CN107651030A - The built-in buffering of driving shakes tracked mobile platform and has its robot - Google Patents
The built-in buffering of driving shakes tracked mobile platform and has its robot Download PDFInfo
- Publication number
- CN107651030A CN107651030A CN201711012977.5A CN201711012977A CN107651030A CN 107651030 A CN107651030 A CN 107651030A CN 201711012977 A CN201711012977 A CN 201711012977A CN 107651030 A CN107651030 A CN 107651030A
- Authority
- CN
- China
- Prior art keywords
- flexible element
- wheel
- spring
- jackshaft
- track
- 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.)
- Granted
Links
- 230000003139 buffering effect Effects 0.000 title claims abstract description 29
- 230000006835 compression Effects 0.000 claims description 13
- 238000007906 compression Methods 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 4
- 230000004888 barrier function Effects 0.000 abstract description 2
- 238000013016 damping Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
Abstract
Tracked mobile platform is shaken the invention discloses the buffering built in a kind of driving and there is its robot, and the mobile platform includes middle car body, track unit, buffer-type differential balance device；Middle car body includes vehicle frame, motor, runner assembly；Runner assembly includes：Rotating seat, rotating cylinder, jackshaft, the first flexible element wheel；Track unit includes track frame, the first crawler driving whell, the second flexible element wheel, the first flexible element, the first Athey wheel, the first crawler belt；Buffer-type differential balance device includes yaw bar, connecting rod one, connecting rod two, flexible member；Motor of the present invention is built-in to cause track unit structure to be simplified, and the installation of motor and electric elements and arrangement are all more convenient；Buffer unit is employed on buffer-type differential balance device, impact and vibrations when crawler belt breaks the barriers is alleviated well, ensure that the stable operation of the electrical system of robot.
Description
Technical field
Tracked mobile platform is shaken the present invention relates to the buffering built in a kind of driving and there is its robot, belongs to mobile
Robot mechanism technical field.
Background technology
Crawler type walking mechanism has the advantages that terrain adaptability is strong, and obstacle performance is good, is obtained in mobile robot field
Extensive use.In order to obtain more preferable travelling performance, researcher is studied deformable crawler type walking mechanism,
Some good technical schemes are it is also proposed, such as, China Mining University proposes a kind of Rocker-type double-trapezoid pedrail robot
(application number：CN201310728759.7), the motor of the robot is external, in track unit so that track unit
Structure is complex, and needs motor to need to carry out single protection Design, but also by motor power-supply wire, encoder cable
It is incorporated into main car body.Though the robot is mounted with differential balance device, there is no buffering effect, pass through obstacle in unilateral crawler belt
When, it may appear that larger impact and vibrations, the stable operation of this electrical system to robot have a great influence.Therefore, one is designed
Kind driving is built-in and has the shake caterpillar robot mobile platform of cushioning effect significant.
The content of the invention
Goal of the invention：In order to solve the above problems, it is proposed that a kind of buffering built in driving shake tracked mobile platform and
With its robot.
To achieve these goals, present invention employs following technical scheme：
The built-in buffering of driving shakes tracked mobile platform, including：Middle car body, track unit, buffer-type differential balance
Device；The middle car body includes：Vehicle frame, motor, runner assembly；The motor is two, two drivings
Motor is connected with the vehicle frame；The runner assembly is two, and two runner assemblies are symmetricly set on the both sides of vehicle frame, and rotate
Component includes：Rotating seat, rotating cylinder, jackshaft, the first flexible element wheel；Described rotating seat one end is fixed with vehicle frame, and two
The rotating seat coaxial line of runner assembly；The rotating cylinder is pivotly connected with rotating seat, revolute pair is formed, in the circle of rotating cylinder
Cylinder is provided with opening；The jackshaft is located at the inside of rotating cylinder, and jackshaft is pivotly connected with rotating cylinder, forms and turns
Dynamic pair, jackshaft are connected with the output shaft of motor, drive jackshaft to rotate by motor；The first flexible element wheel
Coaxially it is connected with the jackshaft, and the first flexible element wheel is in the opening of the rotating cylinder；
The track unit is two, and two track units are symmetricly set on the both sides of middle car body, and track unit bag
Include：Track frame, the first crawler driving whell, the second flexible element wheel, the first flexible element, the first Athey wheel, the first crawler belt；The crawler belt
It is connected on the inside of frame with rotating cylinder；First crawler driving whell is connected with track frame；The second flexible element wheel and the first crawler belt
Driving wheel is coaxially connected；First flexible element is through the opening on rotating cylinder and connects the first flexible element wheel and the second flexible element
Wheel, realize that flexible element is driven；First Athey wheel is connected with track frame；First crawler belt is enclosed in the first Athey wheel and
The outside of one crawler driving whell.
