CN107161225B - Deformable cterpillar drive - Google Patents
Deformable cterpillar drive Download PDFInfo
- Publication number
- CN107161225B CN107161225B CN201710343066.4A CN201710343066A CN107161225B CN 107161225 B CN107161225 B CN 107161225B CN 201710343066 A CN201710343066 A CN 201710343066A CN 107161225 B CN107161225 B CN 107161225B
- Authority
- CN
- China
- Prior art keywords
- shaft
- crawler belt
- transmission gear
- connecting shaft
- deformable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Abstract
The invention discloses a kind of deformable cterpillar drives, comprising: the bindiny mechanism of a plate and two groups of movement mechanisms for being separately fixed at bindiny mechanism two sides and being used to walk.Deformable cterpillar drive provided by the invention can change the athletic posture and mode of crawler belt according to the variation of environment, enhance the adaptability for environment and the flexibility of movement, have relatively broad application value.
Description
Technical field
The invention belongs to cterpillar drive technical field, in particular to a kind of deformable cterpillar drive.
Background technique
The cross-country ability of existing caterpillar mobile robot is stronger, can complete climbing, obstacle detouring, act across ditch etc., application
Range is wider.However, the shape of its crawler belt is immutable, the height of obstacle detouring is therefore limited, poor to the adaptability of environment, movement spirit
Activity is also limited.
Summary of the invention
The object of the present invention is to provide a kind of deformable cterpillar drives.
For this purpose, technical solution of the present invention is as follows:
A kind of deformable cterpillar drive, comprising: the bindiny mechanism of a plate and be separately fixed at bindiny mechanism
Two sides and two groups of movement mechanisms for being used for walking；
Wherein, every group of movement mechanism includes: crawler belt, frame module and crawler belt deformation module；
Frame module includes two groups of crawler belt support wheels, two support plates being vertically arranged and horizontally disposed first connection
Axis, the second connecting shaft and third connecting shaft；The both ends of first connecting shaft, the second connecting shaft and third connecting shaft are respectively equipped with spiral shell
Line supports the screw hole being equipped with and the nut matched to be connected in two support plates disposed in parallel by two；Two
The wheel shaft both ends of group crawler belt support wheel are respectively equipped with screw thread, by the screw hole and the matching that are respectively provided at two support plate rear and front ends
The nut of conjunction is separately fixed between two support plates；
Crawler belt deformation module includes crawler driving whell, preceding adjusting rod, the first transmission shaft, second driving shaft, rear adjusting rod, drive
Moving axis, synchronous belt, the first transmission gear, the second transmission gear, adjusts quarter butt, adjusts quarter butt connecting shaft, third biography synchronous pulley
Moving gear, the 4th transmission gear, connecting shaft and crawler belt driven wheel；
The front end both sides of adjusting rod after the rear end of two preceding adjusting rods is hinged on one using horizontally disposed connecting shaft
Position；Horizontally disposed one end for adjusting quarter butt connecting shaft is fixed on the inner wall of a support plate；One end of quarter butt is adjusted with can
The mode of rotation is connected on the one end for adjusting quarter butt connecting shaft, and the middle part of the other end and rear adjusting rod passes through hinge axis connection；
First transmission shaft pivotally runs through the rear portion that two preceding adjusting rods are arranged in, the two of the first transmission shaft
End is nearby respectively and fixedly connected with the first transmission gear and the 4th transmission gear positioned at the outside left of two preceding adjusting rods；Second driving shaft
Pivotally through the position being located on rear side of the first transmission shaft on two preceding adjusting rods is arranged in, both ends are respectively can turn
Dynamic mode is arranged in two support plates, and the outside left point of two preceding adjusting rods is located near the both ends of second driving shaft
Not affixed second transmission gear and third transmission gear；Third transmission gear is engaged with the 4th transmission gear, the first transmission gear
It is engaged with the second transmission gear, and the output axis connection drive shaft of the first transmission gear and a rotating electric machine runs through setting at two
The front end of preceding adjusting rod, both ends are respectively and fixedly connected with a crawler driving whell；Distinguish fixing sleeve in the middle part of first transmission shaft and drive shaft
There is a synchronous pulley, a synchronous belt is cased on the outer circumference surface of two synchronous pulleys；Crawler belt driven wheel is with rotatable side
The rear end of rear adjusting rod is arranged in formula, is respectively equipped with the tooth being meshed with crawler belt on crawler belt driven wheel and two groups of crawler belt support wheels
Wheel, crawler belt cover on crawler driving whell, crawler belt driven wheel and two groups of crawler belt support wheels；
The deformable cterpillar drive further includes spring and spring connecting rod；Spring connecting rod is fixed on deformable
The outer wall front of preceding adjusting rod on the outside of cterpillar drive；One end of spring is connected to the outer end of spring connecting rod, another
End is connected on the outer wall of support plate.The spring is helical spring.
