CN102849132B - Wheel-track compound deformation track robot - Google Patents

Wheel-track compound deformation track robot Download PDF

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Publication number
CN102849132B
CN102849132B CN201210089271.XA CN201210089271A CN102849132B CN 102849132 B CN102849132 B CN 102849132B CN 201210089271 A CN201210089271 A CN 201210089271A CN 102849132 B CN102849132 B CN 102849132B
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wheel
caterpillar
advancing
timing belt
robot
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CN102849132A (en
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罗自荣
尚建忠
席磊
任立松
杨军宏
王卓
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National University of Defense Technology
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National University of Defense Technology
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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

Wheel is carried out composite deformation caterpillar robot
Technical field
The present invention relates to caterpillar robot, relate in particular to wheel and carry out composite deformation caterpillar robot.
Background technology
As everyone knows, the another focus that 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, the feature such as flexible of moving becomes 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, due to its these advantages that have, make the running velocity of wheel type mobile system 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 off-road capability, climbing, obstacle detouring, across advantages such as ditch ability are strong, but also there is the shortcomings such as turning is 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 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 composite deformation caterpillar robot, comprise frame and be installed in a main shaft in frame, described main shaft two ends are all equiped with one and can between circle and triangle, change and take turns with the deformed caterpillar of engine installation, the both sides, front and back of described frame are all equiped with a bracing frame, and each bracing frame bottom is all equiped with servo-actuated guide wheel.
Described deformed caterpillar wheel comprises deformed caterpillar, Timing Belt wheels, driving power device and the four rod deformation mechanisms for driving deformed caterpillar to be out of shape, described Timing Belt wheels are rotating to be supported on main shaft, described driving power device is installed in frame and drives Timing Belt wheels to rotate, described deformed caterpillar is sheathed on outside Timing Belt wheels, described four rod deformation mechanisms are installed in Timing Belt wheels and coordinate with deformed caterpillar inner ring, are equiped with for driving the distortion engine installation of four rod deformation mechanisms in described frame.
Described four rod deformation mechanisms comprise wishbone, fagging, connecting strap, two undercarriages and two intermediate bars, the kink of described wishbone is connected with distortion engine installation, described fagging upper end and main shaft are affixed, fagging lower end and connecting strap are affixed, two undercarriages are divided into connecting strap both sides hinged with connecting strap, two intermediate bars are divided into fagging both sides, each intermediate bar one end and wishbone are hinged, each intermediate bar other end and undercarriage are hinged, are equiped with the cylinder wheel for coordinating with deformed caterpillar inner ring on described undercarriage.
Described distortion engine installation comprises distortion motor, reduction gearing mechanism and drive shaft sleeve, described distortion motor and reduction gearing mechanism are all installed in frame, the mouth of described distortion motor is connected with the input end of reduction gearing mechanism, described drive shaft sleeve is sheathed on 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 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 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 described drive shaft sleeve, the described driving chain of advancing is set around the drive sprocket and advancing on driven sprocket of advancing, and described locating bush is connected and fixed on and is advanced between driven sprocket and Timing Belt wheels by fixing screw.
Described deformed caterpillar comprises caterpillar teeth layer, elastic layer and Timing Belt engagement layer, described Timing Belt engagement layer is fixedly arranged on elastic layer inner ring and meshes with Timing Belt wheels, described caterpillar teeth layer is located at elastic layer outer ring, and in caterpillar teeth layer, the bottom of each caterpillar teeth and elastic layer are affixed.
Described Timing Belt wheels comprise nearside wheel and off-side wheel, described nearside wheel is supported on drive shaft sleeve and by fixing screw and the driven sprocket of advancing and is connected and fixed by bearing, described off-side wheel is supported on main shaft by bearing, and described nearside wheel and off-side wheel outer ring all coordinate with the Timing Belt engagement layer of deformed caterpillar.
Described deformed caterpillar wheel also comprises ratchet switching mechanism, described ratchet switching mechanism comprises ratchet, upset sprocket wheel and upset chain, advance described in described upset sprocket wheel the is fixedly arranged on mouth of motor, described ratchet is fixedly arranged on described drive shaft sleeve, and described upset chain is set around on ratchet and upset sprocket wheel.