The buffer-type differential balance device is connected with middle car body, two track units, and differential balance device includes：
Yaw bar, connecting rod one, connecting rod two, flexible member；With being pivotly connected in the middle part of middle car body one end in the middle part of the yaw bar, structure
Into revolute pair；One end of the connecting rod one is connected with one end of yaw bar so that ball is secondary, the other end of connecting rod one and a crawler belt list
The track frame of member is connected so that ball is secondary；One end of the connecting rod two and the other end of yaw bar are connected so that ball is secondary, connecting rod two it is another
Hold and be connected with the track frame of another track unit so that ball is secondary；The flexible member is two, and two flexible members are symmetrical arranged
At the both ends of yaw bar, one end of flexible member is connected with yaw bar, and the other end of flexible member is connected with vehicle frame, and vehicle frame passes through
Two flexible members carry out spacing to yaw bar both ends.
Further, described rotating cylinder one end is provided with axle journal, and the axle journal is in the axis hole of the rotating seat, in axle journal
Front end is provided with axial limiting catch, and the shaft shoulder is formed between axle journal rear end and rotating cylinder, and axial limiting catch and the shaft shoulder are posted by rotation
The both sides of swivel base, axially position is carried out to rotating cylinder by axial limiting catch and the shaft shoulder.
Further, bearing is provided between the rotating cylinder and the jackshaft；Jackshaft is quill shaft, the driving electricity
The output shaft of machine stretches into jackshaft and passes through key connection with jackshaft；The output shaft rear end of motor is provided with the spacing shaft shoulder,
The spacing shaft shoulder is posted by jackshaft one end end face, and output shaft front end is provided with nut, and nut is located at the stopper slot of the jackshaft other end
It is interior, axially position is carried out to jackshaft by the spacing shaft shoulder of output shaft and nut.
Further, the track unit also includes：Second crawler driving whell, the 3rd flexible element wheel, the 4th flexible element wheel,
Second flexible element, the second Athey wheel, the second crawler belt；Second crawler driving whell is connected with track frame；3rd flexible element
Wheel is coaxially connected with the first crawler driving whell；The 4th flexible element wheel is coaxially connected with the second crawler driving whell；Described second
Flexible element connects the 3rd flexible element wheel and the 4th flexible element wheel, realizes that flexible element is driven；Second Athey wheel and track frame phase
Even；Second crawler belt is enclosed in the outside of the second Athey wheel and the second crawler driving whell.
Further, the first flexible element wheel, the second flexible element wheel, the 3rd flexible element wheel, the 4th flexible element wheel are
Sprocket wheel, first flexible element, the second flexible element are chain.
Further, the first flexible element wheel, the second flexible element wheel, the 3rd flexible element wheel, the 4th flexible element wheel are
Synchronous pulley, first flexible element, the second flexible element are timing belt.
Further, the flexible member include spring connecting seat, compression spring, spring-compressed cylinder, spring connecting seat with
Yaw bar is connected, and one end of compression spring is connected with spring connecting seat；Spring-compressed cylinder is connected with the vehicle frame of middle car body, spring
Compression cylinder is provided with blind hole, and the other end of compression spring is placed in the blind hole of spring-compressed cylinder.
Further, the flexible member includes spring hanging seat, spring connection ring, extension spring, spring hanging seat and centre
The vehicle frame of car body is connected, and spring connection ring is connected with spring hanging seat, and extension spring one end is connected with spring connection ring, extension spring
The other end is connected with yaw bar.
A kind of mobile robot, it is flat that the buffering that the mobile robot is included built in above-mentioned driving shakes crawler belt movement
Platform.