The top of support plate is arranged in first connecting shaft and the second connecting shaft, and is located at the rear side of preceding adjusting rod；Third connects
The lower part of support plate is arranged in spindle, and is located at the lower section of preceding adjusting rod.
Compared with prior art, deformable cterpillar drive provided by the invention can change according to the variation of environment
The athletic posture and mode of crawler belt, enhance the adaptability for environment and the flexibility of movement, have relatively broad application
Value.
Detailed description of the invention
Fig. 1 is the original state figure of deformable cterpillar drive of the invention.
Fig. 2 is the deformation state figure of deformable cterpillar drive of the invention.
Fig. 3 is the front view of crawler belt deformation module.
Fig. 4 is the top view of movement mechanism.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is described further, but following embodiments are absolutely not to this hair
It is bright to have any restrictions.
As shown in Figs 1-4, which includes: the bindiny mechanism 102 of a plate and consolidates respectively
It is scheduled on 102 two sides of bindiny mechanism and two groups of movement mechanisms 101 for walking；
Wherein, every group of movement mechanism 101 includes: crawler belt 4, frame module and crawler belt deformation module；
Frame module includes that two groups of crawler belt support wheels, 10, two support plates being vertically arranged 17 and horizontally disposed first connect
Spindle 7, the second connecting shaft 8 and third connecting shaft 11；The both ends of first connecting shaft 7, the second connecting shaft 8 and third connecting shaft 11 point
Not She You screw thread, the screw hole being equipped with by two support plates 17 and the nut matched be connected to two it is disposed in parallel
In support plate 17；The wheel shaft both ends of two groups of crawler belt support wheels 10 are respectively equipped with screw thread, before being respectively provided at two support plates 17
The screw hole at both ends and the nut matched are separately fixed between two support plates 17 afterwards；
Crawler belt deformation module includes crawler driving whell 1, preceding adjusting rod 3, the first transmission shaft 5, second driving shaft 6, rear adjusting
Bar 9, synchronous pulley 13, synchronous belt 14, the first transmission gear 15, the second transmission gear 16, adjusts quarter butt 18, adjusts drive shaft 12
Save quarter butt connecting shaft 19, third transmission gear 20, the 4th transmission gear 21, connecting shaft 23 and crawler belt driven wheel 24；
The front end two of adjusting rod 9 after the rear end of two preceding adjusting rods 3 is hinged on one using horizontally disposed connecting shaft 23
Side enables two preceding adjusting rods 3 are synchronous to rotate around connecting shaft 23, and rear adjusting rod 9 can also be rotated around connecting shaft 23；Water
One end of the adjusting quarter butt connecting shaft 19 of flat setting is fixed on the inner wall of a support plate 17；One end of quarter butt 18 is adjusted with can
The mode of rotation is connected on the one end for adjusting quarter butt connecting shaft 19, and the middle part of the other end and rear adjusting rod 9 is connected by hinge axis
It connects；
First transmission shaft 5 is pivotally through the rear portion that two preceding adjusting rods 3 are arranged in, in the first transmission shaft 5
Both ends be nearby located at the outside lefts of two preceding adjusting rods 3 and be respectively and fixedly connected with the first transmission gear 15 and the 4th transmission gear 21；
Second driving shaft 6 pivotally runs through the position for being arranged in and being located at 5 rear side of the first transmission shaft on two preceding adjusting rods 3,
Both ends are pivotally arranged in respectively in two support plates 17, before two are located near the both ends of second driving shaft 6
The outside left of adjusting rod 3 is respectively and fixedly connected with the second transmission gear 16 and third transmission gear 20；Third transmission gear 20 and the 4th
Transmission gear 21 engages, and the first transmission gear 15 is engaged with the second transmission gear 16, and the first transmission gear 15 and an electric rotating
The output axis connection drive shaft 12 of machine runs through the front end that two preceding adjusting rods 3 are arranged in, and both ends are respectively and fixedly connected with a track drive
Wheel 1；The middle part of first transmission shaft 5 and drive shaft 12 is fixed with a synchronous pulley 13 respectively, two synchronous pulleys 13 it is outer
A synchronous belt 14 is cased on periphery；The rear end of rear adjusting rod 9, crawler belt is pivotally arranged in crawler belt driven wheel 24
Be respectively equipped with the gear being meshed with crawler belt 4 on driven wheel 24 and two groups of crawler belt support wheels 10,4 sets of crawler belt crawler driving whell 1,
On crawler belt driven wheel 24 and two groups of crawler belt support wheels 10；
The deformable cterpillar drive further includes spring 22 and spring connecting rod 2；Spring connecting rod 2 is fixed on can
The outer wall front of preceding adjusting rod 3 on the outside of deformed caterpillar formula running gear；One end of spring 22 is connected to the outer of spring connecting rod 2
End, the other end are connected on the outer wall of support plate 17.The spring 22 is helical spring.
