CN102826135A - Track type omnibearing moving platform - Google Patents

Track type omnibearing moving platform Download PDF

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Publication number
CN102826135A
CN102826135A CN2012103471888A CN201210347188A CN102826135A CN 102826135 A CN102826135 A CN 102826135A CN 2012103471888 A CN2012103471888 A CN 2012103471888A CN 201210347188 A CN201210347188 A CN 201210347188A CN 102826135 A CN102826135 A CN 102826135A
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China
Prior art keywords
comprehensive mobile
roller
crawler
mobile platform
comprehensive
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CN2012103471888A
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CN102826135B (en
Inventor
张豫南
黄涛
颜南明
张健
尚颖辉
李年裕
李瀚飞
王双双
田鹏
闫永宝
赵玉慧
孙晓雨
吴中坚
李辉
张舒阳
王恒
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张豫南
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Priority to CN201210347188.8A priority Critical patent/CN102826135B/en
Publication of CN102826135A publication Critical patent/CN102826135A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D11/00Steering non-deflectable wheels; Steering endless tracks or the like
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/08Endless track units; Parts thereof
    • B62D55/18Tracks
    • B62D55/20Tracks of articulated type, e.g. chains
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/08Endless track units; Parts thereof
    • B62D55/18Tracks
    • B62D55/26Ground engaging parts or elements

Abstract

The invention discloses a track type omnibearing moving platform which is mainly composed of a moving mechanism, a control sub-system, a drive sub-system and a power sub-system, wherein the moving mechanism is composed of multiple omnibearing moving tracks; and the multiple omnibearing moving tracks are arranged like the four-wheel set of an automobile. The omnibearing moving track is mainly composed of a driving wheel (12), a track plate (13), a roller (14), a loading wheel (15), a towing wheel (16) and an induction wheel (17). The roller (14) is fixed on a roller bracket (23) of each track plate, and the rotation axis thereof forms a certain angle with the axis of the driving wheel (12) of the omnibearing moving track so as to form an offset angle of the roller (14).