Had the advantages that using technical scheme：(1) motor is built-in causes track unit
Structure is simplified, and the installation of motor and electric elements and arrangement are all more convenient；(2) the buffer-type differential balance
Buffer unit is employed on device, impact and vibrations when crawler belt breaks the barriers is alleviated well, ensure that robot
The stable operation of electrical system.
Brief description of the drawings
Fig. 1 is the three dimensional structure diagram of mobile platform embodiment one of the present invention；
Fig. 2 is the partial enlarged drawing at I in Fig. 1；
Fig. 3 is the top view of embodiment illustrated in fig. 1；
Fig. 4 is the partial sectional view of embodiment illustrated in fig. 1；
Fig. 5 is the partial enlarged drawing at II in Fig. 4；
Fig. 6 is the three dimensional structure diagram of the track unit of mobile platform shown in Fig. 1；
Fig. 7 is another three dimensional structure diagram of track unit shown in Fig. 6；
Fig. 8 is the tomograph of another embodiment of track unit of the present invention；
Fig. 9 is the three dimensional structure diagram of mobile platform embodiment two of the present invention；
Figure 10 is the partial enlarged drawing at III in Fig. 9；
Figure 11 is state diagram when embodiment illustrated in fig. 9 passes through rolling topography；
Figure 12 is the partial enlarged drawing at IV in Figure 11；
Figure 13 is the partial enlarged drawing at V in Figure 11；
Figure 14 is the structural representation of the robot with mobile platform shown in Fig. 1；
Reference：
100- mobile platforms；
1- middle car bodies；
11- vehicle frames；
12- motors；
121- motor output shafts, 122- keys, 123- nuts, 124- connecting plates；
13- runner assemblies；
131- rotating seats, 132- rotating cylinders, 133- jackshafts, 134- the first flexible element wheels, 135- axial limiting catch,
136- bearings, 137- positioning end caps, 138- screws；
1321- is open, 1322- axle journals；The 1323- shaft shoulders；
1331- stopper slots；
1361- bearings one, 1362- bearings two；
2- track units；
20- track assemblies；The track assemblies of 201- first；The track assemblies of 202- second；
21- track frames, the crawler driving whells of 22- first, 23- the first flexible element wheels, the flexible elements of 24- first, the crawler belts of 25- first
Wheel, the crawler belts of 26- first, the flexible element wheels of 27- the 3rd, the flexible element wheels of 28- the 4th, the flexible elements of 29- second, the track drives of 210- second
Wheel, the Athey wheels of 211- second, the crawler belts of 212- second；
3- buffer-type differential balance devices；
31- yaw bars, 32- connecting rods one, 33- connecting rods two, 34- flexible members；
341- spring connecting seats, 342- compression springs, 343- spring-compressed cylinders, 344- spring hanging seats, the connection of 345- springs
Ring, 346- extension springs；
4- heads, 5- sensing units.
Embodiment：
The buffering built in driving according to embodiments of the present invention is described in detail with reference to Fig. 1-Figure 14 and shakes crawler belt movement
Platform and there is its robot, and further illustrate the present invention, the embodiment described by reference to accompanying drawing be it is exemplary, only
For explaining the present invention, and it is not considered as limiting the invention.
As shown in figure 1, the buffering built in the driving of the embodiment of the present invention one shakes tracked mobile platform, the mobile platform
100 include：Middle car body 1, track unit 2, buffer-type differential balance device 3.
In Fig. 3, Fig. 4, Fig. 5, middle car body 1 includes：Vehicle frame 11, motor 12, runner assembly 13；Motor 12 is
Two, two motors 12 are connected with vehicle frame 11；Specifically, motor 12 is connected by connecting plate 124 with vehicle frame 11；Turn
Dynamic component 13 is two, and two runner assemblies are symmetricly set on the both sides of vehicle frame；Runner assembly 13 includes rotating seat 131, rotation
Cylinder 132, jackshaft 133, the first flexible element wheel 134；The one end of rotating seat 131 is fixed with vehicle frame 11, and two runner assemblies 13
The coaxial line of rotating seat 131；Rotating cylinder 132 is pivotly connected with rotating seat 131, revolute pair is formed, in the circle of rotating cylinder 132
Cylinder is provided with opening 1321；Jackshaft 133 is located at the inside of rotating cylinder 132, and jackshaft 133 and rotating cylinder 132 are pivotable
Ground is connected, and forms revolute pair；Jackshaft 133 is connected with the output shaft 121 of motor 12, and jackshaft is driven by motor
Rotate；First flexible element wheel 134 is coaxially connected with jackshaft 133, and the first flexible element wheel 134 is in opening for rotating cylinder 132
At mouthful.
