CN106275113A - Mobile platform that joint crawler belt and wheel are combined mutually and there is its fire-fighting robot - Google Patents

Mobile platform that joint crawler belt and wheel are combined mutually and there is its fire-fighting robot Download PDF

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Publication number
CN106275113A
CN106275113A CN201610649548.8A CN201610649548A CN106275113A CN 106275113 A CN106275113 A CN 106275113A CN 201610649548 A CN201610649548 A CN 201610649548A CN 106275113 A CN106275113 A CN 106275113A
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CN
China
Prior art keywords
wheel
swing arm
crawler belt
crawler
main
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CN201610649548.8A
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Chinese (zh)
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CN106275113B (en
Inventor
李允旺
代素梅
田丰
王勇
陶陶
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China University of Mining and Technology CUMT
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China University of Mining and Technology CUMT
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Priority to CN201610649548.8A priority Critical patent/CN106275113B/en
Publication of CN106275113A publication Critical patent/CN106275113A/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/04Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D55/00Endless track vehicles
    • B62D55/06Endless track vehicles with tracks without ground wheels
    • B62D55/075Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces

Abstract

The present invention provides a kind of joint mobile platform that crawler belt is combined mutually with wheel, including joint crawler body, front wheel assemblies, rear rocker, rear wheel assemblies, connecting rod;Two main track assemblies of joint crawler body are connected to the both sides of its main car body, and swing arm crawler components constitutes joint caterpillar belt structure with main track assembly;In the middle part of the swing arm frame of swing arm crawler components, being connected pivotly with main car body rear and front end respectively in the middle part of rear rocker, the two ends of connecting rod are hinged with swing arm frame, rear rocker respectively, and such main car body, swing arm frame, rear reel cage constitute quadric chain with connecting rod;Front wheel assemblies is connected with the rear end of swing arm frame, and rear wheel assemblies is connected with rear rocker end;The swing arm driving part of joint crawler body drives swing arm frame to swing so that described quadric chain deforms, it is achieved that crawler-type traveling pattern of the present invention and the conversion of running on wheels pattern.Present invention also offers the fire-fighting robot of a kind of mobile platform using above-mentioned joint crawler belt to be combined mutually with wheel.

Description

Mobile platform that joint crawler belt and wheel are combined mutually and there is its fire-fighting robot
Technical field
The present invention relates to the mobile platform that a kind of joint crawler belt is combined mutually with wheel and the fire-fighting robot with it, belong to Mobile robot mechanism field.
Background technology
Some fire-fighting sniffing robots need to be rapidly introduced into detection scene, detect and pass out the ring that detection is on-the-spot in time Environment information, the landform that these robots are faced is sufficiently complex, has the ground such as the structural step of artificial construction, stair, raceway groove Shape, the in disorder landform formed after having calamity, some environment space is narrow.The lineament that fire-fighting sniffing robot is to be overcome requires machine Device people's mobile chassis to have the locomotivity overcoming above-mentioned landform.The crawler type running system of small-sized movable platform has preferably Overcome the ability of structuring landform;Running gear system efficiency is high, and maneuverability, the wheel type traveling mechanism of some specific form is such as Mecanum wheel can also realize omnibearing movement and be applicable to the place of narrow space.It is currently used for fire-fighting sniffing robot The walking mechanism form of mobile chassis is single, landform bad adaptability.
Summary of the invention
Aim to solve the problem that technical problem present in prior art, to this end, it is an object of the present invention to propose a kind of pass The mobile platform that joint crawler belt is combined mutually with wheel, can realize crawler-type traveling pattern and wheel by changing the pivot angle of joint crawler belt The conversion of formula walking mode, landform adaptability is good;And propose a kind of mobile platform using joint crawler belt and wheel to be combined mutually Fire-fighting robot.