Compared with prior art, the invention has the advantages that:
Of the present invention wheel carried out composite deformation caterpillar robot, at main shaft two ends, being all equiped with one can change and take turns with the deformed caterpillar of engine installation between circle and triangle, make the fast reserve under the existing circular wheel pattern of this robot, also there is advancing steadily under triangle Athey wheel pattern, can adapt to various complex-terrains, there is very strong maneuverability and obstacle climbing ability; The both sides, front and back of frame are all equiped with a bracing frame, and each bracing frame bottom is all equiped with servo-actuated guide wheel, and while advancing, due to effect of inertia, the servo-actuated guide wheel after leaning on respect to working direction lands, and keep fuselage stable, guarantee that motion steadily.Deformed caterpillar wheel drives deformed caterpillars to be out of shape by four rod deformation mechanisms, launch and draw in steady, simple in structure, be convenient to control, also can realize the obstacle of climbing certain altitude, strong adaptability by distortion simultaneously.The motor of advancing in driving power device is installed in frame, and the motor that makes to advance is subject to fuselage protection, reduces the possibility that robot active force is partly 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, by the cooperation of three-decker, be convenient to realize crawler belt elongation strain, elastic telescopic, 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, flexible; During four rod deformation mechanism deployings, elastic layer is softened, and deformed caterpillar becomes triangle state, and robot, with triangle crawler belt pattern motion, operates steadily, and can adapt to marsh, hollow, the complex road condition such as muddy, strengthens the adaptive capacity to environment of robot.By ratchet switching mechanism, can realize two kinds of pattern crossing over blockage, when robot is just marching forward, be passive crossing, while running into obstacle, crawler belt blocks obstacle, by ratchet, drives four rod deformation mechanisms to take barrier point as fulcrum, the passive crossing over blockage that completes, run into obstacle after wheel can overturn; During robot counter motion, for initiatively crossing, by ratchet, drive main shaft sleeve, four rod deformation mechanisms are overturn immediately, complete initiatively crossing over blockage.Of the present invention wheel carried out composite deformation caterpillar robot, and the multi-motion modes such as integrated two-wheeled is advanced, 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, climbing, obstacle detouring, strong across ditch ability.
Accompanying drawing explanation
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 schematic diagram 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 schematic diagram of distortion power setting part.
Fig. 8 is the left TV structure schematic diagram (removing off-side wheel) of circular wheel state of the present invention.
Fig. 9 is the left TV structure schematic diagram (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 schematic diagram that the present invention passes gully obstacle.
Figure 16 is the motion schematic diagram that the present invention initiatively crosses common projection obstacle.
Figure 17 is the passive motion schematic diagram of crossing higher protrusion-type obstacle of the present invention.
Figure 18 is the motion schematic diagram that the present invention initiatively crosses higher protrusion-type obstacle.
Figure 19 is the motion schematic diagram that the present invention crosses stepped ramp type obstacle.
In figure, each label represents:
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 of the present invention and carries out composite deformation caterpillar robot embodiment, this robot comprises frame 1 and is installed in a main shaft 2 in frame 1, main shaft 2 two ends are all equiped with one and can between circle and triangle, change and take turns 3 with the deformed caterpillar of engine installation, make the fast reserve under the existing circular wheel pattern of this robot, also there is advancing steadily under triangle Athey wheel pattern, can adapt to various complex-terrains, there is very strong maneuverability and obstacle climbing ability; The both sides, front and back of frame 1 are all equiped with a bracing frame 4, approximately 40 ° of the angles of bracing frame 4 and horizontal surface, and each bracing frame 4 bottoms are all equiped with servo-actuated guide wheel 41, while advancing due to 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 for driving deformed caterpillar 301 to be out of shape, Timing Belt wheels 303 are rotating to be supported on main shaft 2, driving power device 305 is installed in frame 1, and drive Timing Belt wheels 303 to rotate, deformed caterpillar 301 is sheathed on outside Timing Belt wheels 303, four rod deformation mechanisms 302 are installed in Timing Belt wheels 303, and coordinate with deformed caterpillar 301 inner rings, in frame 1, be equiped with for driving the distortion engine installation 304 of four rod deformation mechanisms 302, driving Xia Si rod deformation mechanism 302 at distortion engine installation 304 drives deformed caterpillar 301 distortion, deformed caterpillar