Further, as shown in figure 5, rotating seat 131 is connected by screw with the side of vehicle frame 11.Described one end of rotating cylinder 132
Provided with axle journal 1322, axle journal 1322 is provided with axial limiting catch 135 in the axis hole of rotating seat 131 in the front end of axle journal 1322,
The shaft shoulder 1323 is formed between the rear end of axle journal 1322 and rotating cylinder 132, axial limiting catch 135 and the shaft shoulder 1323 are posted by rotating seat
131 both sides, axially position is carried out to rotating cylinder 132 by axial limiting catch 135 and the shaft shoulder 1323.In embodiment one,
Axial limiting catch 135 is connected with the front end surface of axle journal 1322 of rotating cylinder 132 by screw 138.
Preferably, as shown in figure 5, bearing 136 is provided between rotating cylinder 132 and jackshaft 133, specifically in jackshaft
133 both ends are equipped with a bearing, are respectively equipped with bearing 1 and bearing 2 1362；Jackshaft 133 is quill shaft, driving electricity
The output shaft 121 of machine 12 is stretched into jackshaft 133 and with jackshaft 133 by key connection, specifically, the inwall of jackshaft 133 is set
There is keyway, the keyway of the key on output shaft 121 is cylindrical and jackshaft 133 coordinates；The rear end of output shaft 121 of motor 12 is provided with
The spacing shaft shoulder, the spacing shaft shoulder are posted by one end end face of jackshaft 133, and the front end of output shaft 121 is provided with nut 123, and nut 123 is located at
In the stopper slot 1331 of the other end of jackshaft 133, axle is carried out to jackshaft 133 by the 121 spacing shaft shoulder of output shaft and nut 123
To positioning.
Alternatively, quill shaft 133 can be processed as one with the first flexible element wheel 134, can be by welding or being interference fitted
Link together, can also carry out integrated processing, this spline structure is more succinct, the integrated processing of embodiment as shown in Figure 5.
In the embodiment, one end external diameter one end of rotating cylinder 132 is small, one end external diameter is larger, and the small one end of the external diameter of rotating cylinder 132 is provided with axle journal
1322 ends are pivotly connected with rotating seat 131, and the first flexible element wheel 134 can be accommodated inside the other end of rotating cylinder 132.Bearing
One 1361 at the axle journal 1322, and bearing 2 1362 is located at nut 123, bearing 1 and bearing 2 1362 respectively with rotation
132 inwalls of cylinder coordinate, and the diameter of bearing 1 is less than the diameter of bearing 2 1362, and bearing 1 and bearing 2 1362
Outside is just positioned in rotating cylinder 132 by the raised axial limiting of the inwall of rotating cylinder 132, such quill shaft 133 respectively.This
During the assembling of embodiment, bearing, quill shaft 133, the first flexible element wheel 134 can load from the bigger diameter end of rotating cylinder 132.