The technology path that the present invention is taked by realizing goal of the invention is:
The mobile platform that joint crawler belt and wheel are combined mutually includes: joint crawler body, front wheel assemblies, rear rocker, after Vehicle wheel component, connecting rod;Described joint crawler body includes: main car body, main track assembly, main actuator, swing arm crawler components, pendulum Arm actuator;Described main track assembly is two, two described main track assemblies respectively with the left and right sides phase of described main car body Even, described main track assembly includes: main crawler belt front-wheel, and described main crawler belt front-wheel is connected pivotly with described main car body front end; Main crawler belt trailing wheel, described main crawler belt trailing wheel is connected pivotly with described main car body rear end;Main crawler belt, described main crawler belt envelope exists Outside described main crawler belt front-wheel is with described main crawler belt trailing wheel;Described main actuator drive described main crawler belt around described main crawler belt front-wheel with Described main crawler belt rear wheel.Described swing arm crawler components is two, be located at described main track assembly outer and with described main crawler belt Assembly constitutes joint caterpillar belt structure, and described swing arm crawler belt includes: swing arm frame, and the middle part of described swing arm frame is cut with scissors mutually with described main car body Even constitute revolute pair, described revolute pair and described main crawler belt front-wheel coaxial line;Swing arm trailing wheel, described swing arm trailing wheel and described main shoe Band front-wheel is coaxially connected, and described swing arm trailing wheel is connected in the middle part of described swing arm frame pivotly;Swing arm front-wheel, before described swing arm Wheel is connected pivotly with the front end of described swing arm frame;Swing arm crawler belt, described swing arm crawler belt envelope is in described swing arm trailing wheel and institute State outside swing arm front-wheel;Described swing arm driving part is connected with described swing span and drives described swing arm frame around described main crawler belt front axle String pendulum moves;Described front wheel assemblies is two, and described front wheel assemblies is connected with the rear end of described swing arm frame;In described rear rocker Portion is connected pivotly with described main car body;Described rear wheel assemblies is connected with described rear rocker end;Described connecting rod one end with Described swing arm frame is hinged, and the other end of described connecting rod and described rear reel cage are hinged, described main car body, described swing arm frame, described after Reel cage constitutes quadric chain with described connecting rod.
Preferably, described rear rocker and described main car body are constituted revolute pair and described main crawler belt trailing wheel coaxial line.
Alternatively, described quadric chain is parallel-crank mechanism.
Alternatively, described front wheel assemblies is wheel hub motor integrated wheel;Described rear wheel assemblies is wheel hub motor one Body formula wheel.
Still optionally further, described front wheel assemblies is Mike's nurse wheel of In-wheel motor driving;Described rear wheel assemblies Mike's nurse for In-wheel motor driving is taken turns.
Another alternative, described rear wheel assemblies includes: rear wheel, and described rear wheel is with described rear reel cage pivotly It is connected;Drive one, described drive one is coaxially connected with described rear wheel;Flexible driving wheel two, described flexible driving wheel two Coaxially it is connected with described main crawler belt trailing wheel;Flexible drives, described flexible drives connects described drive one and described transmission Wheel two realizes flexible element transmission.According to other alternatives, described drive one is gear with described drive two, described Drive one and the described mutual engaged transmission of drive two.According to other alternative, described drive one and described transmission Wheel two is gear, by mesomerism gear transmission between described drive one and described drive two.Described front wheel assemblies with The scheme of described rear wheel assemblies is similar to structure.
Optionally, the described main crawler belt trailing wheel of described main track assembly is driving wheel, and described main crawler belt front-wheel is driven pulley; Two described main actuators are connected with two described driving wheels respectively and drive described driving wheel to rotate;Still optionally further, institute Stating main actuator can be reducing motor, and described reducing motor is arranged on described main car body, and is connected with described driving wheel.
Alternatively, described wobble drive part is reducing motor, and described reducing motor is connected with described swing arm frame and drives institute State swing arm crawler components to swing;Another alternatively, described wobble drive part is linear drives part, one end of described linear drives part Being hinged with described main car body, the other end of described linear drives part is with described swing arm frame even.
Alternatively, two described swing arm crawler components are connected, and two described swing arm framves are fixed and connected together, by an institute Stating swing arm driving part drives described swing arm frame to swing.
Another alternatively, two described swing arm crawler components independently swing, two described swing arm driving parts respectively with two Described swing arm crawler components is connected and drives described swing arm crawler components to swing.
A kind of fire-fighting robot, the mobile platform that the above-mentioned joint crawler belt of described fire-fighting robot is combined mutually with wheel, institute State fire-fighting robot also to include: environmental information detection sensing device and visual detection device.
According to the above-mentioned technical scheme of the present invention, two described main track assemblies of described joint crawler body drive main Described joint crawler body is made to have locomotive function, described swing arm crawler components and described main crawler belt group under the driving of moving part Part, described swing crawler belt and described main crawler belt synchronous axial system;Described swing arm driving part drives described swing arm crawler components around main shoe Band front-wheel axis oscillating.Because described main car body, described swing arm frame, described rear reel cage constitute quadric chain with described connecting rod, With the frame that described main car body is described quadric chain, when described swing arm frame swings, described rear reel cage swings simultaneously, because Described front wheel assemblies and described rear wheel assemblies it is connected to respectively, therefore, described on described swing arm frame and described rear reel cage When swing arm frame swings, there is position along with the deformation of described quadric chain in described front wheel assemblies and described rear wheel assemblies Change.So, the most described main track assembly contact ground or described main track assembly are with described swing arm crawler components contiguously Face, the most described front wheel assemblies or described rear wheel assemblies contact ground, be achieved in that crawler-type traveling pattern is with wheeled The conversion of walking mode.The pivot angle of described swing arm frame is different, and the attitude of the mobile platform of the present invention is the most different, as at running on wheels Under pattern, control the pivot angle of described swing arm frame and can change the position of centre of gravity of mobile platform and the head room of the present invention.