Description

The comprehensive mobile platform of crawler type
Technical field
The invention belongs to mechanically moving device technique field, be specifically related to a kind of crawler type mobile platform with omnibearing movable characteristic.
Background technology
In recent years, mobile platform in the application of every profession and trade gradually deeply and widen fields such as the transportation of for example storing in a warehouse, aerospace, military security and service sector.It can be divided into comprehensive and non-comprehensive two kinds by motion characteristics, but existing most of mobile platform all right and wrong are omnibearing.With non-comprehensive comparing, comprehensive mobile platform has three freedom of motions on the XY plane under space coordinates XYZ, promptly along the translation of X axle, Y axle with around the rotation of Z axle.It has maneuvering performance more flexibly, can move towards any direction on the plane and need not change the flat-bed attitude, also can realize a bit to be center, the divertical motion of radius arbitrarily arbitrarily.Therefore, when comprehensive mobile platform is worked in narrow and small and crowded space, can advance flexibly and comfortably, also can carry out trickle adjustment, needing be highly suitable for the occasion of accurate location and high precision track following self position and attitude.
Travel mechanism is the basis of mobile platform motion, can be divided into wheeled, crawler type and leg foot formula usually, is applicable to step wise, creeping motion type and the snakelike formula of specific occasion in addition in addition.At present; Most comprehensive mobile platforms all adopt wheeled mechanism, mainly contain: Mecanum wheel (Mecanum wheel), switch wheel (Alternate wheel), quadrature wheel (Orthogonal wheel), ball wheel (ball wheel) and Rover continuously and take turns etc.Wheeled comprehensive mobile platform has obtained using widely on engineering.
The development of the comprehensive mobile platform of crawler type then relatively lags behind, and relevant achievement in research just occurred up to the beginning of the nineties in last century.Because existing crawler type omni-directional moving mechanism is perfect not enough, kind is also less, makes the comprehensive mobile platform of crawler type on engineering, not be applied so far, still rests on the test platform stage.
The Mecanum wheel is the wheeled omni-directional moving mechanism of a kind of representative type; As shown in Figure 1; It mainly is made up of wheel hub 1 and a series of well-distributed cydariform rollers 3 that are fixed on the wheel hub, and the gabarit intrinsic curve 2 of roller coincides with the theoretical circumference of wheel, and roller can rotate freely around its axis; The angle of roller axis and hub axis is the offset angle of roller, is generally ± 45 °.
The wheeled comprehensive mobile platform of Mecanum is present most widely used a kind of comprehensive mobile platform, and it needs the Mecanum wheel more than three or three in order to realize omnibearing movable, adopts four Mecanum wheels usually.For the four-wheel structure, operate steadily for making platform, supporting construction is stable, and general rational wheels layout structure form is vertical symmetric configuration, the wheel group structure form of similar miniature car.But because the structure of Mecanum wheel is special; In practical application, for making the manufacturing economical rationality, general four wheel construction parameters are got equal values; Take forward and reverse two kinds of mounting meanss when mounted, so the roller offset angle of taking turns on the platform has only ± two kinds of α (being taken as usually ± 45 °).Through the parsing to platform kinematics, it is as shown in Figure 2 to obtain optimum wheels placement scheme, and four rectangle frames among the figure are represented four wheels, and the square frame bend representes respectively to take turns the axis direction of ground connection roller, i.e. biased direction.
Because for point contacts, this just causes whole flat and ground to have only 4 points to contact between Mecanum wheel and the ground, ground contact area is very little.And the Mecanum wheel is a kind of rigid wheel, jolts so platform is easy to generate in motion process, and is particularly evident under high-speed case.The ideal operation condition of the wheeled comprehensive mobile platform of Mecanum is a flat road surface.It is difficult to guarantee the precision and the stability of omnibearing movable on uneven road surface.Because have only 4 points to contact between whole flat and the ground, and have on the uneven road surface concavo-convex with rise and fall etc., take turns or certain several situation of not contacting to earth of taking turns so occur certain easily, will cause platform can't accomplish omnibearing movable like this.
" VUTON " Crawler is that Shigeo professor Hirose by Japan invents crawler type travel mechanism, and his invention inspiration derives from certain directional wheel.Professor Hirose wants to have replaced original directional wheel through a series of free roller, thereby it is developed into a kind of crawler type omni-directional moving mechanism.As shown in Figure 3; Its structure mainly is that the free roller 7 by a pair of chain 4,5 and several cylinders shape constitutes; Article two, keep fixing spacing between the chain, connect with rectangle frame 6 between them, free roller then is fixed on the rectangle frame; They can be around self rotational, but keeps horizontal attitude all the time.The characteristics of this mechanism are that structure is smooth, compact; Compare original directional wheel, ground contact area increases, and load-carrying ability also strengthens; Simultaneously because and sliding phenomenon does not take place between the ground and ground contact area is bigger, so less to ground-surface degree of tortuosity.The object construction that " VUTON " moves crawler belt (crawler) mainly is made up of drive sprocket axle, inboard chain, outside chain, speed belt, rectangle frame, frame bracket, roller and tightening device; Wherein the angle of roller axis and driving wheel axis is 90 °, and promptly the offset angle of roller is 90 °." VUTON " moves the part-structure design in the crawler belt, for example adopts 90 ° of offset angle rollers and rectangle frame etc., causes it relatively poor through the ground-surface ability with obstacles such as step, grooves, thereby reduced its crossing ability.
