CN102849132A - Wheel-track compound deformation track robot - Google Patents
Wheel-track compound deformation track robot Download PDFInfo
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- CN102849132A CN102849132A CN201210089271XA CN201210089271A CN102849132A CN 102849132 A CN102849132 A CN 102849132A CN 201210089271X A CN201210089271X A CN 201210089271XA CN 201210089271 A CN201210089271 A CN 201210089271A CN 102849132 A CN102849132 A CN 102849132A
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Abstract
The invention discloses a wheel-track compound deformation track robot which comprises a machine frame and a spindle installed on the machine frame. Two deformation track wheels capable of being converted between a circle and a triangle and being provided with power devices are installed at two ends of the spindle respectively, two support frames are installed on the front side and the rear side of the machine frame respectively, and follow-up guide wheels are installed at the bottom ends of the support frames. The wheel-track compound deformation track robot has the advantages of moving flexibly, being strong in adapting capability and simple in structure and working stably.
Description
Technical field
The present invention relates to caterpillar robot, relate in particular to wheel and carry out the composite deformation caterpillar robot.
Background technology
The characteristics such as everyone knows, the Small Ground Mobile Robot for dangerous operations such as fire, mine disaster, nuclear leakages is little with its volume, cost is low, viability is strong, motion is flexible become the another focus of mobile robot's field of research.Wherein the robot of wheeled construction have that simple in structure, quality is light, high-speed and high-efficiency, the advantage such as practical, because its these advantages that have, so that the running velocity of wheel type mobile system is very fast, control also simpler, yet its obstacle climbing ability, the ability that adapts to complex-terrain but prove definitely inferior; With regard to adaptive capacity, it is good that common caterpillar mobile robot has an off-road capability, climbing, obstacle detouring, strides the advantages such as the ditch ability is strong, but also have the shortcomings such as turning is relatively poor, energy consumption is larger simultaneously.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the deficiencies in the prior art, provides a kind of wheel flexible, adaptable, simple in structure, working stability that moves to carry out the composite deformation caterpillar robot.
For solving the problems of the technologies described above, the present invention by the following technical solutions:
A kind of wheel carried out the composite deformation caterpillar robot, comprise frame and a main shaft that is installed on the frame, described main shaft two ends all are equiped with one and can change between circle and triangle and take turns with the deformed caterpillar of engine installation, the both sides, front and back of described frame all are equiped with a bracing frame, and each bracing frame bottom all is equiped with servo-actuated guide wheel.
Described deformed caterpillar wheel comprises deformed caterpillar, Timing Belt wheels, driving power device and is used for driving four rod deformation mechanisms of deformed caterpillar distortion, described Timing Belt wheels are rotating to be supported on the main shaft, described driving power device is installed on the frame and drives the Timing Belt wheels and rotates, described deformed caterpillar is sheathed on outside the Timing Belt wheels, described four rod deformation mechanisms are installed in the Timing Belt wheels and with the deformed caterpillar inner ring and cooperate, and are equiped with on the described frame for the distortion engine installation that drives four rod deformation mechanisms.
Described four rod deformation mechanisms comprise wishbone, fagging, connecting strap, two undercarriages and two intermediate bars, the kink of described wishbone links to each other with the distortion engine installation, described fagging upper end is affixed with main shaft, fagging lower end and connecting strap are affixed, two undercarriages are divided into connecting strap both sides and hinged with connecting strap, two intermediate bars are divided into the fagging both sides, each intermediate bar one end and wishbone are hinged, each intermediate bar other end and undercarriage are hinged, are equiped with on the described undercarriage for the cylinder wheel that cooperates with the deformed caterpillar inner ring.
Described distortion engine installation comprises distortion motor, reduction gearing mechanism and drive shaft sleeve, described distortion motor and reduction gearing mechanism all are installed on the frame, the mouth of described distortion motor links to each other with the input end of reduction gearing mechanism, described drive shaft sleeve is sheathed on the main shaft, drive shaft sleeve one end is connected with the mouth of reduction gearing mechanism, the kink of drive shaft sleeve one end and described wishbone is affixed, and the other end and frame are affixed.