According to technical scheme, if described front wheel assemblies or described rear wheel assemblies are wheel hub motor integral type Wheel, then can simplify power transmission route, if described front wheel assemblies or described rear wheel assemblies are the wheat of In-wheel motor driving During Ke Mu wheel, the mobile platform that joint crawler belt and the wheel of the present invention is combined mutually can realize comprehensive when running on wheels pattern Movement, so mobile the most flexible.According to technical scheme, the described front wheel assemblies of the present invention is by passing Moving part obtains power from described main crawler belt front-wheel, and described rear wheel assemblies obtains dynamic by driving member from described main crawler belt trailing wheel Power, so can reduce the use driving element as driven motor.
According to technical scheme, two described swing arm crawler components are connected, solid by swing arm frame as described in two Surely connect together, so described swing arm frame can be driven to swing by a described swing arm driving part;Use this technical scheme, this The described quadric chain synchronization action of bright mobile platform both sides.According to another alternative of the present invention, two described pendulum Arm track assembly independently swings, and two described swing arm driving parts are connected with two described swing arm crawler components respectively and drive described Swing arm crawler components swings, so, and the action that two described quadric chains of the mobile platform of the present invention can be independent, because The pivot angle of two the described swing arm framves in left and right is different, so the attitude of the walking mechanism of the mobile platform both sides of the present invention is the most different, The landform adaptability of the mobile platform of the present invention can be improved to a certain extent.
Fire-fighting robot proposed by the invention is because employing above-mentioned joint crawler belt and putting down with the movement that wheel is combined mutually Platform, therefore has the travelling performance of the mobile platform that described joint crawler belt is combined mutually with wheel, have crawler-type traveling pattern and The performance of running on wheels mode conversion, according to lineament, can carry out the conversion of two kinds of walking modes, such landform adaptability Good, it is possible to meet the mobile needs of multiple landform, because being equipped with described environmental information detection sensing device and the spy of described vision Survey device and fire control and disaster rescue scene can be carried out the detection of environmental information, the information gathering of disaster relief field scene.
Following beneficial effect has been reached: (1) can realize described joint crawler belt and wheel phase by technique scheme The crawler-type traveling pattern of compound mobile platform and the conversion of running on wheels pattern, landform strong adaptability;(2) described in using The fire-fighting robot landform adaptability of the mobile platform that joint crawler belt and wheel are combined mutually is good, it is possible to preferably meet disaster field The needs of terrain trafficability, improve the travelling performance of robot;(3) described environment letter it is equipped with on described fire-fighting robot Breath detection sensing device and described visual detection device, therefore disaster field can be carried out environmental information detection and, the disaster relief The information gathering of field scene.
Accompanying drawing explanation
Fig. 1 is the high in running on wheels pattern of the mobile platform embodiment one that is combined mutually with wheel of the joint crawler belt of the present invention Schematic perspective view during position;
Fig. 2 is the embodiment illustrated in fig. 1 one schematic perspective view when running on wheels pattern low level;
Fig. 3 is the schematic perspective view that embodiment illustrated in fig. 1 has when swing arm guides under crawler-type traveling pattern;
Fig. 4 is the embodiment illustrated in fig. 1 schematic perspective view when crawler-type traveling pattern lower swing arm launches;
Fig. 5 is another schematic perspective view of embodiment illustrated in fig. 1;
Fig. 6 is the schematic perspective view of the mobile platform embodiment two that the joint crawler belt of the present invention is combined mutually with wheel;
Fig. 7 be embodiment illustrated in fig. 6 on step topography time state diagram;
Fig. 8 is the embodiment three of the mobile platform that the present invention uses the joint crawler belt of Mecanum wheel to be combined mutually with wheel Schematic perspective view;
Fig. 9 is the schematic perspective view of the embodiment four of the mobile platform that the joint crawler belt of the present invention is combined mutually with wheel;
Figure 10 is the embodiment illustrated in fig. 9 four schematic perspective view under crawler-type traveling pattern;
Figure 11 is the schematic diagram of the embodiment five of the mobile platform that the joint crawler belt of the present invention is combined mutually with wheel;
Figure 12 is the schematic diagram of the embodiment six of the mobile platform that the joint crawler belt of the present invention is combined mutually with wheel;
Figure 13 is the state diagram that embodiment illustrated in fig. 1 one is advanced with running on wheels pattern;