For the mobile platform that adopts " VUTON " mobile crawler belt, a comprehensive mobile platform needs four these pedrail mechanisms at least.For four caterpillar belt structures, can know that through its motion parsing platform can only adopt four crawler belts as shown in Figure 4 around the symmetric configuration scheme, and can not adopt the wheels placement scheme of similar miniature car.Rectangle frame is represented a crawler belt among the figure, and a series of short solid line is then represented the axis of a series of ground connection rollers on the crawler belt in the frame, and fine dotted line is represented the driving wheel axis.Every crawler belt on the platform through controlling the size and Orientation of every crawler belt rotating speed, just can obtain different motion combinations, thereby the comprehensive of implementation platform is moved by the motor individual drive.The structure of " VUTON " Crawler self and flat-bed crawler belt group placement scheme have determined the ability of this platform through obstacles such as step, grooves.
Summary of the invention
The wheeled comprehensive mobile platform motion of existing Mecanum is jolted in order to solve, the road surface adaptive capacity is poor; And in order to solve the problem that " VUTON " moves the comprehensive mobile platform obstacle climbing ability of crawler type difference; The invention provides the comprehensive mobile platform of a kind of crawler type; It mainly is made up of travel mechanism, RACS, driver sub-system and power subsystem; It is characterized in that said travel mechanism is made up of a plurality of comprehensive mobile crawler belts, said a plurality of comprehensive mobile crawler belts are arranged with the vertical symmetrical structure of four-wheel wheels of similar automobile.
Said comprehensive mobile crawler belt mainly is made up of driving wheel (12), caterpillar block (13), roller (14), bearing wheed (15), moping pulley (16) and inducer (17).Said comprehensive mobile crawler belt is spliced by a plurality of caterpillar blocks (13); Said roller (14) is fixed on the roller bracket (23) of each caterpillar block; The axis of the driving wheel of its pivot center and said comprehensive mobile crawler belt (12) is arranged to certain included angle, forms the offset angle of said roller (14).
In addition; In the vertical symmetrical structure of four-wheel wheels that constitutes by said a plurality of comprehensive mobile crawler belts; The offset angle that is in two comprehensive mobile crawler belts on the diagonal line is identical, and the offset angle that is positioned at two comprehensive mobile crawler belts on another vertical with it diagonal line is opposite with aforementioned offset angle.
Said caterpillar block is made up of plate body (19), guiding tooth (20), engagement shaft (21), pin-and-hole (22) and roller bracket (23); Gear ring on wherein said engagement shaft (21) and the said driving wheel (12) is meshing with each other to realize the conversion of power, and said pin-and-hole (22) is used for a plurality of caterpillar blocks are spliced into a complete crawler belt.
The axis of the roller bracket of said caterpillar block (23) becomes a fixed angle with said driving wheel (12) axis, so that a plurality of rollers (14) on the said caterpillar block (13) form unified fixed bias angle.The offset angle scope of said roller (14) is between (0 °, 90 °) or (90 °, 0 °).The offset angle of preferred said roller (14) is ± 45 °.
Further, said RACS is by joystick, electric machine controller, and be used to calculate motor speed and turn to and the ICU that motor speed and steering order send to corresponding electric machine controller is constituted.Said driver sub-system is made up of motor and retarder, and said motor links to each other with travel mechanism through retarder, and the rotating speed and the steering order that receive said electric machine controller are to drive said travel mechanism.
The comprehensive mobile platform of crawler type of the present invention is compared with the mobile platform of aforementioned prior art, has following advantage: the stationarity of comprehensive mobile platform motion has been improved in (1); (2) strengthened the road surface adaptive capacity of comprehensive mobile platform; (3) promoted the obstacle climbing ability of comprehensive mobile platform.
Description of drawings
Fig. 1: Mecanum in the prior art (Mecanum) wheel shaft is to multiview drawing;
Fig. 2: the optimum wheels placement scheme of mobile platform that uses Mecanum (Mecanum) wheel shaft in the prior art;
Fig. 3: " VUTON " moves the structure principle chart of crawler belt in the prior art;
Fig. 4: mobile platform four crawler belts that use " VUTON " mobile crawler belt in the prior art are around the symmetric configuration scheme;
Fig. 5: the comprehensive mobile platform overall structure of crawler type of the present invention scheme drawing;
Fig. 6: comprehensive mobile caterpillar belt structure scheme drawing of the present invention;
Fig. 7: the vertical symmetric configuration figure of the crawler belt group of the comprehensive mobile platform of crawler type of the present invention;
Fig. 8: the driving wheel structural representation of comprehensive mobile crawler belt of the present invention;
Fig. 9: the track plate structure scheme drawing of comprehensive mobile crawler belt of the present invention.
The specific embodiment
Fig. 5 is the overall structure scheme drawing of the comprehensive mobile platform of crawler type of the present invention.As shown in Figure 5, the comprehensive mobile platform of crawler type of the present invention is a kind of electric tramsmission control platform.It mainly is made up of travel mechanism, RACS, driver sub-system and power subsystem etc.Wherein, travel mechanism is the flat-bed basis, and RACS is the flat-bed core.
For travel mechanism, flat-bed of the present invention travel mechanism is made up of four " comprehensive mobile crawler belts "." comprehensive mobile crawler belt " is based on the basic structure of the travel mechanism of continuously tracked vehicle; And above that rectangular distribution the cylindrical roller with fixed bias angle of some; Roller can rotate freely around self axis, and the offset angle scope is (0 °, 90 °) or (90 °; 0 °), be generally ± 45 °.Its structural representation is as shown in Figure 6, and the detailed structure and the characteristic of " comprehensive mobile crawler belt " will elaborate below.