wheel 3 is launched and draw in steadily, simple in structure, be convenient to control, also can realize by distortion the obstacle of climbing certain altitude simultaneously, 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 is connected 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 3028 one end and wishbone 3021 are hinged, each intermediate bar 3028 other ends and undercarriage 3023 are hinged, on undercarriage 3023, by small column, take turns bearing pin 3026 and be equiped with cylinder wheel 3027, this cylinder wheel 3027 is for coordinating with deformed caterpillar 301 inner rings.Fagging 3022 keeps vertical with connecting strap 3024 constantly, and four rod deformation mechanisms 302 after expansion strut deformed caterpillar 301 into triangle, have greatly improved robot motion's stability.Distortion engine installation 304 comprises distortion motor 3041, drive shaft sleeve 3042 and reduction gearing mechanism, distortion motor 3041 and reduction gearing mechanism are all installed in frame 1, the distortion mouth of motor 3041 and the input end of reduction gearing mechanism are connected, the mouth of reduction gearing mechanism is connected with main shaft 2, the kink of drive shaft sleeve 3042 one end 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 is rotating to be supported in frame 1, the second finishing bevel gear cuter 3044 is installed on 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 main shaft 2.When distortion motor 3041 drives the first finishing bevel gear cuter 3043, rotate, by the second finishing bevel gear cuter 3044, pass motion to turbine and worm mechanism, main shaft 2 and drive shaft sleeve 3042 are relatively rotated, thereby four rod deformation mechanisms 302 are launched.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, the driven sprocket 3056 of advancing is rotating to be supported on drive shaft sleeve 3042, the driving chain 3053 of advancing is set around the drive sprocket 3052 and advancing on driven sprocket 3056 of advancing, within fixing screw is through at locating bush 3054, locating bush 3054 is connected and fixed on and is advanced between driven sprocket 3056 and Timing Belt wheels 303 by fixing screw, the motor 3051 of advancing is subject to fuselage protection, reduce the possibility that robot active force is partly 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 mesh with Timing Belt wheels 303, caterpillar teeth layer 3011 is located at elastic layer 3012 outer rings, in caterpillar teeth layer 3011, the bottom of each caterpillar teeth 3014 and elastic layer 3012 are affixed, by the cooperation of three-decker, be convenient to realize crawler belt elongation strain, 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, flexible, when four rod deformation mechanisms 302 launch, elastic layer 3012 is softened, and deformed caterpillar 301 becomes triangle state, robot moves with triangle crawler belt pattern, operate steadily, can adapt to marsh, hollow, the complex road condition such as muddy, 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 drive shaft sleeve 3042 and by fixing screw and the driven sprocket 3056 of advancing and is connected and fixed by bearing, off-side wheel 3032 is supported on main shaft 2 by bearing, and nearside wheel 3031 and off-side wheel 3032 outer rings all coordinate 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 drive shaft sleeve 3042, upset chain 3063 is set around on ratchet 3061 and upset sprocket wheel 3062, by ratchet switching mechanism 306, can realize two kinds of pattern crossing over blockage, when robot is just marching forward, be passive crossing, while running into obstacle, crawler belt blocks obstacle, by ratchet 3061, drive four rod deformation mechanisms 302 to take barrier point as fulcrum, the passive crossing over blockage that completes, after running into obstacle, wheel is understood automatic turning, during robot counter motion, for initiatively crossing, by ratchet 3061, drive drive shaft sleeve 3042 to rotate relative to main shaft 2, four rod deformation mechanisms 302 are overturn immediately, complete initiatively crossing over blockage.
Of the present invention wheel carried out composite deformation caterpillar robot, and the multi-motion modes such as integrated two-wheeled is advanced, 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, climbing, obstacle detouring, strong across ditch ability.
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 wheel carried out the obstacle that composite deformation caterpillar robot runs into gully type, and when the width in gully approaches Timing Belt wheels 303 radius, distortion motor 3041 drive shaft 2 are rotated relative to drive shaft sleeve 3042, Shi Si rod deformation mechanism 302 launches, deformed caterpillar 301 is launched into triangle, fuselage is propped up in gully, under the driving of the motor 3051 of advancing, make robot according to figure in a, b, c, tetra-steps of d cross gully obstacle.
Of the present invention wheel when carrying out composite deformation caterpillar robot and running into 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, Shi Si rod deformation mechanism 302 launches, deformed caterpillar 301 is launched into triangle, forebody is propped up and is taken on obstacle, under the driving of the motor 3051 of advancing, make robot according to figure in a, b, c, tetra-steps of d cross gully obstacle.