Described reduction gearing mechanism comprises the first finishing bevel gear cuter, the second finishing bevel gear cuter, worm shaft and worm gear, described the first finishing bevel gear cuter joins with the mouth of distortion motor, described the second finishing bevel gear cuter is installed on the worm shaft and with the first finishing bevel gear cuter and meshes, described worm shaft and worm gear engagement, described worm gear is fixedly arranged on the main shaft.
Described driving power device comprises the motor of advancing, the drive sprocket of advancing, the driving chain of advancing, locating bush, fixing screw and the driven sprocket of advancing, the described drive sprocket of advancing is installed in the motor output end of advancing, the described driven sprocket of advancing is rotating to be supported on the described drive shaft sleeve, the described driving chain of advancing is set around on advance drive sprocket and the driven sprocket of advancing, and described locating bush is connected and fixed on by fixing screw and advances between driven sprocket and the Timing Belt wheels.
Described deformed caterpillar comprises caterpillar teeth layer, elastic layer and Timing Belt engagement layer, described Timing Belt engagement layer is fixedly arranged on the elastic layer inner ring and meshes with the Timing Belt wheels, described caterpillar teeth layer is located at the elastic layer outer ring, and the bottom of each caterpillar teeth and elastic layer are affixed in the caterpillar teeth layer.
Described Timing Belt wheels comprise nearside wheel and off-side wheel, described nearside wheel is supported on the drive shaft sleeve and by fixing screw and the driven sprocket of advancing by bearing and is connected and fixed, described off-side wheel is supported on the main shaft by bearing, and described nearside wheel and off-side wheel outer ring all cooperate with the Timing Belt engagement layer of deformed caterpillar.
Described deformed caterpillar wheel also comprises the ratchet switching mechanism, described ratchet switching mechanism comprises ratchet, upset sprocket wheel and upset chain, described upset sprocket wheel is fixedly arranged on the mouth of the described motor of advancing, described ratchet is fixedly arranged on the described drive shaft sleeve, and described upset chain is set around on ratchet and the upset sprocket wheel.
Compared with prior art, the invention has the advantages that:
The of the present invention wheel carried out the composite deformation caterpillar robot, all being equiped with one at the main shaft two ends can change between circle and triangle and take turns with the deformed caterpillar of engine installation, make the fast reserve under the existing circular wheel pattern of this robot, advancing steadily under the triangle Athey wheel pattern also arranged, can adapt to various complex-terrains, have very strong maneuverability and obstacle climbing ability; The both sides, front and back of frame all are equiped with a bracing frame, and each bracing frame bottom all is equiped with servo-actuated guide wheel, because effect of inertia, the servo-actuated guide wheel after leaning on respect to working direction lands, and keeps fuselage stable, guarantees that motion steadily when advancing.Deformed caterpillar wheel drives the deformed caterpillar distortion by four rod deformation mechanisms, launch and draw in steady, simple in structure, be convenient to control, also can realize by distortion simultaneously the obstacle of climbing certain altitude, strong adaptability.The motor of advancing in the driving power device is installed on the frame, makes the motor of advancing be subject to the fuselage protection, reduces the possibility that the robot active force partly is subject to ectocine, reduces the fault rate of power pack section, increases robot motion's stability.Deformed caterpillar comprises caterpillar teeth layer, elastic layer and Timing Belt engagement layer, be convenient to realize crawler belt elongation strain, elastic telescopic by the cooperation of three-decker, and do not affect the transmission of motion and power, when four rod deformation mechanisms do not launch, under the effect of elastic layer, it is round-shaped that deformed caterpillar keeps, and robot is round wheel pattern and advances, and is flexible; During four rod deformation mechanism deployings, elastic layer is strutted, and deformed caterpillar becomes the triangle state, and robot operates steadily with the motion of triangle crawler belt pattern, can adapt to the complex road conditions such as marsh, hollow, mire, strengthens the adaptive capacity to environment of robot.Can realize two kinds of pattern crossing over blockage by the ratchet switching mechanism, be passive crossing when robot is just marching forward, crawler belt blocks obstacle when running into obstacle, drives four rod deformation mechanisms take barrier point as fulcrum by ratchet, the passive crossing over blockage of finishing, namely run into obstacle after wheel can overturn; For initiatively crossing, drive main shaft sleeve by ratchet during the robot counter motion, so that four rod deformation mechanisms overturn immediately, finish initiatively crossing over blockage.The of the present invention wheel carried out the composite deformation caterpillar robot, and the multi-motion modes such as integrated two-wheeled is advanced, the triangle crawler belt is advanced, initiatively climbing, crossing over blockage are in one, and gait of march is fast, energy consumption is low, and maneuverability is strong, and climbing, obstacle detouring, to stride the ditch ability strong.
