CN102530118B - Fish scale-type segmenting elastic caterpillar - Google Patents
Fish scale-type segmenting elastic caterpillar Download PDFInfo
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- CN102530118B CN102530118B CN 201210018312 CN201210018312A CN102530118B CN 102530118 B CN102530118 B CN 102530118B CN 201210018312 CN201210018312 CN 201210018312 CN 201210018312 A CN201210018312 A CN 201210018312A CN 102530118 B CN102530118 B CN 102530118B
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- aluminium block
- resilient track
- rubber bodies
- caterpillar
- spring
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Abstract
The invention relates to a fish scale-type segmenting elastic caterpillar which comprises rubber bodies, connecting aluminum blocks, hinges, trapezoidal aluminum blocks, caterpillar supporting shafts, springs and spring connecting shafts, wherein the rubber bodies are stuck on the connecting aluminum blocks; top ends of the adjacent rubber bodies are jointed together, so that the surface of the elastic caterpillar takes the shape of a circular ring; four pairs of hinges are respectively arranged on the inner sides and the outer sides of two adjacent connecting aluminum blocks; the hinges connect all caterpillar bodies into a ring-shaped whole body; two through holes are formed at the inner parts of the connecting aluminum blocks; and the springs are connected in the through holes through the spring connecting shafts. When a robot moves in a caterpillar type movement way, under the action of a wheel/caterpillar conversion mechanism, the fish scale-type segmenting elastic caterpillar naturally props open or shrinks through the elasticity of the springs so as to achieve the conversion between robot wheel-type movement and robot caterpillar-type movement and plays a great technical support role in improving the performance of the robot with the wheel/caterpillar conversion structure.
Description
Technical field
The present invention relates to a kind of segmentation resilient track, is a kind of particular section resilient track for wheel/caterpillar structure-variable mobile apparatus philtrum, belongs to mobile robot's mechanism part.
Background technology
Wheeled mobile robot has mobile rapidity, and the obstacle crossing ability of caterpillar mobile robot is very strong, and namely caterpillar mobile robot has the very high performance of passing through to complex-terrain.But, to be the innovation of robot mechanism technology with advantages wheeled, caterpillar mobile robot how together, and one of critical component that is used for wheeled and the conversion of crawler type kinematic mechanism is exactly crawler belt, the characteristics of this crawler belt are the effects that tire should be arranged, tracked effect again, but also the continuity that will keep robot in moving process, to move.When robot moved with the crawler type move mode, under the effect of wheel/shoe mapping device, crawler belt leaned on the elasticity of self and stretchs out naturally, and resilient track is not only wanted transferring power, also will stretch continually or shrink.Patent documentation [publication number: CN101570216] has proposed this robot, wherein, the used resilient track of this robot is to be made by elastic rubber material, the interior outside of resilient track all is processed with tooth, tooth and the ground contact preventing resilient track in the outside skid, inboard tooth and driving wheel external tooth engagement transferring power.Because resilient track struts frequently, regains, it is big that the external diameter of resilient track becomes gradually, the internal tooth of crawler belt can not well be fastened on the external tooth of driving wheel, cause motion to be lost efficacy, and there be becket the crawler belt inside in this patent documentation, crawler belt is when stretching and shrink, its circumferential length changes, and elastic deformation can only take place becket, can not produce plastic deformation, otherwise just destroyed, this point is also undeclared in this patent documentation.
Summary of the invention
The invention provides a kind of scale type segmentation resilient track, under the effect of wheel/shoe mapping device, scale type segmentation resilient track struts naturally by the elasticity of spring or shrinks, and realizes the motion conversion of the wheeled movement of robot and crawler type move mode.
The technical scheme that this patent technical solution problem adopts is: scale type segmentation resilient track, comprise plural track unit, each track unit comprises rubber bodies, connect aluminium block, hinge, trapezoidal aluminium block, the crawler belt bolster, spring and spring adapter shaft constitute, rubber bodies sticks on the top that connects aluminium block, the top of all adjacent rubber bodies all fits together, surface formation one is circular, a secondary hinge is respectively installed in the inside and outside both sides of two adjacent connection aluminium blocks, connect aluminium block inside and have two through holes, spring connects by the spring adapter shaft in through hole, and resilient track can strut naturally by the stretching, extension of spring.
