CN104029746B - Planetary gear crawler belt combined type tread systems design - Google Patents
Planetary gear crawler belt combined type tread systems design Download PDFInfo
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- CN104029746B CN104029746B CN201410216534.8A CN201410216534A CN104029746B CN 104029746 B CN104029746 B CN 104029746B CN 201410216534 A CN201410216534 A CN 201410216534A CN 104029746 B CN104029746 B CN 104029746B
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- planetary gear
- athey wheel
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Abstract
The invention discloses a kind of high barrier-crossing traveling mechanism of planetary gear crawler belt combined type, which has good environment self-adaption and high obstacle climbing ability in the case where road conditions are poor.The mechanism is to be moved by planetary gear (11) driving internal gear (1) to make vehicle move.Planetary gear (11) is driven by individual motor, and driving wheel part can become planetary gear train or cyclic train according to different road conditions.When flat road surface, sun gear (8) drives planetary gear (11), makes the steady fast running of trolley.Change oneself height by planetary gear (11) when encountering compared with low obstacle, obstacle detouring is completed to improve body gravity.There is control Athey wheel retainer (12) the i.e. gear structure of arm and Athey wheel (17) rotation on mechanism front support axis, it is driven by different motors, it realizes that arms swing is rotated with crawler belt rotation coaxial-type, main support is provided for car body in the case of high obstacle detouring.The design of two-segment type car body is the case where capable of preventing car body from being blocked by barrier as the auxiliary body during high obstacle detouring.The mechanism has the characteristics that simple in structure, operation is light, is provided simultaneously with the higher speed of travel and excellent obstacle climbing ability.
Description
Technical field
The present invention compound, two-segment type car body walking mechanism using planetary gear train and crawler belt arm, has good Gao Yue
Barrier ability.
Background technology
Presently, there are walking mechanism can be divided into：Wheeled, leg formula, crawler type and combined type.Wherein, wheeled construction have compared with
Fast travel speed and simple in structure, but it is low for the bad adaptability of environment, obstacle climbing ability；Crawler type mechanism has stronger
Cross-country power, but dead weight is excessively high, energy consumption is big；Leg formula structure adapts to a variety of landform, but it is needed greatly by leg pose adjustment
Driver, braking and the transfer of amount keep system structure complicated, stablize gait planning and stable equilibrium's control is difficult to realize.
Invention content
The present invention propose it is a kind of in the case where environment is more severe, can adaptive environment change and have strong obstacle detouring
The planetary gear crawler belt combined type walking mechanism of ability.The mechanism has merged the characteristics of wheeled, leg formula and crawler type mechanism, Ke Yigen
Change its motor pattern according to different pavement behavior, and simple in structure, simple operation.It is real in gentle road surface wheeled construction energy
The existing higher speed of travel, planetary gear structure can assist crossing compared with low obstacle, and track structure can assist crossing high obstacle object,
Body construction design can guarantee that the walking mechanism will not be blocked during obstacle detouring by barrier.
To realize that transformation of the planetary gear train under different road surface, sun wheel shaft (7) are mounted on by bearing in car body
Portion, the driving device of installation sun wheel shaft in front of the car (24), sun wheel shaft (7) provide support, installation by front vehicle body (24)
In vehicle body.Sun gear (8) is then mounted on the end of sun wheel shaft (7) side outside car body；The planet of sun gear (8) driving
It takes turns (11) to be mounted on inner gear shaft (4), ensure that planetary gear (11) remains to when driving wheel internal gear (1) is blocked by barrier
Movement changes oneself height, and obstacle detouring is realized to change position of centre of gravity；To realize the basic running movement of the mechanism, internal tooth
Wheel shaft (4) provides support by outside inner gear retainer (21), and outside inner gear retainer (21) is mounted on front of the car (24)
The movement of outside, the movement and driving wheel internal gear (1) that ensure that planetary gear train not will produce interference so that the walking mechanism energy
Realize stable walking movement.