Description of drawings
Fig. 1 is the perspective view of circular wheel state of the present invention.
Fig. 2 is the perspective view of triangle wheel state of the present invention.
Fig. 3 is the perspective view (removing crawler belt and off-side wheel) of circular wheel state of the present invention.
Fig. 4 is the perspective view (removing crawler belt and off-side wheel) of triangle wheel state of the present invention.
Fig. 5 is main TV structure scheme drawing of the present invention.
Fig. 6 is the A-A cutaway view of Fig. 5.
Fig. 7 is in the B-B section of Fig. 5, the local structure scheme drawing of distortion power setting part.
Fig. 8 is the left TV structure scheme drawing (removing off-side wheel) of circular wheel state of the present invention.
Fig. 9 is the left TV structure scheme drawing (removing off-side wheel) of triangle wheel state of the present invention.
Figure 10 is the schematic diagram of mechanism of driving power device of the present invention.
Figure 11 is the schematic diagram of mechanism that the present invention is out of shape engine installation.
Figure 12 is the enlarged diagram at motor output shaft place of advancing.
Figure 13 is the enlarged diagram at drive shaft sleeve place.
Figure 14 is the structural representation of deformed caterpillar of the present invention.
Figure 15 is the motion scheme drawing that the present invention passes the gully obstacle.
Figure 16 is the motion scheme drawing that the present invention initiatively crosses common projection obstacle.
Figure 17 is the passive motion scheme drawing of crossing higher protrusion-type obstacle of the present invention.
Figure 18 is the motion scheme drawing that the present invention initiatively crosses higher protrusion-type obstacle.
Figure 19 is the motion scheme drawing that the present invention crosses the stepped ramp type obstacle.
Each label represents among the figure:
1, frame; 2, main shaft; 3, deformed caterpillar wheel; 301, deformed caterpillar; 302, four rod deformation mechanisms; 3011, caterpillar teeth layer; 3012, elastic layer; 3013, Timing Belt engagement layer; 3014, caterpillar teeth; 3021, wishbone; 3022, fagging; 3023, undercarriage; 3024, connecting strap; 3025, connect bobbin; 3026, cylinder wheel bearing pin; 3027, cylinder wheel; 3028, intermediate bar; 303, Timing Belt wheels; 3031, nearside wheel; 3032, off-side wheel; 304, distortion engine installation; 3041, distortion motor; 3042, drive shaft sleeve; 3043, the first finishing bevel gear cuter; 3044, the second finishing bevel gear cuter; 3045, worm shaft; 3046, worm gear; 305, driving power device; 3051, the motor of advancing; 3052, the drive sprocket of advancing; 3053, the driving chain of advancing; 3054, locating bush; 3056, the driven sprocket of advancing; 306, ratchet switching mechanism; 3061, ratchet; 3062, upset sprocket wheel; 3063, upset chain; 4, bracing frame; 41, servo-actuated guide wheel.