Crawler belt main body of the present invention adopts rubber bodies, is made by the elastic rubber material with high-wearing feature, and profile is the fish scale shape, and the bottom is processed as a rectangle, pastes with the upper surface that connects aluminium block to connect; The inside and outside both ends of the surface of rubber bodies all are processed into circular-arc, the radian of the camber ratio outer face of inner end surface is bigger, the concrete radian value of inside and outside both ends of the surface will be decided according to the length of resilient track and the quantity of resilient track unit, thickness between the inside and outside two circular arc end faces is more and more thinner from bottom to top, until the top that is tangential on rubber bodies.When robot moved with wheeled move mode, resilient track was fastened on the driving wheel, and the top of all adjacent scale type rubber bodies all fits together, and it is one circular that the surface of resilient track forms; When robot moves in the crawler type mode, under the effect of wheel/shoe mapped structure, resilient track struts naturally, because rubber bodies itself has certain elasticity, at this moment, the surface of resilient track still keeps the circular arc of smoother, thereby robot is reduced jolt, move more steady when speeling stairway or climbing barrier thing.In addition, rubber bodies can also be protected spring, avoids facing spring in the robot operational process and causes damage, and struts naturally to influence resilient track.
Rubber bodies bottom processing one projection, paste connection with connecting the aluminium block top groove, connect aluminium block inside and have two through holes, rivet a spring adapter shaft at the opposite side that connects aluminium block, the position of spring adapter shaft is through the central axis of two through hole, and spring is connected in through hole on the spring adapter shaft.When robot moves with the crawler type move mode, under the effect of wheel/shoe mapping device, resilient track struts naturally by the stretching, extension of spring, realizes the wheel/shoe conversion of robot move mode, and the flexible scope of spring need satisfy the conversion requirement that move mode was taken turns/carried out to robot.Spring in the through hole is protected it by connecting aluminium block, and the spring that connects between the aluminium block is protected it by rubber bodies.A secondary hinge is all installed in all adjacent inside and outside both sides of two connection aluminium blocks, one end of two hinges connects by the moving load of a center shaft, the other end is connected on the top that connects both sides inside and outside the aluminium block by a crawl load respectively, when robot moves with the crawler type move mode, under the effect of wheel/shoe mapping device, support wheel promotes resilient track and freely struts, hinge will launch certain angle under the drive that connects aluminium block, the scope of hinge start point need satisfy robot is changed into the crawler type move mode by wheeled move mode requirement.
Under connecting aluminium block a trapezoidal aluminium block is installed, when support wheel is being taken turns/carrying out under the effect of mapping device, when promoting resilient track and strutting naturally, trapezoidal aluminium block is connected in the support wheel external tooth teeth groove, and resilient track takes place axially to jump when preventing the robot speeling stairway.A crawler belt bolster is all installed in the inside and outside both sides that connect aluminium block, and when robot moved with wheeled move mode, the crawler belt bolster was stuck in the driving wheel external tooth teeth groove equably, and driving wheel and resilient track are coupled together, and plays the effect of transferring power; When robot moves with the crawler type move mode, because resilient track is with the level of stretch difference of driving wheel contacting points position, so crawler belt bolster fitfull is connected in the part external tooth teeth groove of driving wheel, can plays transferring power and prevent the effect that resilient track skids.
Beneficial effect: the present invention can realize the quick speeling stairway of wheel/caterpillar structure-variable mobile robot or climbing barrier thing, and delicate structure, motion is reliable and be convenient to make; Simultaneously, the present invention is based on the biological structure mechanism of fish scale scale, realize the innovation of the key mechanism parts of robot, reach that wheel/caterpillar structure-variable mobile robot is moved on the level land, when stairway step, the first-class full landform in slope " walking " is more steady, more reliable.
Description of drawings
Fig. 1 is structure principle chart of the present invention.
Fig. 2 is integral structure figure of the present invention.
