comprised of lifting drive motor and lifting screw, lifting nut.
The present invention can also comprise:
1, wheel chassis on the upper strata, crawler body is in lower floor, the lifting drive motor be fixedly mounted on the wheel chassis after lifting screw the first half is connected, and lifting nut and lifting screw the latter half are by the screw thread transmission and be installed on the crawler body.
2, wheel traveling mechanism and crawler belt traveling mechanism independently arrange DC speed-reducing separately.
3, the lifting drive motor is turbine and worm deceleration DC machine.
The present invention proposes a Combined movable dolly with wheel car and crawler vehicle characteristics, by the mutual conversion mechanism of caterpillar belt structure and car wheel structure, make it when various complex road surfaces travel, can keep faster speed and higher stability.
The present invention mainly comprises the switching mechanism of base plate, crawler belt traveling mechanism, wheel traveling mechanism and crawler belt one wheel.The crawler belt traveling mechanism comprises Athey wheel and Athey wheel drive motor, and the wheel traveling mechanism comprises wheel and wheel drive motors.Wheel chassis is on the upper strata, and crawler body is in lower floor.Switching mechanism is the connection for transmission mechanism of crawler body and wheel chassis, mainly formed by lifting drive motor and lifting screw, lifting nut, wherein, the lifting drive motor is connected, is fixedly mounted on the wheel chassis by key with lifting screw the first half, and lifting nut and lifting screw the latter half are by the screw thread transmission and be installed on the crawler body.The lifting drive motor rotating of switching mechanism can drive lifting screw and rotate, and lifting nut is moved up and down along lifting screw the latter half, drives moving up and down of crawler body, realizes the conversion of mode of motion.
When travelling in the wheel mode, wheel lands, and crawler body rises, and crawler belt is unsettled, and at this moment, lifting nut is in lifting screw the latter half top; When carrying out the mode of motion conversion, the lifting drive motor energising of switching mechanism drives lifting screw and rotates, lifting nut drives crawler body and just moves down along with the rotation of lifting screw, until crawler belt and wheel while kiss the earth, dolly moves under the combined action of crawler belt and wheel; If travel in the crawler belt mode, then the lifting drive motor continues energising, and lifting nut continues to move down, until arrive lifting screw the latter half bottom, at this moment, crawler belt lands, and wheel chassis is lifted, wheel hanging.Motion by switching mechanism realizes the evolution of crawler body and wheel chassis, thereby realizes the purpose that crawler belt, two kinds of mechanisms of wheel can independent operatings.
The present invention also has such Some features:
1, wheel traveling mechanism wheel drive motors is DC speed-reducing, it arrives the adhesion wheel axle by coupler with transmission of power, and drive sprocket axle drives the adhesion wheel motion, by the adhesion wheel of interlock and the differentiating control car body left and right sides, the realization car body is advanced and retreat and is turned to, and driven wheel is servo-actuated.The drive part of adhesion wheel is on the wheel base plate, and the support section of adhesion wheel and driven wheel can utilize the space by actv. in the traveling mechanism switching process below the wheel base plate, reduces height of the carbody.
2, crawler belt traveling mechanism Athey wheel drive motor is DC speed-reducing, it arrives initiatively track wheel shaft by coupler with transmission of power, initiatively track wheel shaft drives initiatively Athey wheel motion, active Athey wheel by interlock and the differentiating control car body left and right sides, the realization car body is advanced and retreat and is turned to, and driven Athey wheel is servo-actuated.
3, switching mechanism lifting drive motor is turbine and worm deceleration DC machine, it transmits motion to lifting screw by the key connection, the drive lifting screw rotates, there are respectively two thrust ball bearings at lifting screw the first half two ends, realization makes itself and switching mechanism lifting drive motor that relative displacement not occur to the support of lifting screw and spacing.
Advantage of the present invention is to adopt the worm drive of lifting screw and lifting nut to realize the travel mutual conversion of mode of crawler belt and wheel, the mechanism's complexity that adopts leg formula structure to cause, the problem that difficulty is large, reliability is low of motion control have been avoided like this, greatly simplify mobile robot's structure, guaranteed alerting ability, reliability and the obstacle detouring of robot.Simultaneously, adopt Double bottom dish structure so that the drive system of crawler belt and wheel traveling mechanism separate, do not affect each other, thereby increased the alerting ability of robot.
Description of drawings
Fig. 1 is integral structure sketch of the present invention;
Fig. 2 is birds-eye view of the present invention;
Fig. 3 is front view of the present invention;
Fig. 4 is left view of the present invention;
Fig. 5 is the switching mechanism section-drawing;
Fig. 6 is switching mechanism lifting screw structure diagram;
Fig. 7 is wheel traveling mechanism kinematic sketch;
Fig. 8 is crawler belt traveling mechanism kinematic sketch.
Fig. 9 adopts the specific embodiment two with the structure diagram of transmission.
The specific embodiment
For example the present invention is described in more detail below in conjunction with accompanying drawing:
The specific embodiment one:
In conjunction with Fig. 1, main composition of the present invention comprises three main portions of switching mechanism of crawler body, wheel chassis and crawler belt one wheel.