The specific embodiment
Fig. 1 to Figure 14 shows a kind of wheel the of the present invention and carries out composite deformation caterpillar robot embodiment, this robot comprises frame 1 and a main shaft 2 that is installed on the frame 1, main shaft 2 two ends all are equiped with one and can change between circle and triangle and with the deformed caterpillar of engine installation wheel 3, make the fast reserve under the existing circular wheel pattern of this robot, advancing steadily under the triangle Athey wheel pattern also arranged, can adapt to various complex-terrains, have very strong maneuverability and obstacle climbing ability; The both sides, front and back of frame 1 all are equiped with a bracing frame 4, about 40 ° of the angle of bracing frame 4 and horizontal surface, and each bracing frame 4 bottom all is equiped with servo-actuated guide wheel 41, when advancing because effect of inertia, servo-actuated guide wheel 41 after leaning on respect to working direction lands, and keeps fuselage stable, guarantees that motion steadily.
In the present embodiment, deformed caterpillar wheel 3 comprises deformed caterpillar 301, Timing Belt wheels 303, driving power device 305 and the four rod deformation mechanisms 302 that are out of shape for driving deformed caterpillar 301, Timing Belt wheels 303 rotating being supported on the main shaft 2, driving power device 305 is installed on the frame 1, and driving Timing Belt wheels 303 rotate, deformed caterpillar 301 is sheathed on outside the Timing Belt wheels 303, four rod deformation mechanisms 302 are installed in the Timing Belt wheels 303, and cooperate with deformed caterpillar 301 inner rings, be equiped with on the frame 1 for the distortion engine installation 304 that drives four rod deformation mechanisms 302, four rod deformation mechanisms 302 drive deformed caterpillar 301 distortion under the driving of distortion engine installation 304, make 3 expansion of deformed caterpillar wheel and draw in steady, simple in structure, be convenient to control, also can realize by distortion simultaneously the obstacle of climbing certain altitude, strong adaptability.Four rod deformation mechanisms 302 comprise wishbone 3021, fagging 3022, connecting strap 3024, two undercarriages 3023 and two intermediate bars 3028, the kink of wishbone 3021 links to each other with distortion engine installation 304, fagging 3022 upper ends and main shaft 2 are affixed, fagging 3022 lower ends and connecting strap 3024 are affixed, two undercarriages 3023 are divided into connecting strap 3024 both sides, and hinged with connecting strap 3024 by connecting bobbin 3025, two intermediate bars 3028 are divided into fagging 3022 both sides, each intermediate bar 3,028 one end and wishbone 3021 are hinged, each intermediate bar 3028 other end and undercarriage 3023 are hinged, be equiped with cylinder wheel 3027 by small column wheel bearing pin 3026 on the undercarriage 3023, this cylinder wheel 3027 is used for cooperating with deformed caterpillar 301 inner rings.Fagging 3022 keeps vertical with connecting strap 3024 constantly, and four rod deformation mechanisms 302 after the expansion strut deformed caterpillar 301 and are greatly to have improved robot motion's stability by triangle.Distortion engine installation 304 comprises distortion motor 3041, drive shaft sleeve 3042 and reduction gearing mechanism, distortion motor 3041 and reduction gearing mechanism all are installed on the frame 1, the mouth of distortion motor 3041 links to each other with the input end of reduction gearing mechanism, the mouth of reduction gearing mechanism is connected with main shaft 2, the kink of drive shaft sleeve 3,042 one ends and wishbone 3021 is affixed, and the other end and frame 1 are affixed.Reduction gearing mechanism comprises the first finishing bevel gear cuter 3043, the second finishing bevel gear cuter 3044, worm shaft 3045 and worm gear 3046, the first finishing bevel gear cuter 3043 joins with the mouth of distortion motor 3041, worm shaft 3045 rotating being supported on the frame 1, the second finishing bevel gear cuter 3044 is installed on the worm shaft 3045 and with the first finishing bevel gear cuter 3043 and meshes, worm shaft 3045 and worm gear 3046 engagements, worm gear 3046 is fixedly arranged on the main shaft 