Figure 14 is the state diagram that embodiment illustrated in fig. 1 changes when And of Varying Depth breaks the barriers;
Figure 15 is that embodiment illustrated in fig. 1 one prepares state diagram during climbing ladder with crawler-type traveling pattern;
Figure 16 is that embodiment illustrated in fig. 1 one starts to climb state diagram during ladder with crawler-type traveling pattern;
Figure 17 is state diagram during embodiment illustrated in fig. 1 one swing arm crawler components expansion climbing ladder;
Figure 18 is the embodiment illustrated in fig. 1 one state diagram when i.e. will ride up ladder;
Figure 19 is the state diagram that the embodiment illustrated in fig. 1 one swing arm crawler components bottom prepares when climbing down ladder;
Figure 20 is the embodiment illustrated in fig. 1 one state diagram when climbing down ladder;
Figure 21 is state diagram during ground below the swing arm crawler components contact ladder of embodiment illustrated in fig. 1 one;
Figure 22 is state diagram during rear wheel assemblies contact last step of ladder of embodiment illustrated in fig. 1 one;
Figure 23 is the embodiment illustrated in fig. 1 one state when utilizing swing arm crawler components to make winner's crawler belt come into contact with ground Figure;
Figure 24 is state diagram during embodiment illustrated in fig. 1 one main crawler belt full contact ground;
Figure 25 is that embodiment illustrated in fig. 1 one sails out of state diagram during ladder with crawler travel pattern;
Figure 26 is the state diagram that embodiment illustrated in fig. 1 one is transformed to when running on wheels pattern sails out of ladder;
Figure 27 is the structural representation of the fire-fighting robot with the mobile platform that joint crawler belt shown in Fig. 1 is combined mutually with wheel Figure;
Reference:
The mobile platform that 1000 joint crawler belts are combined mutually with wheel;
1 joint crawler body;
11 main car bodies;
12 main track assemblies;
121 main crawler belt front-wheels;122 main crawler belt trailing wheels;123 main crawler belts;
13 main actuators;
14 swing arm crawler components;
141 swing arm framves;142 swing arm trailing wheels;143 swing arm front-wheels;144 swing arm crawler belts;145 arm shafts;146 travelling gears; 147 connecting rods;
15 swing arm driving parts;
151 drive gear;
1501 reducing motors;1502 linear drives parts;
2 front wheel assemblies;
Rocker after 3;
4 rear wheel assemblies;
41 rear wheels;42 drives one;43 drives two;44 flexible drives;
5 connecting rods;
6 environmental information detection sensing devices;
7 visual detection devices;
Detailed description of the invention
Embodiments of the invention are described below in detail, are exemplary by the embodiment being described with reference to the drawings, are only used for Explain the present invention, and be not considered as limiting the invention.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, the movement that joint crawler belt according to embodiments of the present invention and wheel are combined mutually is put down Platform, including: joint crawler body 1, front wheel assemblies 2, rear rocker 3, rear wheel assemblies 4, connecting rod 5;Described joint crawler body 1 Including: main car body 11, main track assembly 12, main actuator 13, swing arm crawler components 14, swing arm driving part 15;Main track assembly 12 is two, and two main track assemblies 12 left and right sides with described main car body 11 respectively is connected, and main track assembly 12 includes: main Crawler belt front-wheel 121, main crawler belt front-wheel 121 is connected pivotly with described main car body 11 front end;Main crawler belt trailing wheel 122, main crawler belt Trailing wheel 122 is connected pivotly with main car body 11 rear end;Main crawler belt 123, main crawler belt 123 envelope is main crawler belt front-wheel 121 and master Outside crawler belt trailing wheel 122;Main actuator 13 drives main crawler belt 123 to rotate (such as Fig. 2 with main crawler belt trailing wheel 122 around main crawler belt front-wheel 121 Shown in).Swing arm crawler components 14 is two, is located at outside main track assembly 12 and constitutes joint crawler belt knot with main track assembly 12 Structure, swing arm crawler components 14 includes: swing arm frame 141, and the middle part of swing arm frame 141 is hinged with main car body 11 phase and constitutes revolute pair, institute State revolute pair and main crawler belt front-wheel 121 coaxial line;Swing arm trailing wheel, swing arm trailing wheel 142 is coaxially connected with main crawler belt front-wheel 121, and Swing arm trailing wheel 142 is connected in the middle part of swing arm frame 141 pivotly;Swing arm front-wheel 143, before swing arm front-wheel 143 and swing arm frame 141 End is connected pivotly;Swing arm crawler belt 144, swing arm crawler belt 144 envelope is outside swing arm trailing wheel 142 with swing arm front-wheel 143;Swing is driven Moving part 15 is connected with swing arm frame 141 and drives swing arm frame 141 around main crawler belt front-wheel 121 axis oscillating;Front wheel assemblies 2 is two Individual, front wheel assemblies 2 is connected with the rear end of swing arm frame 141;It is connected pivotly with main car body 11 in the middle part of rear rocker 3;Rear wheel Assembly 4 is connected with rear rocker 3 end;Connecting rod 5 one end is hinged with swing arm frame 141, and the other end of connecting rod 5 is hinged with rear reel cage 3, main Car body 11, swing arm frame 141, rear reel cage 3 constitute quadric chain with connecting rod 5.