In conjunction with Fig. 2, Fig. 3, Fig. 4, the crawler belt traveling mechanism is installed on the Athey wheel traveling mechanism base plate 34, Athey wheel drive motor 7 is connected by screw together for DC speed-reducing and with Athey wheel drive motor bearing 6, it arrives initiatively track wheel shaft 2 by active Athey wheel coupler 5 with transmission of power, drive initiatively Athey wheel 1 motion by active track wheel shaft 2 by the key connection again, initiatively track wheel shaft 2 was supported by active Athey wheel bearing 3 and 4 common cooperations of active track wheel shaft bearings that are installed on above the Athey wheel traveling mechanism base plate 34.Driven Athey wheel 17 is connected and installed on the driven track wheel shaft 18 by key, and with 1 motion of active Athey wheel, driven track wheel shaft 18 was supported by driven Athey wheel bearing 19 and 20 common cooperations of driven track wheel shaft bearings that are installed on above the Athey wheel traveling mechanism base plate 34.Track adjusting wheel 14 is connected and installed on the crawler tensioning wheel shaft 13 by key, and crawler tensioning wheel shaft 13 is by crawler tensioning wheel bearing 45 and be installed on supporting 44 common cooperations of crawler tensioning wheel bearing seats below the Athey wheel traveling mechanism base plate 34.
The wheel traveling mechanism is installed on the wheel traveling mechanism base plate 28, wheel drive motors 27 is connected by screw together for DC speed-reducing and with wheel drive motors bearing 26, it arrives adhesion wheel transmission shaft 23 by adhesion wheel coupler 25 with transmission of power, adhesion wheel transmission shaft 23 is by the driving gear 24 and driven gear 41 transmissions of a pair of appointment reduction ratio, transmission of power is arrived adhesion wheel axle 16, last adhesion wheel axle 16 connects 15 motions of drive adhesion wheel by flange again, adhesion wheel transmission shaft 23 was supported by adhesion wheel drive bearing 22 and 21 common cooperations of adhesion wheel drive bearing blocks that are installed on above the wheel traveling mechanism base plate 28, and adhesion wheel axle 16 is by supporting adhesion wheel bearing 39 and 28 following 40 common cooperations of adhesion wheel bearing seat of wheel traveling mechanism base plate.Driven wheel 33 is connected and installed on the driven wheel axle 32 by key, and with adhesion wheel 15 motion, and driven wheel axle 32 is by driven wheel bearing 31 and be installed on supporting 30 common cooperations of driven wheel bearing seats below the wheel traveling mechanism base plate 28.
In conjunction with Fig. 5, Fig. 6, the switching mechanism of crawler belt--wheel is main body of the present invention, comprise lifting drive motor 8, it is supported by the lifting drive motor bearing 9 that is installed on above the wheel traveling mechanism base plate 28, lifting screw 10 is connected by the reductor of key with lifting drive motor 8, is jointly supported by lifting screw thrust ball bearing 42 and installation and the lifting screw bearing seat 43 above the lifting screw stay bearing plate 11.Lifting screw stay bearing plate 11 is supported by the lifting screw strut bar 12 that is fixed on above the wheel traveling mechanism base plate 28.Lifting nut 35 passes through the screw thread transmission with lifting screw 10, is installed on above the Athey wheel traveling mechanism base plate 34.Pilot bar 36 is realized guiding by pilot bar linear bearing 37 and the pilot bar linear axis bearing 38 that is installed on above the Athey wheel traveling mechanism base plate 34.
In conjunction with Fig. 7, Fig. 8, when adopting the motion of crawler belt traveling mechanism, the wheel traveling mechanism is propped, the weight of each part all is pressed on the lifting screw 10 by lifting screw thrust ball bearing 42 on the wheel traveling mechanism base plate 28 at this moment, and lifting screw 10 is connected with lifting nut 35 spirals on the Athey wheel traveling mechanism base plate 34, and namely the weight of each part is pressed on the spiral contact surface of lifting screw 10 and lifting nut 35 on the wheel traveling mechanism base plate 28.When adopting the motion of wheel traveling mechanism, the crawler belt traveling mechanism is propped, weight on the Athey wheel traveling mechanism base plate 34 is pressed on lifting screw 10 and the lifting nut 35 spiral contact surfaces at this moment, and two hexagonal nuts on the lifting screw 10 and shaft filler washer are pressed on the lifting screw thrust ball bearing 42, so that lifting screw 10 keeps vacant state, the weight and lifting screw 10 own wts that are equivalent to like this each part on the Athey wheel traveling mechanism base plate are pressed on the spiral contact surface of two hexagonal nuts and lifting screw 10.
The specific embodiment two:
In conjunction with Fig. 9, the wheel traveling mechanism is installed on the wheel traveling mechanism base plate 28, wheel drive motors 27 is connected by screw together for DC speed-reducing and with wheel drive motors bearing 26, it arrives adhesion wheel transmission shaft 23 by adhesion wheel coupler 25 with transmission of power, adhesion wheel transmission shaft 23 is by the driving gear 24 and driven gear 41 transmissions of a pair of appointment reduction ratio, transmission of power is arrived adhesion wheel axle 16, drive again at last adhesion wheel 15 motions, adhesion wheel transmission shaft 23 is by being supported by adhesion wheel drive bearing 22 and the 21 common cooperations of adhesion wheel drive bearing block, and adhesion wheel axle 16 is by supporting adhesion wheel bearing 39 and 40 common cooperations of adhesion wheel bearing seat.
Principle of work of the present invention is as follows:
When the mobile robot travels on comparatively smooth road surface, use the wheel traveling mechanism, the crawler belt traveling mechanism is not worked and is propped at this moment, namely keeps vacant state.When running into more rugged road environment, lifting screw in the lifting conversion mechanism is under the drive of DC speed-reducing and rotate, thereby make the decline of crawler body and crawler belt traveling mechanism, to realize the work of crawler belt traveling mechanism, this moment, wheel travel mechanism was propped, namely keep vacant state, no longer work.Just finish the conversion of mode mechanism of travelling of wheel, two kinds of differences of crawler belt by switching mechanism like this, and finally reached the purpose that realizes that two kinds of mechanisms can independent operating.