The top of support plate 17 is arranged in first connecting shaft 7 and the second connecting shaft 8, and is located at the rear side of preceding adjusting rod 3；The
The lower part of support plate 17 is arranged in three connecting shafts 11, and is located at the lower section of preceding adjusting rod 3.
Now the working principle of deformable cterpillar drive of the invention is described below:
As shown in Figure 1, when deformable cterpillar drive of the invention is in level walking, starting rotation artificial first
Motor, the first transmission gear 15 being connected with the output shaft of rotating electric machine rotate counterclockwise, and the second transmission gear 16 and first passes
Moving gear 15 engages, therefore can rotate clockwise；The third on second driving shaft 6 is fixed in jointly with the second transmission gear 16 to pass
Moving gear 20 also rotates clockwise；Therefore the 4th transmission gear 21 engaged with third transmission gear 20 is rotated counterclockwise；
Due to the drive of aforementioned four gear, the generation of the first transmission shaft 5 is rotated counterclockwise, and second driving shaft 6 rotates clockwise.Positioned at
Synchronous pulley 13 on one transmission shaft 5, which also generates, to be rotated counterclockwise, and drives the synchronous pulley in drive shaft 12 by synchronous belt 14
13 rotate counterclockwise, and drive the generation of crawler driving whell 1 to rotate counterclockwise indirectly by drive shaft 12.With the tooth of crawler driving whell 1
The crawler belt 4 of wheel engagement follows crawler driving whell 1 to generate rotation, and two groups of crawler belt support wheels 10 and crawler belt driven wheel 24 also generate inverse
Hour hands rotation.Therefore, preceding adjusting rod 3 has the tendency that being that axis is rotated counterclockwise with second driving shaft 6.
Due to spring 22 presence and generate a preload component straight down, with the first transmission shaft 5 it is vertical to
On the vector sum of power be 0, therefore two preceding adjusting rods 3 can be made to keep horizontality, to guarantee deformable shoe of the invention
Belt running gear in level walking in original state as shown in Figure 1, without deforming.
As shown in Fig. 2, barrier gives crawler belt 4 when deformable cterpillar drive of the invention encounters barrier
This power straight up is reached two preceding adjusting rods 3 by one power straight up, crawler belt 4, because adjusting rod 3 has with before this
Two transmission shafts 6 are the trend that axis is rotated clockwise；Meanwhile adjusting rod 9 and adjusting quarter butt 18 occur after the preceding drive of adjusting rod 3
It rotates clockwise, forms deformation state as shown in Figure 2.In this process, preceding adjusting rod 3 is due to by 7 He of the first connecting shaft
The location of third connecting shaft 11 and generate position-limiting action, can only be rotated in a certain range around second driving shaft 6, at this
Crawler belt 4 can be preferably coated on driving wheel 1 and crawler belt support wheel 10 in range, ensure that crawler belt will not take off band.Due to crawler belt 4
Total length it is constant, thus can guarantee the stability of entire mechanism.After surmounting obstacles, obstacle disappears to the active force of crawler belt 4,
Deformable cterpillar drive of the invention comes back to original state as shown in Figure 1 immediately after clearing the jumps.
In conclusion deformable cterpillar drive provided by the invention can change crawler belt according to the variation of environment
Athletic posture and mode enhance the adaptability for environment and the flexibility of movement, have relatively broad application value.