2.Rotate when distortion motor 3041 drives the first finishing bevel gear cuter 3043, pass motion to turbine and worm mechanism by the second finishing bevel gear cuter 3044 so that main shaft 2 relatively rotates with drive shaft sleeve 3042, thereby so that four rod deformation mechanisms 302 launch.Driving power device 305 comprises the motor 3051 of advancing; the drive sprocket 3052 of advancing; the driving chain 3053 of advancing; locating bush 3054; fixing screw and the driven sprocket 3056 of advancing; the drive sprocket 3052 of advancing is installed in motor 3051 mouths of advancing; driven sprocket 3056 rotating being supported on the drive shaft sleeve 3042 of advancing; the driving chain 3053 of advancing is set around on advance drive sprocket 3052 and the driven sprocket 3056 of advancing; fixing screw is through within the locating bush 3054; locating bush 3054 is connected and fixed on by fixing screw and advances between driven sprocket 3056 and the Timing Belt wheels 303; the motor 3051 of advancing is subject to the fuselage protection; reduce the possibility that the robot active force partly is subject to ectocine; reduce the fault rate of power pack section, increase robot motion's stability.Deformed caterpillar 301 comprises caterpillar teeth layer 3011, elastic layer 3012 and Timing Belt engagement layer 3013, Timing Belt engagement layer 3013 is fixedly arranged on elastic layer 3012 inner rings, and with Timing Belt wheels 303 engagement, caterpillar teeth layer 3011 is located at elastic layer 3012 outer rings, the bottom of each caterpillar teeth 3014 and elastic layer 3012 are affixed in the caterpillar teeth layer 3011, be convenient to realize the crawler belt elongation strain by the cooperation of three-decker, elastic telescopic, and do not affect the transmission of motion and power, when four rod deformation mechanisms 302 do not launch, under the effect of elastic layer 3012, deformed caterpillar 301 keeps round-shaped, robot is round wheel pattern and advances, and is flexible; When four rod deformation mechanisms 302 launched, elastic layer 3012 was strutted, and deformed caterpillar 301 becomes the triangle state, robot moves with triangle crawler belt pattern, operate steadily, can adapt to the complex road conditions such as marsh, hollow, mire, strengthen the adaptive capacity to environment of robot.Timing Belt wheels 303 comprise nearside wheel 3031 and off-side wheel 3032, nearside wheel 3031 is supported on the drive shaft sleeve 3042 and by fixing screw and the driven sprocket 3056 of advancing by bearing and is connected and fixed, off-side wheel 3032 is supported on the main shaft 2 by bearing, and nearside wheel 3031 and off-side wheel 3032 outer rings all cooperate with the Timing Belt engagement layer 3013 of deformed caterpillar 301.
In the present embodiment, deformed caterpillar wheel 3 also comprises ratchet switching mechanism 306, ratchet switching mechanism 306 comprises ratchet 3061, upset sprocket wheel 3062 and upset chain 3063, upset sprocket wheel 3062 is fixedly arranged on the mouth of the motor 3051 of advancing, ratchet 3061 is fixedly arranged on the drive shaft sleeve 3042, upset chain 3063 is set around on ratchet 3061 and the upset sprocket wheel 3062, can realize two kinds of pattern crossing over blockage by ratchet switching mechanism 306, be passive crossing when robot is just marching forward, crawler belt blocks obstacle when running into obstacle, drive four rod deformation mechanisms 302 take barrier point as fulcrum by ratchet 3061, the passive crossing over blockage of finishing, namely running into behind the obstacle wheel can automatic turning; For initiatively crossing, drive drive shaft sleeve 3042 by ratchet 3061 and rotate relative to main shaft 2 during the robot counter motion, so that four rod deformation mechanisms 302 overturn immediately, finish initiatively crossing over blockage.
The of the present invention wheel carried out the composite deformation caterpillar robot, and the multi-motion modes such as integrated two-wheeled is advanced, the triangle crawler belt is advanced, initiatively climbing, crossing over blockage are in one, and gait of march is fast, energy consumption is low, and maneuverability is strong, and climbing, obstacle detouring, to stride the ditch ability strong.