The second pattern as shown in figure 17, when robot advances while 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 ratchet 3061 by upset chain 3063, by ratchet 3061, drive drive shaft sleeve 3042 to rotate relative to main shaft 2, make deformed caterpillar wheel 3 take obstacle contact point as fulcrum upset, by a, b, c, d tetra-steps in figure, realize passive clear an obstacle.
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, Shi Si rod deformation mechanism 302 launches, deformed caterpillar 301 is launched into triangle, subsequently under the reverse drive of motor 3051 of advancing, ratchet 3061 work, by ratchet 3061, drive drive shaft sleeve 3042 to rotate relative to main shaft 2, make deformed caterpillar wheel 3 take obstacle contact point as fulcrum upset, press a in figure, b, c, d, e, f six steps realize the clear an obstacle that initiatively overturns.
As shown in figure 19, of the present invention wheel when carrying out 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, not the present invention is done to any pro forma restriction.Although the present invention discloses as above with preferred embodiment, yet not in order to limit the present invention.Any those of ordinary skill in the art, in the situation that not departing from technical solution of the present invention scope, can utilize the technology contents of above-mentioned announcement to make many possible changes and modification to technical solution of the present invention, or be revised as the equivalent embodiment of equivalent variations.Therefore, every content that does not depart from technical solution of the present invention,, all should drop in the scope of technical solution of the present invention protection any simple modification made for any of the above embodiments, equivalent variations and modification according to the technology of the present invention essence.

Claims (4)

1. a wheel is carried out composite deformation caterpillar robot, comprise frame (1) and be installed in the main shaft (2) in frame (1), it is characterized in that: described main shaft (2) two ends are all equiped with one and can between circle and triangle, change, and take turns (3) with the deformed caterpillar of engine installation, the both sides, front and back of described frame (1) are all equiped with a bracing frame (4), each bracing frame (4) bottom is all equiped with servo-actuated guide wheel (41), described deformed caterpillar wheel (3) comprises deformed caterpillar (301), Timing Belt wheels (303), driving power device (305) and the four rod deformation mechanisms (302) for driving deformed caterpillar (301) to be out of shape, described Timing Belt wheels (303) are rotating to be supported on main shaft (2), described driving power device (305) is installed in frame (1), and drive Timing Belt wheels (303) to rotate, described deformed caterpillar (301) is sheathed on outside Timing Belt wheels (303), described four rod deformation mechanisms (302) are installed in Timing Belt wheels (303), and coordinate with deformed caterpillar (301) inner ring, in described frame (1), be equiped with for driving the distortion engine installation (304) of four rod deformation mechanisms (302), 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) is connected with distortion engine installation (304), described fagging (3022) upper end and main shaft (2) are affixed, 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, on described undercarriage (3023), be equiped with the cylinder wheel (3027) for coordinating with deformed caterpillar (301) inner ring, 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 are all installed in frame (1), the mouth of described distortion motor (3041) is connected with the input end of reduction gearing mechanism, described drive shaft sleeve (3042) is sheathed on main shaft (2), the kink of drive shaft sleeve (3042) one end and described wishbone (3021) is affixed, the other end and frame (1) are affixed, 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 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), described locating bush (3054) is connected and fixed between the driven sprocket of advancing (3056) and Timing Belt wheels (303) by fixing screw, 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), advance described in described upset sprocket wheel (3062) the is fixedly arranged on mouth of motor (3051), described ratchet (3061) is fixedly arranged on described drive shaft sleeve (3042), described upset chain (3063) is set around on ratchet (3061) and upset sprocket wheel (3062).
2. according to claim 1 wheel carried out 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) above and meshes with the first finishing bevel gear cuter (3043), described worm shaft (3045) and worm gear (3046) engagement, described worm gear (3046) is fixedly arranged on main shaft (2).
3. according to claim 2 wheel carried out 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 in caterpillar teeth layer (3011), the bottom of each caterpillar teeth (3014) and elastic layer (3012) are affixed.
4. according to claim 3 wheel carried out 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) above by bearing and is connected and fixed by fixing screw and the driven sprocket (3056) of advancing, it is upper that described off-side wheel (3032) is supported on main shaft (2) by bearing, and described nearside wheel (3031) and off-side wheel (3032) outer ring all coordinate with the Timing Belt engagement layer (3013) of deformed caterpillar (301).
CN201210089271.XA 2012-03-30 2012-03-30 Wheel-track compound deformation track robot Active CN102849132B (en)

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