Fig. 3 is that the present invention works as the fundamental diagram of robot when moving with wheeled move mode.
Fig. 4 is that the present invention works as the fundamental diagram of robot when moving with the crawler type move mode.
Fig. 5 is scale type rubber bodies of the present invention structure principle chart when being hollow structure.
Fig. 6 is scale type rubber bodies of the present invention inside structure principle chart when adding spring steel.
Among the figure: 1, rubber bodies, 2, connect aluminium block, 3, trapezoidal aluminium block, 4, spring, 5, the crawler belt bolster, 6, the spring adapter shaft, 7, hinge, 8, driving wheel, 9, support wheel, 10, scale type hollow rubber body, 11, scale type spring steel rubber bodies.
The specific embodiment
Embodiment 1: by reference to the accompanying drawings 1, shown in accompanying drawing 2, accompanying drawing 3 and the accompanying drawing 4, illustrate that integral structure of the present invention constitutes and principle of work.This scale type segmentation resilient track, be to be constituted by rubber bodies 1, connection aluminium block 2, trapezoidal aluminium block 3, spring 4, crawler belt bolster 5, spring adapter shaft 6 and hinge 7, rubber bodies 1 sticks on the top that connects aluminium block 2, the top of all adjacent rubber bodies 1 all fits together, and it is one circular that the surface of resilient track is formed; A secondary hinge 7 is respectively installed in two adjacent connection aluminium blocks, 2 inside and outside both sides, and it is whole that hinge 7 connects into an annular with each section crawler belt body, connects aluminium block 2 inside and have two through holes, and spring 4 connects by spring adapter shaft 6 in through hole.
Connect the downside that aluminium block 2 is installed in scale type rubber bodies 1, rubber bodies 1 bottom processes a projection, paste connection with the top groove that connects aluminium block 2 by glue, connect aluminium block 2 inside and have two through holes, rivet a spring adapter shaft 6 at the opposite side that connects aluminium block 2, the position of spring adapter shaft 6 is through the central axis of two through hole, and spring 4 is connected in through hole on the spring adapter shaft 6.When robot moves with the crawler type move mode, under the effect of wheel/shoe mapping device, resilient track struts naturally by the stretching, extension of spring 4, realize robot by the conversion of wheeled move mode to the crawler type move mode, the flexible scope of spring need satisfy the conversion requirement that move mode was taken turns/carried out to robot.Spring 4 in the through hole is by connecting aluminium block 2 to its protection, connect spring 4 between the aluminium block 2 by rubber block 1 to its protection.A secondary hinge 7 is all installed in all adjacent two connection aluminium blocks, 2 inside and outside both sides, one end of two hinges 7 connects by the moving load of a center shaft, the other end is connected on the top that connects aluminium block 2 inside and outside both sides by a crawl load respectively, when robot moves with the crawler type move mode, under the effect of wheel/shoe mapped structure, support wheel 9 promotes resilient track and freely stretches, hinge 7 will launch certain angle under the drive that connects aluminium block 2, the scope of hinge start point need satisfy robot is changed into the crawler type move mode by wheeled move mode requirement.
More excellent, shown in the accompanying drawing 5, be to be made by the elastic rubber material with high-wearing feature as scale type hollow rubber body 10, profile is the fish scale shape, and hollow form is processed in inside, and other structure and the principle of work thereof of resilient track are identical with embodiment 1.Scale type hollow rubber body 10 has been saved certain cost under the prerequisite that satisfies the resilient track fatigue resistance, have high economic benefit.
As shown in Figure 6, scale type spring steel rubber bodies 11 is on the basis of the elastic rubber material system with high-wearing feature, and one deck spring steel has added in portion within it, and profile is the fish scale shape, and other structure and the principle of work thereof of resilient track are identical with embodiment 1.This kind frame mode has greatly improved the anti-fatigue performance of resilient track, has higher using value.