The revolute pair that the rear rocker 3 of the embodiment one shown in Fig. 1 is constituted with main car body 11 is coaxial with main crawler belt trailing wheel 122 Line, specifically, rear rocker 3 is with the wheel shaft of main crawler belt trailing wheel 122 as rotary shaft.
In embodiment one shown in Fig. 1, described quadric chain is parallel-crank mechanism.
In embodiment one shown in Fig. 1, front wheel assemblies 2 is wheel hub motor integrated wheel, and rear wheel assemblies 4 is wheel hub Motor integrated wheel, so, can simplify power transmission route.
As being the embodiment three of mobile platform of the present invention in Fig. 8, in embodiment three, front wheel assemblies 2 is wheel hub electricity Mike's nurse wheel that machine drives;Rear wheel assemblies 4 is Mike's nurse wheel of In-wheel motor driving.Specifically front wheel assemblies 2 with The Mecanum wheel of rear wheel assemblies 4 oppositely oriented, the rotation direction of the Mecanum wheel of the front wheel assemblies of the left and right sides also phase Instead.Because have employed Mecanum wheel, the mobile platform 1000 that joint crawler belt and the wheel of the present invention is combined mutually is at running on wheels Omnibearing movement can be realized during pattern, so mobile the most flexible.
In being embodied as, the main crawler belt trailing wheel 122 that can select main track assembly 12 is driving wheel, main crawler belt front-wheel 121 is driven pulley;Main actuator 13 is two and is connected with two described driving wheels respectively and drives described driving wheel to rotate, such as figure Shown in the embodiment one of 2.Still optionally further, main actuator 13 can be reducing motor, and described reducing motor is arranged on main car body On 11, and being connected with described driving wheel, the embodiment one shown in Fig. 2 have employed reducing motor.
Embodiments of the invention one, as it is shown in figure 5, and in the embodiment two shown in Fig. 6, wobble drive part 15 is the electricity that slows down Machine 1501, reducing motor 1501 is fixed on main car body 11, the swing arm frame 141 of reducing motor 1501 and swing arm crawler components 14 Arm shaft 145 is connected, and specifically, the arm shaft 145 of swing arm frame 141 is provided with travelling gear 146, the output of reducing motor 1501 Axle is provided with driving gear 151, and travelling gear 146 engages with driving gear 151, has been achieved in that reducing motor 1501 drives pendulum The purpose of arm track assembly 14.
Wherein in some embodiments, embodiment one as shown in Figures 1 to 5, two swing arm crawler components 14 are connected, and Two swing arm framves 141 are fixed and are connected together, a wobble drive part 15 drive swing arm frame 141 to swing.Specifically, such as Fig. 5 institute Showing, two swing spans 141 are fixed together by arm shaft 145, it is ensured that two swing spans 141 swing simultaneously, and swing arm Travelling gear 146 is installed on axle 145;Wobble drive part 15 have employed reducing motor 1501, the motor shaft of reducing motor 1501 On be connected to driving gear 151, drive gear 151 be meshed with travelling gear 146;So, reducing motor 1501 drives and drives Gear 151 rotates, and drives gear 151 to drive travelling gear 146 to drive arm shaft 145 to rotate, thus drives two swing spans 141 Synchronous hunting.According to technical scheme, two swing arm crawler components 14 are connected, so can be by a wobble drive part 15 Drive two swing arm frame 141 synchronous hunting;Thus drive two described quadric chain synchronization actions of main car body 11 both sides.
Another scheme alternatively, two independent swings of swing arm crawler components 14, two wobble drive parts 15 are respectively with two Individual swing arm crawler components 14 is connected and drives swing arm crawler components 14 to swing, embodiment two as shown in Figure 6, specifically, and two Wobble drive part 15 have employed reducing motor 1501, and the output shaft of described reducing motor 1501 is connected to driving gear 151;Often Individual swing arm crawler components 14 all has an arm shaft 145, and arm shaft 145 is provided with travelling gear 146;Two drive gear 151 are meshed with two travelling gears 146 respectively.Therefore two wobble drive parts 15 can independently change the institute of main car body 11 both sides State the shape of double leval jib, so, the action that two described quadric chains of the mobile platform of the present invention can be independent, because left The pivot angle of right two swing arm framves 141 is different, so the attitude of the walking mechanism of the mobile platform both sides of the present invention is the most different, one Determine can improve in degree the landform adaptability of the mobile platform of the present invention.Fig. 7 be embodiment illustrated in fig. 6 at both sides Terrain Elevation not Meanwhile, the shape of the described quadric chain of regulation main car body 11 both sides ensures that main car body 11 keeps the state of level respectively.