Claims (3)

1. a crawler belt and wheel combined mobile robot, comprise base plate, crawler belt traveling mechanism, wheel traveling mechanism and switching mechanism, it is characterized in that: described base plate comprises crawler belt base plate and wheel base plate, the crawler belt traveling mechanism is installed on the crawler belt base plate and consists of crawler body, the wheel traveling mechanism is installed on the wheel base plate and consists of wheel chassis, described switching mechanism is the transmission device that is connected between crawler body and the wheel chassis, and switching mechanism mainly is comprised of lifting drive motor and lifting screw, lifting nut; Wheel chassis on the upper strata, crawler body is in lower floor, the lifting drive motor be fixedly mounted on the wheel chassis after lifting screw the first half is connected, and lifting nut and lifting screw the latter half are by the screw thread transmission and be installed on the crawler body.
2. crawler belt according to claim 1 and wheel combined mobile robot, it is characterized in that: wheel traveling mechanism and crawler belt traveling mechanism independently arrange DC speed-reducing separately.
3. crawler belt according to claim 1 and 2 and wheel combined mobile robot, it is characterized in that: the lifting drive motor is turbine and worm deceleration DC machine.
CN 201110370907 2011-11-21 2011-11-21 Track-wheel combined type mobile robot CN102424071B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201110370907 CN102424071B (en) 2011-11-21 2011-11-21 Track-wheel combined type mobile robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201110370907 CN102424071B (en) 2011-11-21 2011-11-21 Track-wheel combined type mobile robot

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Publication Number Publication Date
CN102424071A CN102424071A (en) 2012-04-25
CN102424071B true CN102424071B (en) 2013-04-10

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005105388A1 (en) * 2004-04-30 2005-11-10 Korea Institute Of Science And Technology Link-type double track mechanism for mobile robot
CN1775608A (en) * 2005-12-05 2006-05-24 中国科学技术大学 Multiple obstacle environment-adaptive combined mechanism robot device
CN201181023Y (en) * 2008-04-06 2009-01-14 邓正刚 Elevator apparatus
US7600592B2 (en) * 2005-08-04 2009-10-13 Engineering Services Inc. Variable configuration articulated tracked vehicle
CN201484526U (en) * 2009-09-11 2010-05-26 燕山大学 Wheel and crawler dual-purpose travelling mechanism

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005105388A1 (en) * 2004-04-30 2005-11-10 Korea Institute Of Science And Technology Link-type double track mechanism for mobile robot
US7600592B2 (en) * 2005-08-04 2009-10-13 Engineering Services Inc. Variable configuration articulated tracked vehicle
CN1775608A (en) * 2005-12-05 2006-05-24 中国科学技术大学 Multiple obstacle environment-adaptive combined mechanism robot device
CN201181023Y (en) * 2008-04-06 2009-01-14 邓正刚 Elevator apparatus
CN201484526U (en) * 2009-09-11 2010-05-26 燕山大学 Wheel and crawler dual-purpose travelling mechanism

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