Its principal feature of mobile platform of the present invention is except that adopting above-mentioned " comprehensive mobile crawler belt " as the travel mechanism; Also be the layout type of its platform crawler belt group; As shown in Figure 7, the present invention has adopted vertical symmetric configuration as shown in Figure 7, and it is similar to the four-wheel wheel group structure of roadlice.Scheme medium and small rectangle frame and represent crawler belt, preferably " comprehensive mobile crawler belt ", a series of oblique line is then represented the axis direction of a succession of ground connection roller on the crawler belt in the frame, i.e. biased direction, and four dotted lines are then represented the axis direction of driving wheel.Because the special construction of " comprehensive mobile crawler belt ", the crawler belt on the platform need be taked positive and negative two kinds of mounting meanss, so the roller offset angle on the platform has two kinds, is generally ± 45 °.In the four-wheel wheel group structure that constitutes by said a plurality of comprehensive mobile crawler belts; The offset angle that is in two comprehensive mobile crawler belts on the diagonal line is identical, and the offset angle that is positioned at two comprehensive mobile crawler belts on another vertical with it diagonal line is opposite with aforementioned offset angle.For example, the roller offset angle of A and C crawler belt is identical among Fig. 7, and B and D number roller offset angle is (the roller offset angle like A and C crawler belt is 45 °, and then B and D number roller offset angle then is-45 °) then just in contrast.
For the RACS of mobile platform, the flat-bed RACS is made up of joystick, ICU and four electric machine controllers.The workflow of RACS is following: at first ICU utilizes the AD modular converter that the analog signal conversion of joystick is digital signal, and calculates each rotating speed of motor and turn to; Then, ICU sends cooresponding electric machine controller through the CAN bus with each rotating speed of motor and steering order; At last, electric machine controller is regulated each rotating speed of motor according to the instruction that receives and is turned to, and also can feed back to the actual speed of each motor current time of ICU simultaneously.
For the driver sub-system of mobile platform, the flat-bed driver sub-system is made up of four groups of motors and retarder.Motor links to each other with travel mechanism through retarder, receives the rotating speed and the steering order of electric machine controller, realizes omnibearing movable thereby drive travel mechanism.In addition, because the inducer on " comprehensive mobile crawler belt " also can be used as driving wheel, so under the situation of needs, also can adopt eight groups of motors and retarder, then every crawler belt will be driven by two groups of motors and retarder simultaneously.
For the power subsystem of mobile platform, its power subsystem is that flat-bed control, driving etc. provide power supply, adopts direct supply as the flat-bed electrical source of power usually.Here select power battery pack for use.
To describe the concrete structure and the characteristics thereof of " comprehensive mobile crawler belt " that mobile platform of the present invention adopts below in detail.
As everyone knows; Existing continuously tracked vehicle has advantages such as motion is steady, the road surface adaptive capacity is strong; The present invention program just is being based on the basic structure of existing continuously tracked vehicle travel mechanism, through a kind of novel crawler mechanism---the comprehensive mobile crawler belt that improves that design develops.Comprehensive mobile crawler belt both kept the motion of original continuously tracked vehicle travel mechanism steadily, advantage that the road surface adaptive capacity is strong, possessed the function that realizes omnibearing movable again.
Comprehensive mobile caterpillar belt structure scheme drawing of the present invention is as shown in Figure 6, and this mechanism mainly is made up of six parts such as driving wheel 12, caterpillar block 13, roller 14, bearing wheed 15, moping pulley 16 and inducers 17.
Wherein driving wheel 12 adopts the double rows of teeth coil structures, and is as shown in Figure 5, and its function is that through gear ring and caterpillar block 13 engagements, the driving torque that motor is exported converts the pulling force of crawler belt to, thereby drives whole caterpillar drive.The number of teeth of driving wheel and size can crawler belt size according to actual needs be confirmed.
In the design of crawler belt and driving wheel, confirmed the diameter of width, pitch, engagement system and the engagement shaft of caterpillar block.Said caterpillar block 13 is as shown in Figure 9, and said each caterpillar block can be divided into following components: plate body 19, guiding tooth 20, engagement shaft 21, pin-and-hole 22 and roller bracket 23.Wherein plate body 19 is used for supports bogie wheels 15 and carrier wheel 16, is equivalent to the track of the main motion of mobile crawler belt; 20 in tooth of guiding has played directional tagging, has guaranteed that bearing wheed 15 and moping pulley 16 do not depart from plate body 19 tracks; Gear ring on engagement shaft 20 and the driving wheel 12 is meshing with each other, and has realized the conversion of power, because driving wheel 12 is bidentate coil structures, so have the pair of meshing axle on a caterpillar block; Pin-and-hole 22 is used for the connection between a plurality of caterpillar blocks, forms a complete crawler belt at last; Roller bracket 23 is positioned at the plate body below, is used for fixing roller, and its axis 24 becomes certain included angle with the driving wheel axis, and its scope is (0 a °, 90 °) or (90 °, 0 °), is typically designed to ± 45 °.