Another alternatively, wobble drive part 15 is linear drives part 1502, in embodiment four as shown in Figure 9, Figure 10, directly Line actuator 1502 have employed electric pushrod, and one end of described electric pushrod relatively connects with main car body 11, described electric pushrod another One end is hinged with swing arm frame 141.In the present embodiment four, two swing arm framves 141 are fixedly connected with by connecting rod 147, connecting rod 147 It is provided with hinged ear mount one;Also be provided with hinged ear mount two on main car body 11, the two ends of described electric pushrod respectively with hinged ear mount One, hinged ear mount two is connected;When the generation length of described electric pushrod changes, swing arm frame 141 can be driven to swing, i.e. can change Become the pivot angle of swing arm frame 141, and then described quadric chain action can be driven.In embodiment four shown in Fig. 9, Figure 10, front Vehicle wheel component 2 is Mike's nurse wheel of In-wheel motor driving;Rear wheel assemblies 4 is Mike's nurse wheel of In-wheel motor driving, Fig. 9 For running on wheels pattern, Figure 10 is crawler-type traveling pattern.
In other some embodiments, the front wheel assemblies 2 of the present invention and rear wheel assemblies 4, can be from joint crawler belt Power is obtained on chassis 1.In embodiment five shown in Figure 11, rear wheel assemblies 4 includes: rear wheel 41, rear wheel 41 with after shake Frame 3 is connected pivotly;Drive 1, drive 1 is coaxially connected with rear wheel 41;Drive 2 43, drive 2 43 Coaxially it is connected with main crawler belt trailing wheel 122;Flexible drives 44, flexible drives 44 connects drive 1 and drive 2 43 is real Existing flexible element transmission.Specifically, flexible drives 44 is Timing Belt, and drive 1 and drive 2 43 are synchronous pulley.? In other some embodiments, flexible drives 44 can also be chain, and drive 1 uses sprocket wheel with drive 2 43. Front wheel assemblies 2 is similar to structure to rear wheel assemblies 4 scheme, does not introduces.
In other some embodiments, drive 1 and drive 2 43 are gear, drive 1 and drive 2 43 engage each other transmission.If drive 1 and drive 2 43 are gear, drive 1 and the between centers of drive 2 43 When excessive, cause drive 1 excessive with drive 2 43, so can be able to lead between drive 1 and drive 2 43 Crossing mesomerism gear 45 transmission, the embodiment six shown in Figure 12 have employed two mesomerism gears 45 and carries out accessory drive.Front truck wheels Part 2 is similar to structure to rear wheel assemblies 4 scheme, does not introduces.
In the embodiment six shown in embodiment five and Figure 12 shown in Figure 11, the front wheel assemblies 2 of the present invention passes through transmission Part obtains power from main crawler belt front-wheel 121, and rear wheel assemblies 4 obtains power, so by driving member from main crawler belt trailing wheel 122 Actuator can be reduced as driven the quantity of motor.
According to the above-mentioned technical scheme of the present invention, two main track assemblies 12 of joint crawler body 1 are at main actuator Driving under make joint crawler body 1 have a locomotive function, swing arm crawler components 14 and main track assembly 12, described swing is carried out Band and main crawler belt 123 synchronous axial system;Wobble drive part 15 drives swing arm crawler components 14 around main crawler belt front-wheel axis oscillating.Because Main car body 11, swing arm frame 141, rear reel cage 3 constitute quadric chain, with main car body 11 for described quadric chain with connecting rod 5 Frame, when swing arm frame 141 swings, rear reel cage 3 swings simultaneously, because being connected to front truck respectively on swing arm frame 141 and rear reel cage 3 Wheel assembly 2 and rear wheel assemblies 4, therefore, when swing arm frame 141 swings, front wheel assemblies 2 and rear wheel assemblies 4 are along with described The deformation of quadric chain and there is change in location.So, the most main track assembly 12 contact ground or main track assembly 12 with Swing arm crawler components 14 contacts ground, and front wheel assemblies 2 or rear wheel assemblies 4 contact ground sometimes, have been achieved in that crawler type Walking mode and the conversion of running on wheels pattern.The pivot angle of swing arm frame 141 is different, and the attitude of the mobile platform of the present invention is the most not With, as under running on wheels pattern, control the pivot angle of swing arm frame 141 can change the present invention mobile platform position of centre of gravity with And head room.