Below in conjunction with accompanying drawing the shoe composite deformation caterpillar robot of taking turns of the present invention is described in further detail.
As shown in figure 15, when of the present invention the wheel carried out the obstacle that the composite deformation caterpillar robot runs into the gully type, and the width in gully is during near Timing Belt wheels 303 radius, distortion motor 3041 drive shaft 2 are rotated relative to drive shaft sleeve 3042, four rod deformation mechanisms 302 are launched, deformed caterpillar 301 is launched into triangle, fuselage is propped up in the gully, under the driving of the motor 3051 of advancing, make robot according to figure in a, b, four steps of c, d cross the gully obstacle.
The of the present invention wheel when carrying out the composite deformation caterpillar robot and running into the protrusion-type obstacle can have three kinds of pattern clear an obstacles.
The first pattern as shown in figure 16, when robot runs into common protrusion-type obstacle, distortion motor 3041 drive shaft 2 are rotated relative to drive shaft sleeve 3042, four rod deformation mechanisms 302 are launched, deformed caterpillar 301 is launched into triangle, forebody propped up takes on obstacle, under the driving of the motor 3051 of advancing, make robot according to figure in a, b, four steps of c, d cross the gully obstacle.
The second pattern as shown in figure 17, when robot advances when running into common protrusion-type obstacle with crawler belt pattern forward, deformed caterpillar 301 front ends block obstacle, under the driving of the motor 3051 of advancing, upset sprocket wheel 3062 is delivered to power on the ratchet 3061 by upset chain 3063, drive drive shaft sleeve 3042 by ratchet 3061 and rotate relative to main shaft 2, make 3 upsets take the obstacle contact point as fulcrum of deformed caterpillar wheel, namely realize passive clear an obstacle by a, b, c, d four steps among the figure.
The third pattern as shown in figure 18, when robot runs into higher protrusion-type obstacle, fall back to this higher protrusion-type obstacle, when also not touching obstacle, distortion motor 3041 drive shaft 2 are rotated relative to drive shaft sleeve 3042, four rod deformation mechanisms 302 are launched, deformed caterpillar 301 is launched into triangle, subsequently under the reverse drive of motor 3051 of advancing, ratchet 3061 work, drive drive shaft sleeve 3042 by ratchet 3061 and rotate relative to main shaft 2, make 3 upsets take the obstacle contact point as fulcrum of deformed caterpillar wheel, namely press a among the figure, b, c, d, e, f six steps realize initiatively overturning clear an obstacle.
As shown in figure 19, the of the present invention wheel when carrying out the composite deformation caterpillar robot and running into the obstacle of stepped ramp type, the principle of climbing up and over first order step is identical with leap protrusion-type obstacle, just can climb up smoothly all the other steps afterwards under the combined action of the motor 3051 of advancing, deformed caterpillar 301.
Above-mentioned is preferred embodiment of the present invention, is not the present invention is done any pro forma restriction.Although the present invention discloses as above with preferred embodiment, yet is not to limit the present invention.Any those of ordinary skill in the art in the situation that does not break away from the technical solution of the present invention scope, can utilize the technology contents of above-mentioned announcement that technical solution of the present invention is made many possible changes and modification, or be revised as the equivalent embodiment of equivalent variations.Therefore, every content that does not break away from technical solution of the present invention, all should drop in the scope of technical solution of the present invention protection any simple modification, equivalent variations and modification that above embodiment does according to the technology of the present invention essence.
Claims (9)
1. a wheel is carried out the composite deformation caterpillar robot, comprise frame (1) and be installed in a main shaft (2) on the frame (1), it is characterized in that: described main shaft (2) two ends all are equiped with one and can change between circle and triangle and with the deformed caterpillar of engine installation wheel (3), the both sides, front and back of described frame (1) all are equiped with a bracing frame (4), and each bracing frame (4) bottom all is equiped with servo-actuated guide wheel (41).