Roller according to the invention is the grounded part of crawler belt, mainly realizes omnibearing movable through it and ground-surface mutual action, and its outline is a cylinder.It compares the wheeled comprehensive mobile platform of aforementioned Mecanum of the prior art, and the stationarity of comprehensive mobile caterpillar drive promotes greatly.The grounded part of comprehensive mobile crawler belt is a series of cylindrical roller, they with ground between be that line contacts, this has increased the flat-bed ground contact area effectively, and increases along with the increase of track length.In addition; In motion process; The roller of comprehensive crawler belt keeps one period contact time (length and the driving wheel rotating speed that have depended on crawler belt during this period of time) after each ground connection, make so probably to reach of short duration static balance between ground connection roller and the ground; Thereby effectively slow down the degree of jolting, improved the stationarity of platform motion.Said roller is installed on the roller bracket, can freely rotate around self axis, because the axis of roller bracket becomes certain included angle with the driving wheel axis; So roller has certain offset angle, its scope is (0 °, 90 °) or (90 °; 0 °), be generally ± 45 °.
The comprehensive crawler belt of the present invention is provided with bearing wheed in addition, and bearing wheed is provided with guide groove, and the guiding tooth engagement on itself and the caterpillar block is not so that bearing wheed departs from the plate body track of caterpillar block.The function of bearing wheed is to support car body and on crawler belt ground connection section, roll, and flat-bed gravity is uniformly distributed on the whole crawler belt ground connection section.Usually, have a plurality of bearing wheeds on the crawler belt, increase the quantity of bearing wheed, can make the distribution of pressure on the crawler belt bearing surface even, this mechanism is improved at the ground crossing ability of load-carrying capacity difference, reduced ground-surface degree of tortuosity.The selection of bearing wheed, structure and size can design according to the actual requirements.
In addition, comprehensive mobile crawler belt of the present invention also comprises moping pulley, moping pulley and bearing wheed structural similitude, but size is less relatively.It is played a supporting role to last crawler belt section, can reduce to go up the swing of a crawler belt section like this, thereby reduces the loss in efficiency of caterpillar block hinged place.Also have a plurality of moping pulleys on the general crawler belt, concrete quantity can be confirmed according to the length of last crawler belt section.
Further comprehensive mobile crawler belt of the present invention also comprises inducer.Usually, the function of inducer is to be used for supporting the crawler belt section and to change the sense of motion of going up a crawler belt section, the structural similitude of it and moping pulley, but size is bigger.Yet though inducer as shown in Figure 4 is identical with the driving wheel structure, it does not have the active drive ability.Yet, if when wanting to increase the propulsive effort of crawler belt, can this inducer directly be transformed to driving wheel, the whole piece crawler belt is driven by two driving wheels, and this can come to confirm according to the actual requirements.
The comprehensive mobile platform of crawler type of the present invention is compared with existing mobile platform, has following advantage:
(1) improved the stationarity that comprehensive mobile platform moves.
Compare the wheeled comprehensive mobile platform of Mecanum, the stationarity of the comprehensive mobile platform motion of crawler type promotes greatly.Because its travel mechanism is made up of four " comprehensive mobile crawler belts "; And the grounded part of " comprehensive mobile crawler belt " is a series of cylindrical roller; They with ground between be that line contacts, this has increased the flat-bed ground contact area effectively, and increases along with the increase of track length.In addition; In motion process; The roller of comprehensive crawler belt keeps one period contact time (length and the driving wheel rotating speed that have depended on crawler belt during this period of time) after each ground connection, make so probably to reach of short duration static balance between ground connection roller and the ground; Thereby effectively slow down the degree of jolting, improved the stationarity of platform motion.
(2) strengthened the road surface adaptive capacity of comprehensive mobile platform.
Compare the wheeled comprehensive mobile platform of Mecanum, the comprehensive mobile platform of crawler type can adapt to uneven road surface at random better.Because the number of whole flat ground connection roller is more; When on uneven road surface at random, moving; Although have concavo-convex, groove or rise and fall etc.; Can cause the part roller on the ground connection crawler belt section unsettled situation to occur, but, just still can realize omnibearing movable as long as have at least a roller to keep ground connection on every crawler belt.In addition, the flat-bed ground contact area is big, can effectively overcome the vibrational excitation that uneven road surface brings to platform, thereby slow down the degree of jolting.It is thus clear that the comprehensive mobile platform of crawler type is stronger to the adaptive capacity of uneven road surface at random, and strengthen with the increase of track length.
(3) promoted the obstacle climbing ability of comprehensive mobile platform.
The comprehensive platform of crawler type has adopted the rectangular layout scheme of similar roadlice wheels structure; And " comprehensive mobile crawler belt " has good crossing ability; Every also configurable double-motor of crawler belt drives in addition, so the ability of platform through obstacles such as step, grooves is greatly improved.
Though the present invention is described with reference to a plurality of embodiment; But the present invention is not limited to the foregoing description; Be to be understood that those skilled in the art can carry out the suitable new embodiment that is combined to form to the parts that relate in the foregoing description, various tangible modification of on the basis that does not break away from the principle of the invention, carrying out and variation all should fall within protection scope of the present invention.