Claims (3)
1. a kind of deformable cterpillar drive, which is characterized in that the deformable cterpillar drive includes: a plate
The bindiny mechanism (102) of shape and two groups of movement mechanisms (101) for being separately fixed at bindiny mechanism (102) two sides and being used to walk；
Wherein, every group of movement mechanism (101) includes: crawler belt (4), frame module and crawler belt deformation module；
Frame module includes two groups of crawler belt support wheels (10), two support plates (17) being vertically arranged and horizontally disposed first company
Spindle (7), the second connecting shaft (8) and third connecting shaft (11)；First connecting shaft (7), the second connecting shaft (8) and third connecting shaft
(11) both ends are respectively equipped with screw thread, and the screw hole being equipped with by two support plates (17) and the nut matched are connected to
On two support plates (17) disposed in parallel；The wheel shaft both ends of two groups of crawler belt support wheels (10) are respectively equipped with screw thread, pass through difference
The nut for being located at the screw hole of two support plate (17) rear and front ends and matching is separately fixed between two support plates (17)；
Crawler belt deformation module include crawler driving whell (1), preceding adjusting rod (3), the first transmission shaft (5), second driving shaft (6), after
Adjusting rod (9), drive shaft (12), synchronous pulley (13), synchronous belt (14), the first transmission gear (15), the second transmission gear
(16), quarter butt (18) are adjusted, adjust quarter butt connecting shaft (19), third transmission gear (20), the 4th transmission gear (21), connecting shaft
(23) and crawler belt driven wheel (24)；
The front end of adjusting rod (9) after the rear end of two preceding adjusting rods (3) is hinged on one using horizontally disposed connecting shaft (23)
Two sides position；Horizontally disposed one end for adjusting quarter butt connecting shaft (19) is fixed on the inner wall of a support plate (17)；It adjusts
One end of quarter butt (18) is pivotally connected on the one end for adjusting quarter butt connecting shaft (19), the other end and rear adjusting rod
(9) middle part passes through hinge axis connection；
First transmission shaft (5) is pivotally through setting at the rear portion of two preceding adjusting rods (3), in the first transmission shaft
(5) outside left that both ends are nearby located at two preceding adjusting rods (3) is respectively and fixedly connected with the first transmission gear (15) and the 4th transmission
Gear (21)；Second driving shaft (6) is pivotally located at the first transmission shaft through setting on two preceding adjusting rods (3)
(5) position on rear side of, both ends are pivotally arranged in respectively on two support plates (17), in second driving shaft (6)
The outside left that both ends are nearby located at two preceding adjusting rods (3) is respectively and fixedly connected with the second transmission gear (16) and third transmission gear
(20)；Third transmission gear (20) is engaged with the 4th transmission gear (21), the first transmission gear (15) and the second transmission gear
(16) it engages, and the output axis connection of the first transmission gear (15) and a rotating electric machine；Drive shaft (12) is through setting at two
The front end of preceding adjusting rod (3), both ends are respectively and fixedly connected with a crawler driving whell (1)；First transmission shaft (5) and drive shaft (12)
Middle part is fixed with a synchronous pulley (13) respectively, is cased with a synchronous belt on the outer circumference surface of two synchronous pulleys (13)
(14)；Crawler belt driven wheel (24) is pivotally arranged in the rear end of rear adjusting rod (9), crawler belt driven wheel (24) and two groups
Be respectively equipped with the gear being meshed with crawler belt (4) on crawler belt support wheel (10), crawler belt (4) cover crawler driving whell (1), crawler belt from
On driving wheel (24) and two groups of crawler belt support wheels (10)；
The deformable cterpillar drive further includes spring (22) and spring connecting rod (2)；Spring connecting rod (2) is fixed on
The outer wall front of preceding adjusting rod (3) on the outside of deformable cterpillar drive；One end of spring (22) is connected to spring connection
The outer end of bar (2), the other end are connected on the outer wall of support plate (17).
2. deformable cterpillar drive according to claim 1, which is characterized in that the spring (22) is spiral bullet
Spring.