2. according to claim 1 the wheel carried out the composite deformation caterpillar robot, it is characterized in that: described deformed caterpillar wheel (3) comprises deformed caterpillar (301), Timing Belt wheels (303), driving power device (305) and the four rod deformation mechanisms (302) that are out of shape for driving deformed caterpillar (301), described Timing Belt wheels (303) are rotating to be supported on the main shaft (2), described driving power device (305) is installed on the frame (1), and driving Timing Belt wheels (303) rotate, described deformed caterpillar (301) is sheathed on outside the Timing Belt wheels (303), described four rod deformation mechanisms (302) are installed in the Timing Belt wheels (303), and cooperate with deformed caterpillar (301) inner ring, be equiped with on the described frame (1) for the distortion engine installation (304) that drives four rod deformation mechanisms (302).
3. according to claim 2 the wheel carried out the composite deformation caterpillar robot, it is characterized in that: described four rod deformation mechanisms (302) comprise wishbone (3021), fagging (3022), connecting strap (3024), two undercarriages (3023) and two intermediate bars (3028), the kink of described wishbone (3021) links to each other with distortion engine installation (304), described fagging (3022) upper end is affixed with main shaft (2), fagging (3022) lower end and connecting strap (3024) are affixed, two undercarriages (3023) are divided into connecting strap (3024) both sides, and hinged with connecting strap (3024), two intermediate bars (3028) are divided into fagging (3022) both sides, each intermediate bar (3028) one end and wishbone (3021) are hinged, each intermediate bar (3028) other end and undercarriage (3023) are hinged, are equiped with on the described undercarriage (3023) for the cylinder wheel (3027) that cooperates with deformed caterpillar (301) inner ring.
4. according to claim 3 the wheel carried out the composite deformation caterpillar robot, it is characterized in that: described distortion engine installation (304) comprises distortion motor (3041), reduction gearing mechanism and drive shaft sleeve (3042), described distortion motor (3041) and reduction gearing mechanism all are installed on the frame (1), the mouth of described distortion motor (3041) links to each other with the input end of reduction gearing mechanism, described drive shaft sleeve (3042) is sheathed on the main shaft (2), the kink of drive shaft sleeve (3042) one ends and described wishbone (3021) is affixed, and the other end and frame (1) are affixed.
5. according to claim 4 the wheel carried out the composite deformation caterpillar robot, it is characterized in that: described reduction gearing mechanism comprises the first finishing bevel gear cuter (3043), the second finishing bevel gear cuter (3044), worm shaft (3045) and worm gear (3046), described the first finishing bevel gear cuter (3043) joins with the mouth of distortion motor (3041), described the second finishing bevel gear cuter (3044) is installed in worm shaft (3045) and upward and with the first finishing bevel gear cuter (3043) meshes, described worm shaft (3045) and worm gear (3046) engagement, described worm gear (3046) is fixedly arranged on the main shaft (2).
According to claim 4 or 5 described wheels carry out the composite deformation caterpillar robots, it is characterized in that: described driving power device (305) comprises the motor of advancing (3051), the drive sprocket (3052) of advancing, the driving chain (3053) of advancing, locating bush (3054), fixing screw and the driven sprocket (3056) of advancing, the described drive sprocket of advancing (3052) is installed in the motor of advancing (3051) mouth, the described driven sprocket of advancing (3056) is rotating to be supported on the described drive shaft sleeve (3042), the described driving chain of advancing (3053) is set around on the drive sprocket of advancing (3052) and the driven sprocket of advancing (3056), and described locating bush (3054) is connected and fixed between the driven sprocket of advancing (3056) and the Timing Belt wheels (303) by fixing screw.