Claims (10)

1. comprehensive mobile platform of crawler type; It mainly is made up of travel mechanism, RACS, driver sub-system and power subsystem; It is characterized in that; Said travel mechanism is made up of a plurality of comprehensive mobile crawler belts, and said a plurality of comprehensive mobile crawler belts are arranged with the vertical symmetrical structure of four-wheel wheels of similar automobile.
2. the comprehensive mobile platform of crawler type as claimed in claim 1 is characterized in that, said comprehensive mobile crawler belt mainly is made up of driving wheel (12), caterpillar block (13), roller (14), bearing wheed (15), moping pulley (16) and inducer (17).
3. the comprehensive mobile platform of crawler type as claimed in claim 2; It is characterized in that; Said comprehensive mobile crawler belt is spliced by a plurality of caterpillar blocks (13); Said roller (14) is fixed on the roller bracket (23) of said each caterpillar block, and the axis of the driving wheel of its pivot center and said comprehensive mobile crawler belt (12) is arranged to certain included angle, forms the offset angle of said roller (14).
4. the comprehensive mobile platform of crawler type as claimed in claim 3; It is characterized in that; In the vertical symmetrical structure of four-wheel wheels that constitutes by said a plurality of comprehensive mobile crawler belts; The offset angle that is in two comprehensive mobile crawler belts on the diagonal line is identical, and the offset angle that is positioned at two comprehensive mobile crawler belts on another vertical with it diagonal line is opposite with aforementioned offset angle.
5. the comprehensive mobile platform of crawler type as claimed in claim 3; It is characterized in that; Said caterpillar block is made up of plate body (19), guiding tooth (20), engagement shaft (21), pin-and-hole (22) and roller bracket (23); Gear ring on wherein said engagement shaft (21) and the said driving wheel (12) is meshing with each other to realize the conversion of power, and said pin-and-hole (22) is used for a plurality of caterpillar blocks are spliced into a complete crawler belt.
6. the comprehensive mobile platform of crawler type as claimed in claim 4; It is characterized in that; The axis of the roller bracket of said caterpillar block (23) becomes a fixed angle with said driving wheel (12) axis, so that the said roller (14) on every crawler belt forms unified fixed bias angle.
7. like the comprehensive mobile platform of the described crawler type of one of claim 3 to 6, it is characterized in that the offset angle scope of said roller (14) is between (0 °, 90 °) or (90 °, 0 °).
8. the comprehensive mobile platform of crawler type as claimed in claim 7 is characterized in that the offset angle of said roller (14) is ± 45 °.
9. like the comprehensive mobile platform of the described crawler type of one of claim 3 to 6; It is characterized in that; Said RACS is by joystick, electric machine controller, and be used to calculate motor speed and turn to and the ICU that motor speed and steering order send to corresponding electric machine controller is constituted.
10. the comprehensive mobile platform of crawler type as claimed in claim 9; It is characterized in that; Said driver sub-system is made up of motor and retarder, and said motor links to each other with travel mechanism through retarder, and the rotating speed and the steering order that receive said electric machine controller are to drive said travel mechanism.
CN201210347188.8A 2012-09-19 2012-09-19 Crawler type omni-directional moving platform Active CN102826135B (en)

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PCT/CN2012/001755 WO2014043841A1 (en) 2012-09-19 2012-12-28 Track type omnibearing moving platform

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WO2014043836A1 (en) * 2012-09-19 2014-03-27 Zhang Yunan Omnibearing moving track
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CN113479017A (en) * 2021-06-23 2021-10-08 江苏科技大学 Universal crawler belt wheel set and movement method thereof

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