3. deformable cterpillar drive according to claim 1, which is characterized in that the first connecting shaft (7) and second
Connecting shaft (8) is arranged on the top of support plate (17), and is located at the rear side of preceding adjusting rod (3)；Third connecting shaft (11) setting exists
The lower part of support plate (17), and it is located at the lower section of preceding adjusting rod (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343066.4A CN107161225B (en) | 2017-05-16 | 2017-05-16 | Deformable cterpillar drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710343066.4A CN107161225B (en) | 2017-05-16 | 2017-05-16 | Deformable cterpillar drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107161225A CN107161225A (en) | 2017-09-15 |
| CN107161225B true CN107161225B (en) | 2019-05-07 |
Family
ID=59816153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710343066.4A Active CN107161225B (en) | 2017-05-16 | 2017-05-16 | Deformable cterpillar drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107161225B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171495A (en) * | 2019-04-19 | 2019-08-27 | 北京交通大学 | A kind of deformable link-type crawler belt obstacle detouring system |
| CN112531551B (en) * | 2020-11-26 | 2022-09-30 | 国网重庆市电力公司电力科学研究院 | Deformed crawler belt channel inspection robot |
| CN116674931B (en) * | 2023-07-28 | 2023-10-31 | 苏州汇仁友紧固件有限公司 | Distance conveying device for bolt machining |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200994869Y (en) * | 2007-01-23 | 2007-12-26 | 虞戟 | Caterpillar walking aid and chair for mounting stairs therewith |
| CN201777830U (en) * | 2010-07-20 | 2011-03-30 | 芜湖瑞创叉车有限公司 | Crawler-type forklift |
| CN103231748A (en) * | 2013-04-26 | 2013-08-07 | 哈尔滨工程大学 | Inside and outside reinforced structural type configuration-changeable obstacle crossing robot |
| CN103419851A (en) * | 2013-08-23 | 2013-12-04 | 青岛海艺自动化技术有限公司 | Six-rod self-adaptive tracked robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6022569A (en) * | 1983-07-15 | 1985-02-05 | Hitachi Ltd | Tension controller for crawler-driven vehicle |
-
2017
- 2017-05-16 CN CN201710343066.4A patent/CN107161225B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200994869Y (en) * | 2007-01-23 | 2007-12-26 | 虞戟 | Caterpillar walking aid and chair for mounting stairs therewith |
| CN201777830U (en) * | 2010-07-20 | 2011-03-30 | 芜湖瑞创叉车有限公司 | Crawler-type forklift |
| CN103231748A (en) * | 2013-04-26 | 2013-08-07 | 哈尔滨工程大学 | Inside and outside reinforced structural type configuration-changeable obstacle crossing robot |
| CN103419851A (en) * | 2013-08-23 | 2013-12-04 | 青岛海艺自动化技术有限公司 | Six-rod self-adaptive tracked robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107161225A (en) | 2017-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107161225B (en) | Deformable cterpillar drive | |
| CN105292281B (en) | A kind of substation inspection wheel carries out formula barrier-surpassing robot | |
| KR101211786B1 (en) | transformation wheel that is practicable on a flatland and stairway, wheel assembly and mobile robot | |
| CN104398366A (en) | Torsional spring type flexible elastic joint applicable to rehabilitation robot | |
| CN109866552B (en) | Wheel foot deformation type robot walking mechanism | |
| CN108253227B (en) | Pipeline robot applied to reservoir culvert pipe | |
| CN202491863U (en) | Track running device of rice combine | |
| CN208737308U (en) | A kind of robot with automatic avoiding obstacles function | |
| CN109199719A (en) | A kind of adjustable trilobed wheel of robot of the speeling stairway based on self-locking motor driving | |
| CN207480577U (en) | A kind of track machine people turning device | |
| CN106864618B (en) | Wheel leg type walking mechanism | |
| CN204121750U (en) | A kind of two-sided toy car | |
| CN105698072A (en) | Rotary type LED environmental protection energy-saving wall lamp | |
| CN103010327A (en) | Single-motor driven climbing jumping robot | |
| CN108825111A (en) | A kind of Novel translation door | |
| CN107618426A (en) | A kind of transfer robot | |
| KR20050087181A (en) | Actuator for inclination controlling of treadmill and inclination controlling device of treadmill using same | |
| CN102114876A (en) | Wheel-tracked obstacle crossing mechanism | |
| CN108261749A (en) | A kind of machine for climbing rock | |
| CN207683605U (en) | A kind of Work machine for the gear walking mechanism for becoming wheelbase change ground gap of Work machine and with it | |
| KR102095052B1 (en) | Robot-joint | |
| CN205360337U (en) | Water cannon robot is moved forever to simple and easy electricity generation certainly from type of walking | |
| CN107685344A (en) | A kind of ball shape robot and its buffer unit | |
| JP2016022912A (en) | Crawler and crawler unit comprising the same | |
| CN218124489U (en) | Large-torque spoke motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230710 Address after: Room 3202, Zhengde Building, Wolongshan, Shanhaitian Tourist Resort, Rizhao City, Shandong Province Patentee after: Rizhao Smart Connected Aviation Technology Co.,Ltd. Address before: 300300 Tianjin city Dongli District North Road No. 2898 Patentee before: CIVIL AVIATION University OF CHINA |
|
| TR01 | Transfer of patent right |