, it can be achieved that crawler type arms swing fore backward and Athey wheel (17) rotation coaxial line during obstacle detouring.Front support axis
(14) it is located in front of driving force motor (27), is fixed on front of the car (24) with bearing, intermediate driving front support axis moves tooth
Wheel (20) and both ends Athey wheel (17) are mounted on an axle by key connection, and driving front support shaft gear (20) is driven by individual motor
Dynamic, so that front support axis (13) is not driven wheel internal gear (1) influences self-movement, and the Athey wheel (17) being mounted above is made to turn
It is dynamic, to realize Athey wheel (17) rotation.Midway drive Athey wheel retainer gear (20) and the driving of another separate electrical motor
Driving gear (24) engages；Sleeve (18) other end is linked together with pin and Athey wheel retainer (12)；When gear (19) quilt
When driving, sleeve (18) rotation drives Athey wheel retainer (12) to move, and realizes the swing of crawler type arm；It is encountering
When diameter is more than the barrier of trolley driving wheel radius, Athey wheel retainer (12) is swung forward, supports front of the car, leans on crawler belt
Rotation generate frictional force, help front vehicle body first to clear the jumps, to realize the process of entire high obstacle detouring.
During carrying out high obstacle detouring, it is contemplated that car body is likely to occur the situation being stuck on barrier, with double-joint type
Car body, front of the car (24) and rear (23) are linked together by intermediate Hooks coupling universal coupling (22), current vehicle body (24)
When being supported by arm, front and back vehicle body shape can be made to have a certain degree, front of the car (24) need not by the constraint of rear (23),
Be conducive to car body to clear the jumps；After clearing the jumps, since front-wheel is driving wheel, trolley continuation moves forward, rear car
Body (23) just and then surmounts obstacles and travels forward.
The invention has the advantages that can not only smoothly be travelled on the road surface of various different situations, it is also equipped with high obstacle detouring
Ability, simple in structure, energy consumption is smaller.
Description of the drawings
Fig. 1 walking mechanism overall assembling figures；
Fig. 2 walking mechanism driving wheel installation diagrams；
Fig. 3 driving wheels assemble sketch；
Fig. 4 walking mechanism Athey wheel arm installation diagrams；
Fig. 5 Athey wheel arm sectional views；
Fig. 6 walking mechanism front support shaft portions；
It is that every content illustrates in Figure of description below：
1. 2. sun gear of driving wheel internal gear, 3. planet carrier bearing of deceleration web-type gear, 4. inner gear shaft
5. inner gear shaft retainer 8. sun gear of bearing 6. connecting pin, 7. sun wheel shaft, 9. sun axis connection vehicle body axis
Hold 10. planet carrier, 11. planetary gear, 12. Athey wheel retainer, 13. front support axis, 14. connecting vehicle frame bearing 15.
Sleeve drives Athey wheel retainer tooth with 16. 17. Athey wheel of Athey wheel retainer bearing of bearing, 18. sleeve 19.
20. 23. rear of driving front support shaft gear 21. internal gear retainer, 22. Hooks coupling universal coupling of wheel, 24. front of the car
25. 26. harmonic gear reducer of driving gear, 27. motor
Specific implementation mode
Sun wheel shaft (7) one end is fixed in car body in Fig. 3, and one end in car body is also equipped with the driven abdomen of a deceleration
Board-like gear (2) is driven by motor and driving gear.The other end stretches out outside car body, is equipped with the sun gear of driving wheel movement
(7).Solar shaft (7) and inner gear shaft (4) are fixed together by sun wheel shaft (7) end with the mode of pin connection (6).Sun gear
(8) it engages, is combined with planet carrier (10) with bearing, then be fixed on inner gear shaft (4) by bearing (3) with planetary gear (11).
Internal gear is rotated centered on inner gear shaft (4), and inner gear shaft (4) has internal gear retainer use in stretching internal gear (1) outer end
Bearing (5) so that inner gear shaft (4) is connected with internal gear retainer (21).As can be seen from Figure 6 internal gear retainer (21)
It is fixed on front of the car (24), to ensure that under flat pavement behavior, driven sun gear (8) makes planetary gear (11)
Rotation, driving trolley move forward.In this case, crawler belt arm does not work.
When trolley, which encounters diameter, is about the barrier of radius of wheel, planetary gear train becomes cyclic train, and sun gear (8) is protected
Motionless state is held, planetary gear (11), which makees epicyclic wheel change body gravity, makes entire car body clear the jumps.