In Figure 13 to Figure 26, as a example by the embodiment one of the mobile platform being combined mutually by joint crawler belt and wheel, introduce the present invention By the course of action during obstacle terrain such as boss, successive steps.Figure 13 is the shape that embodiment one is advanced with running on wheels pattern State figure;When embodiment one runs into higher protruding barrier, the swing arm of embodiment one swings the head room making embodiment one Becoming big, embodiment one is by this projection barrier, as shown in figure 14;Shown in Figure 15, when embodiment one is with caterpillar band type, and swing arm State when track assembly 14 has been put prepares climbing successive steps;In Figure 16, embodiment one continues climbing with crawler travel pattern Stair;Figure 17 swing arm crawler components 14 bottom, extends the overall length of crawler belt, contributes to the climbing of step;In Figure 18, embodiment one is i.e. Will ride up the upper level step of ladder;Figure 19 embodiment steady climbs down ladder, swing arm crawler components 14 bottom, it is to avoid institute State mobile platform to overturn;When the main crawler belt 123 of Figure 20 embodiment one is in alignment with swing arm crawler belt 144, climb down ladder; The swing arm crawler components 14 of Figure 21 embodiment one is swung up, it is simple to the present embodiment one contacts with ground without impact;Figure 22 is real Executing example one and continue climbing, rear wheel contacts with next stage step;By deformation, little by little make the mobile platform of the present embodiment one Decentralization, if Figure 23 is to shown in 24;When described main crawler belt 123 contacts with ground, robot is moved forward away from ladder, As shown in figure 25;It is then deformed to running on wheels pattern move as shown in figure 26.From this enforcement shown in Figure 13 to Figure 26 Described mobile platform in example one, by adjusting the pivot angle of swing arm crawler components 14, can drive institute according to the change of landform State quadric chain, thus change the shape of described mobile platform, change the walking mode of described mobile platform so that institute State mobile platform and there is good obstacle performance, there is more preferable landform adaptability and the property passed through.
A kind of fire-fighting robot as shown in figure 27, the above-mentioned joint crawler belt of described fire-fighting robot and wheel are compound mutually Mobile platform 1000, described fire-fighting robot also includes: environmental information detection sensing device 6 and visual detection device 7.
Fire-fighting robot proposed by the invention is because employing above-mentioned joint crawler belt and putting down with the movement that wheel is combined mutually Platform 1000, therefore has the travelling performance of the mobile platform 1000 that described joint crawler belt is combined mutually with wheel, has crawler type row Walking modes and the performance of running on wheels mode conversion, according to lineament, can carry out the conversion of two kinds of walking modes, in this wise Shape adaptability is good, it is possible to meet the mobile needs of multiple landform, because being equipped with described environmental information detection sensing device 6 and institute State visual detection device 7 and fire control and disaster rescue scene can be carried out the detection of environmental information, the information gathering of disaster relief field scene.
The crawler-type traveling mould of the mobile platform that described joint crawler belt is combined mutually can be realized with wheel by the present invention Formula and the conversion of running on wheels pattern, landform strong adaptability;The mobile platform that joint crawler belt described in employing is combined mutually with wheel Fire-fighting robot landform adaptability good, it is possible to preferably meet the needs of the terrain trafficability of disaster field, improve machine The travelling performance of people;Described environmental information detection sensing device and described visual detection it is equipped with on the fire-fighting robot of the present invention Device, therefore disaster field can be carried out environmental information detection and, the information gathering of disaster relief field scene.
For mobile platform, other compositions of robot, it is prior art, and has been that those of ordinary skill in the art is ripe Know, therefore be not described in detail.
Although an embodiment of the present invention has been shown and described, these can be implemented by those of ordinary skill in the art Example carries out multiple change, revises, replaces and modification, and the scope of the present invention is limited by claim and equivalent thereof.

Claims (10)

1. the mobile platform that a joint crawler belt is combined mutually with wheel, it is characterised in that including:
Joint crawler body, described joint crawler body includes:
Main car body;
Main track assembly, described main track assembly is two, two described main track assemblies respectively with the left and right of described main car body Both sides are connected, and described main track assembly includes:
Main crawler belt front-wheel, described main crawler belt front-wheel is connected pivotly with described main car body front end;
Main crawler belt trailing wheel, described main crawler belt trailing wheel is connected pivotly with described main car body rear end;
Main crawler belt, described main crawler belt envelope is outside described main crawler belt front-wheel with described main crawler belt trailing wheel;
Main actuator, described main actuator drives described main crawler belt around described main crawler belt front-wheel and described main crawler belt rear wheel;
Swing arm crawler components, described swing arm crawler components is two, be located at described main track assembly outer and with described main crawler belt group Part constitutes joint caterpillar belt structure, and described swing arm crawler belt includes:
Swing arm frame, the middle part of described swing arm frame and described main car body be hinged composition revolute pair mutually, described revolute pair and described main shoe Band front-wheel coaxial line;
Swing arm trailing wheel, described swing arm trailing wheel is coaxially connected with described main crawler belt front-wheel, and described swing arm trailing wheel and described swing arm frame Middle part is connected pivotly;
Swing arm front-wheel, described swing arm front-wheel is connected pivotly with the front end of described swing arm frame;
Swing arm crawler belt, described swing arm crawler belt envelope is outside described swing arm trailing wheel with described swing arm front-wheel;
Swing arm driving part, described swing arm driving part is connected with described swing span and drives described swing arm frame around described main crawler belt front-wheel Axis oscillating;
Front wheel assemblies, described front wheel assemblies is two, and described front wheel assemblies is connected with the rear end of described swing arm frame;
Rear rocker, is connected pivotly with described main car body rear portion in the middle part of described rear rocker;
Rear wheel assemblies, described rear wheel assemblies is connected with described rear rocker end;
Connecting rod, described connecting rod one end is hinged with described swing arm frame, and the other end of described connecting rod is hinged with described rear reel cage, described master Car body, described swing arm frame, described rear reel cage constitute quadric chain with described connecting rod.