7. according to claim 6 the wheel carried out the composite deformation caterpillar robot, it is characterized in that: described deformed caterpillar (301) comprises caterpillar teeth layer (3011), elastic layer (3012) and Timing Belt engagement layer (3013), described Timing Belt engagement layer (3013) is fixedly arranged on elastic layer (3012) inner ring and meshes with Timing Belt wheels (303), described caterpillar teeth layer (3011) is located at elastic layer (3012) outer ring, and the bottom of each caterpillar teeth (3014) and elastic layer (3012) are affixed in the caterpillar teeth layer (3011).
8. according to claim 7 the wheel carried out the composite deformation caterpillar robot, it is characterized in that: described Timing Belt wheels (303) comprise nearside wheel (3031) and off-side wheel (3032), described nearside wheel (3031) is supported on drive shaft sleeve (3042) upward by bearing and is connected and fixed by fixing screw and the driven sprocket (3056) of advancing, described off-side wheel (3032) is supported on the main shaft (2) by bearing, and described nearside wheel (3031) and off-side wheel (3032) outer ring all cooperate with the Timing Belt engagement layer (3013) of deformed caterpillar (301).
9. according to claim 8 the wheel carried out the composite deformation caterpillar robot, it is characterized in that: described deformed caterpillar wheel (3) also comprises ratchet switching mechanism (306), described ratchet switching mechanism (306) comprises ratchet (3061), upset sprocket wheel (3062) and upset chain (3063), described upset sprocket wheel (3062) is fixedly arranged on the mouth of the described motor of advancing (3051), described ratchet (3061) is fixedly arranged on the described drive shaft sleeve (3042), and described upset chain (3063) is set around on ratchet (3061) and the upset sprocket wheel (3062).
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| CN201210089271.XA CN102849132B (en) | 2012-03-30 | 2012-03-30 | Wheel-track compound deformation track robot |
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| CN201210089271.XA CN102849132B (en) | 2012-03-30 | 2012-03-30 | Wheel-track compound deformation track robot |
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| CN102849132B CN102849132B (en) | 2014-11-26 |
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| CN103342138A (en) * | 2013-06-26 | 2013-10-09 | 中国科学院深圳先进技术研究院 | Wheel caterpillar band moving device and wheel caterpillar band thereof |
| CN104214300A (en) * | 2013-05-31 | 2014-12-17 | 北京建筑大学 | Deforming wheel |
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| CN106809292A (en) * | 2015-11-30 | 2017-06-09 | 中国科学院沈阳自动化研究所 | A kind of deformable Lun Lv coupling drivings mechanism |
| CN106207864A (en) * | 2016-09-28 | 2016-12-07 | 国网四川省电力公司检修公司 | A kind of manned dolly on 500kV strain insulator string |
| CN106343914A (en) * | 2016-10-20 | 2017-01-25 | 肇庆市小凡人科技有限公司 | Climbing-type glass curtain wall cleaning robot |
| CN108163071A (en) * | 2016-12-07 | 2018-06-15 | 北京中联电科技术有限公司 | A kind of wheel carries out composite deformation wheel |
| CN107640236A (en) * | 2017-08-12 | 2018-01-30 | 安徽聚合自动化工程有限公司 | A kind of inside and outside shaft drive for driving wheel |
| CN109080724A (en) * | 2018-07-05 | 2018-12-25 | 上海保瑞信息科技发展有限公司 | Detecting Robot |
| CN109941364A (en) * | 2019-04-30 | 2019-06-28 | 浙江小远机器人有限公司 | A kind of wheel shoe composite deformation chassis |
| CN110588809A (en) * | 2019-10-18 | 2019-12-20 | 西安石油大学 | Wheel-crawler type switching type all-terrain robot |
| CN110588809B (en) * | 2019-10-18 | 2021-12-14 | 西安石油大学 | Wheel-crawler type switching type all-terrain robot |
| CN110946717A (en) * | 2019-12-19 | 2020-04-03 | 吉林大学 | A rehabilitation training device for gynaecology and obstetrics's nursing |
| CN110946717B (en) * | 2019-12-19 | 2021-05-18 | 吉林大学 | A rehabilitation training device for gynaecology and obstetrics's nursing |
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