Front support axis (13) is located in front of Fig. 3 sun gears deceleration web-type gear (2) in Fig. 5, is connected by two axial ends in Fig. 5
Frame bearing (14) is picked up to be fixed on vehicle frame.Wherein intermediate driving front support shaft gear (20) and both ends Athey wheel (17) is all
By being keyed on front support axis (13), is driven by individual motor, front support axis (13) is made to be not driven wheel internal gear (1)
Independent rotation is influenced, then Athey wheel (17) also rotates therewith, and realizes the crawler belt rotation of crawler type arm.Crawler belt rotation is small
The main source of frictional force during vehicle obstacle detouring.Athey wheel retainer gear (19) is driven to be driven with another separate electrical motor in Fig. 6
Driving gear (25) engagement.From figure 5 it can be seen that sleeve (18) other end is connected to pin and Athey wheel retainer (12)
Together.When gear (19) is driven, sleeve (18) rotation drives Fig. 5 Athey wheels retainer (12) to move, and realizes crawler type hand
The swing of arm.
When encountering barrier of the diameter more than trolley driving wheel radius, Athey wheel retainer is swung forward, before supporting
Vehicle body, the rotation by crawler belt generate frictional force, front vehicle body are helped to clear the jumps.As can see from Figure 6 front of the car (24) and
Rear (23) is linked together by intermediate Hooks coupling universal coupling (22), and current vehicle body (24) crosses barrier by crawler belt arm
After hindering object, since front-wheel is driving wheel, trolley continuation moves forward, and rear (23) just and then surmounts obstacles and travels forward,
To realize the process of entire high obstacle detouring.
Claims (4)
1. one kind is driven by planetary gear set, two section car body walking mechanisms of crawler type arm apparatus aiding overpass obstacle, it is characterised in that：
The walking mechanism is symmetrical structure, and the first motor of two driving planetary gear set movements is mutual indepedent, by sun gear（8）Turn
It is dynamic to pass through planetary gear（11）Drive internal gear（1）Walking, ensure that planetary gear set is not influenced by other forms of motion, on flat road
Fast running on face；According to different pavement behavior, planetary gear set can become the constructional device of cyclic train, barrier and ground
Face rubs so that internal gear（1）Stop motion, at this time planetary gear（11）Make with sun wheel shaft（7）For the turnover campaign in the center of circle, change
Become mechanism center of gravity, helps to clear the jumps；For the crawler type arm apparatus of high obstacle detouring process, Athey wheel retainer（12）It can
It realizes that front and back 360 ° freely swing, is contacted with ground and act power and support car body, front and back car body shape is made to have a certain degree
Coordinate obstacle detouring；It can be to the Athey wheel for providing primary friction power during above-mentioned obstacle detouring（17）Constructional device, Athey wheel（17）On
The crawler belt of dress, in Athey wheel retainer（12）While swing, Athey wheel（17）Also rotation is carried out, is generated using the lines of crawler belt
Frictional force further provides driving force to car body；
Sun wheel shaft（7）It is mounted on inside front vehicle body by bearing, in front vehicle body（24）Interior installation drives the described of sun wheel shaft
First motor, sun wheel shaft（7）By front vehicle body（24）Support is provided, is mounted on inside front vehicle body；Sun gear（8）It is then mounted on too
Positive wheel shaft（7）The end of side outside front vehicle body；Sun gear（8）The planetary gear of driving（11）Mounted on inner gear shaft（4）On, it is interior
Gear shaft（4）By outside inner gear retainer（21）To provide support, outside inner gear retainer（21）Mounted on front vehicle body
（24）It is external.
2. walking mechanism according to claim 1, it is characterised in that：, it can be achieved that crawler type arm fills during obstacle detouring
Set swing and Athey wheel（17）Rotation coaxial line not only generates car body certain support force, but also can be formed with ground enough
Frictional force, help car body obstacle detouring.