Claims (8)
1. scale type segmentation resilient track, it is characterized in that: described resilient track comprises plural track unit, each track unit comprises rubber bodies, connects aluminium block, hinge, trapezoidal aluminium block, crawler belt bolster, spring and spring adapter shaft; Rubber bodies is fixedly connected on the top that connects aluminium block, trapezoidal aluminium block be welded on connect aluminium block under, connect aluminium block inside the crawler belt pivot shaft is installed, connect aluminium block and along the about two sides of support wheel diametric(al) one secondary hinge is installed respectively, connect aluminium block and have two through holes along the support wheel circumferencial direction, spring connects adjacent connection aluminium block by the spring adapter shaft in through hole, the rear surface that all fits together, the top of all adjacent rubber bodies forms one circularly, and resilient track can strut naturally by the stretching, extension of spring.
2. scale type segmentation resilient track according to claim 1 is characterized in that: a raised structures is arranged at the rubber bodies bottom, and it is fluted to connect the aluminium block top, and the rubber bodies base projections is pasted and connected with connecting the aluminium block top groove.
3. scale type segmentation resilient track according to claim 1 and 2, it is characterized in that: rubber bodies is made by elastic caoutchouc, and profile is the fish scale shape, and the bottom is rectangle, pastes with the upper surface that connects aluminium block to connect; The inside and outside both ends of the surface of rubber bodies all are processed into circular-arc, the radian of inner end surface is greater than the radian of outer face, the radian value of inside and outside both ends of the surface depends on the length of resilient track and the quantity of resilient track unit, thickness between the inside and outside two circular arc end faces is more and more thinner from bottom to top, until the top that is tangential on rubber bodies.
4. scale type segmentation resilient track according to claim 1 is characterized in that: the spring adapter shaft is riveted on and connects on the aluminium block.
5. scale type segmentation resilient track according to claim 4 is characterized in that: an end of two hinges connects by the moving load of a center shaft, and the other end is connected on the top that connects the about both sides of aluminium block by a crawl load respectively.
6. scale type segmentation resilient track according to claim 5, it is characterized in that: trapezoidal aluminium block lower end is connected in the support wheel external tooth teeth groove.
7. scale type segmentation resilient track according to claim 6 is characterized in that: a crawler belt bolster is all installed in the inside and outside both sides that connect aluminium block, and the crawler belt bolster all is connected in the driving wheel external tooth teeth groove, and driving wheel and resilient track are coupled together.
8. scale type segmentation resilient track as claimed in claim 7 is characterized in that: rubber bodies is inner to be hollow or additional one deck spring steel structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210018312 CN102530118B (en) | 2012-01-19 | 2012-01-19 | Fish scale-type segmenting elastic caterpillar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210018312 CN102530118B (en) | 2012-01-19 | 2012-01-19 | Fish scale-type segmenting elastic caterpillar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102530118A CN102530118A (en) | 2012-07-04 |
| CN102530118B true CN102530118B (en) | 2013-09-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201210018312 Expired - Fee Related CN102530118B (en) | 2012-01-19 | 2012-01-19 | Fish scale-type segmenting elastic caterpillar |
Country Status (1)
| Country | Link |
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| CN (1) | CN102530118B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104210570B (en) * | 2014-09-02 | 2017-02-01 | 中国矿业大学 | Elastic caterpillar band capable of realizing telescopic deformation |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3401254A1 (en) * | 1984-01-16 | 1985-07-18 | Hoesch Ag, 4600 Dortmund | TRACK CHAIN FOR CHAIN VEHICLES |
| JPH1067350A (en) * | 1996-08-28 | 1998-03-10 | Bridgestone Corp | Rubber crawler for fitting on wheel |
| US20070126286A1 (en) * | 2005-12-02 | 2007-06-07 | Feldmann Thomas B | Endless track belt |
| JP4578550B2 (en) * | 2008-11-10 | 2010-11-10 | 住友ゴム工業株式会社 | Elastic track |
| CN202071913U (en) * | 2011-05-27 | 2011-12-14 | 中国人民解放军总后勤部建筑工程研究所 | Rubber track |
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2012
- 2012-01-19 CN CN 201210018312 patent/CN102530118B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN102530118A (en) | 2012-07-04 |
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Granted publication date: 20130925 Termination date: 20140119 |