The mobile platform that joint the most according to claim 1 crawler belt is combined mutually with wheel, it is characterised in that: described rear rocker The revolute pair constituted with described main car body and described main crawler belt trailing wheel coaxial line.
The mobile platform that joint the most according to claim 1 crawler belt is combined mutually with wheel, it is characterised in that: described double leval jib Mechanism is parallel-crank mechanism.
The mobile platform that joint the most according to claim 1 crawler belt is combined mutually with wheel, it is characterised in that:
Described front wheel assemblies is wheel hub motor integrated wheel;
Described rear wheel assemblies is wheel hub motor integrated wheel.
The mobile platform that joint the most according to claim 1 crawler belt is combined mutually with wheel, it is characterised in that:
Described front wheel assemblies is Mike's nurse wheel of In-wheel motor driving;
Described rear wheel assemblies is Mike's nurse wheel of In-wheel motor driving.
The mobile platform that joint the most according to claim 1 crawler belt is combined mutually with wheel, it is characterised in that:
The described main crawler belt trailing wheel of described main track assembly is driving wheel, and described main crawler belt front-wheel is driven pulley;
Two described main actuators are connected with two described driving wheels respectively and drive described driving wheel to rotate.
The mobile platform that joint the most according to claim 1 crawler belt is combined mutually with wheel, it is characterised in that:
Two described swing arm crawler components are connected, and two described swing arm framves are fixed and connected together, by a described swing arm driving Part drives described swing arm frame to swing.
The mobile platform that joint the most according to claim 1 crawler belt is combined mutually with wheel, it is characterised in that: two described pendulum Arm track assembly independently swings, and two described swing arm driving parts are connected with two described swing arm crawler components respectively and drive described Swing arm crawler components swings.
The mobile platform that joint the most according to claim 1 crawler belt is combined mutually with wheel, it is characterised in that:
Described wobble drive part is reducing motor, and described reducing motor is connected with described swing arm frame and drives described swing arm crawler belt group Part swings;
Or
Described wobble drive part is linear drives part, and one end of described linear drives part is hinged with described main car body, described straight line The other end of actuator is hinged with described swing arm frame.
10. a fire-fighting robot, it is characterised in that: described fire-fighting robot includes the arbitrary described joint of claim 1 to 9 The mobile platform that crawler belt and wheel are combined mutually, described fire-fighting robot also includes: environmental information detection sensing device and vision are visited Survey device.
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CN113022728A (en) * 2021-04-16 2021-06-25 北京邮电大学 Wheel-track composite wheel driving mechanism
CN113086033A (en) * 2021-04-25 2021-07-09 七斗科技(宜昌)有限公司 Horizontal low-attitude stair climbing robot and stair climbing method
CN113548119A (en) * 2021-09-02 2021-10-26 厦门理工学院 Variable multipurpose miniature mobile platform
CN114097504A (en) * 2021-11-29 2022-03-01 张建维 Multi-functional fruit tree management equipment

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Publication number Priority date Publication date Assignee Title
CN106892011A (en) * 2017-04-18 2017-06-27 山东大学 The walking combined mobile robot of crawler belt leg
CN110339512A (en) * 2019-06-06 2019-10-18 同济大学 A kind of fire-fighting robot using In-wheel motor driving
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CN113086033A (en) * 2021-04-25 2021-07-09 七斗科技(宜昌)有限公司 Horizontal low-attitude stair climbing robot and stair climbing method
CN113548119A (en) * 2021-09-02 2021-10-26 厦门理工学院 Variable multipurpose miniature mobile platform
CN114097504A (en) * 2021-11-29 2022-03-01 张建维 Multi-functional fruit tree management equipment

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