3. walking structure according to claim 2, it is characterised in that：Front support axis（13）Before the first motor
Side, front vehicle body is fixed on bearing（24）On, intermediate driving front support axis moves gear（20）With both ends Athey wheel（17）It is logical
It crosses key connection and is mounted on the front support axis（13）On, driving front support axis moves gear（20）It is driven by the second motor, before making
Support shaft（13）Self-movement is not influenced by internal gear, makes the Athey wheel being mounted above（17）Rotation, to realize crawler belt
The crawler belt rotation of formula arm apparatus；Midway drive Athey wheel retainer gear（19）With the motor-driven driving gear of third（25）
Engagement；Sleeve（18）One end pin and Athey wheel retainer（12）It links together；When the midway drive Athey wheel retainer
Gear（19）When being driven, sleeve（18）Rotation drives Athey wheel retainer（12）Movement, realizes crawler type arm apparatus
Swing；When encountering barrier of the diameter more than car body internal gear radius, Athey wheel retainer（12）It swings forward, supports
Play front vehicle body（24）, by the rotation generation frictional force of crawler belt, help front vehicle body first to clear the jumps, to realize entire Gao Yue
The process of barrier.
4. walking mechanism according to claim 1, it is characterised in that：During carrying out high obstacle detouring, it is contemplated that car body
It is likely to occur the situation being stuck on barrier, with double-joint type car body, front vehicle body（24）And aftercarriage（23）It is by centre
Hooks coupling universal coupling（22）It links together, current car body（24）When being supported by crawler type arm apparatus, front and back car body can be made
Shape has a certain degree, front vehicle body（24）It need not be by aftercarriage（23）Constraint, be conducive to car body and clear the jumps；Hinder when crossing
After hindering object, since internal gear is driving wheel, car body continuation moves forward, aftercarriage（23）Just it and then surmounts obstacles and transports forward
It is dynamic.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410216534.8A CN104029746B (en) | 2014-05-20 | 2014-05-20 | Planetary gear crawler belt combined type tread systems design |
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| CN201410216534.8A CN104029746B (en) | 2014-05-20 | 2014-05-20 | Planetary gear crawler belt combined type tread systems design |
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| CN104029746A CN104029746A (en) | 2014-09-10 |
| CN104029746B true CN104029746B (en) | 2018-08-07 |
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| CN201410216534.8A Active CN104029746B (en) | 2014-05-20 | 2014-05-20 | Planetary gear crawler belt combined type tread systems design |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107364283B (en) * | 2017-07-28 | 2023-12-15 | 上海七桥机器人有限公司 | Wheel structure, wheel system, application of wheel system and method for climbing/descending slope and obstacle-crossing |
| CN109398531B (en) * | 2018-11-27 | 2023-10-17 | 五邑大学 | Obstacle surmounting carrying engineering truck |
| CN110239639A (en) * | 2019-07-01 | 2019-09-17 | 上海钧工机器人有限公司 | A kind of crawler type motion platform of variable topological structure |
| CN110328651A (en) * | 2019-07-29 | 2019-10-15 | 东北大学 | Towards old man can obstacle detouring accompany and attend to robot |
| CN112660262B (en) * | 2021-01-12 | 2022-11-18 | 大连理工大学 | Smooth obstacle crossing travelling mechanism |
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| CN101323256A (en) * | 2008-07-10 | 2008-12-17 | 中国农业大学 | Obstacle-cross driving and running mechanism |
| CN102785716A (en) * | 2012-08-03 | 2012-11-21 | 中国科学技术大学 | Special-shaped wheel and caterpillar track combined walking mechanism |
| CN103448815A (en) * | 2013-09-17 | 2013-12-18 | 湖南湖大艾盛汽车技术开发有限公司 | Barrier-free chassis and operation method thereof |
| CN203864836U (en) * | 2014-05-20 | 2014-10-08 | 北京林业大学 | Design of walking mechanism with planet gears and crawler belt combined |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007210577A (en) * | 2006-02-06 | 2007-08-23 | Yoshio Komatsu | Step traveling revolution wheel |
| JP4724075B2 (en) * | 2006-08-29 | 2011-07-13 | 本田技研工業株式会社 | Wheel rotation device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101323256A (en) * | 2008-07-10 | 2008-12-17 | 中国农业大学 | Obstacle-cross driving and running mechanism |
| CN102785716A (en) * | 2012-08-03 | 2012-11-21 | 中国科学技术大学 | Special-shaped wheel and caterpillar track combined walking mechanism |
| CN103448815A (en) * | 2013-09-17 | 2013-12-18 | 湖南湖大艾盛汽车技术开发有限公司 | Barrier-free chassis and operation method thereof |
| CN203864836U (en) * | 2014-05-20 | 2014-10-08 | 北京林业大学 | Design of walking mechanism with planet gears and crawler belt combined |
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