As shown in fig. 6-7, track unit 2 is two, and two track units 2 are symmetricly set on the both sides of middle car body 1.Carry out
Tape cell 2 includes：Track frame 21, the first crawler driving whell 22, the second flexible element wheel 23, the first flexible element 24, the first Athey wheel
25 and first crawler belt 26.The inner side of track frame 21 is connected with the end of rotating cylinder 133；First crawler driving whell 22 and the phase of track frame 21
Even；Second flexible element wheel 23 is coaxially connected with the first crawler driving whell 22；First flexible element 24 connects first through opening 1321
The flexible element wheel 23 of flexible element wheel 134 and second, realize that flexible element is driven；First Athey wheel 25 is connected with track frame 21；First carries out
With 26 outsides for being enclosed in the first Athey wheel 25 and the first crawler driving whell 22.Preferably, track unit 2 also includes the second crawler belt
Driving wheel 210, the 3rd flexible element wheel 27, the 4th flexible element wheel 28, the second flexible element 29, the second Athey wheel 211, the second crawler belt
212.Second crawler driving whell 210 is connected with track frame 21；3rd flexible element wheel 27 is coaxially connected with the first crawler driving whell 22；
4th flexible element wheel 28 is coaxially connected with the second crawler driving whell 210；Second flexible element 29 connects the 3rd flexible element wheel and the 4th
Flexible element wheel, realize that flexible element is driven；Second Athey wheel 211 is connected with track frame 21；Second crawler belt 212 is enclosed in the second crawler belt
The outside of the crawler driving whell 210 of wheel 211 and second.By said structure, the first crawler driving whell 22 in track unit 2,
One Athey wheel 25 and the first crawler belt 26 constitute the first track assembly 201；The second crawler driving whell 210 in track unit 2,
Two Athey wheels 211, the second crawler belt 212 constitute the second track assembly 202, the second track assembly 202 and the first track assembly 20
Into inverted trapezoidal.Between first track assembly 201 and middle part axle 133 by the first flexible element wheel 134, the second flexible element wheel 23,
First flexible element 24 realizes flexible driving；Pass through the 3rd flexible element between second track assembly 202 and the first track assembly 201
The 27, the 4th flexible element wheel 28 of wheel, the second flexible element 29 realize flexible driving.
In the present embodiment one, flexible element transmission uses chain drive.I.e.：First flexible element wheel, the second flexible element wheel, the 3rd
Flexible element wheel, the 4th flexible element wheel are sprocket wheel, and the first flexible element, the second flexible element are chain.As shown in figure 8, flexible element
Transmission can also use toothed belt transmission.I.e.：First flexible element wheel, the second flexible element wheel, the 3rd flexible element wheel, the 4th flexible element
Wheel is synchronous pulley, and the first flexible element, the second flexible element are timing belt.
As shown in Fig. 1,2,9,10, buffer-type differential balance device 3 and 11, two track units 2 of vehicle frame of middle car body 1
It is connected, buffer-type differential balance device 3 includes：Yaw bar 31, connecting rod 1, connecting rod 2 33, flexible member 34, in yaw bar 31
Portion forms revolute pair with being pivotly connected in the middle part of the one end of middle car body 1；One end of connecting rod 1 and one end of yaw bar 31 with
Ball is secondary to be connected, and the other end of connecting rod 1 is connected with the track frame 21 of a track unit 2 so that ball is secondary；One end of connecting rod 2 33 with
The other end of yaw bar 31 is connected so that ball is secondary, and the track frame 21 of the other end of connecting rod 2 33 and another track unit 2 is with ball pair
It is connected；Flexible member 34 is two, and two flexible members are symmetricly set on the both ends of yaw bar 31, one end of flexible member 34 with
Yaw bar 31 is connected, and the other end of flexible member 34 is connected with vehicle frame 11, and vehicle frame 11 is by two flexible members 34 to yaw bar
31 both ends carry out spacing.
In Fig. 1, the embodiment one shown in 2, flexible member 34 includes spring connecting seat 341, compression spring 342, spring pressure
Contracting cylinder 343, spring connecting seat 341 are connected with one end of yaw bar 31, and one end of compression spring 342 and spring connecting seat 341
It is connected；Spring-compressed cylinder 343 is connected with the vehicle frame 11 of middle car body 1, and spring-compressed cylinder 343 is provided with blind hole, compression spring 342
The other end is placed in the blind hole of spring-compressed cylinder 343.Using this technical scheme, when yaw bar 31 is swung, wherein one
The compression spring 342 of the flexible member 34 of side is compressed, and the swing to yaw bar 31 produces damping buffering effect, opposite side bullet
Property element 34 compression spring 342 depart from the blind via bottom of spring-compressed cylinder 343, and led by the inwall of spring-compressed cylinder 343
To without departing from spring-compressed cylinder 343.
In embodiment two shown in Fig. 9 to 13, flexible member 34 includes spring hanging seat 344, spring connection ring 345, stretching
Spring 346, spring hanging seat 344 are connected with the vehicle frame 11 of middle car body 1, and spring connection ring 345 is connected with spring hanging seat 344, draw
Stretch the one end of spring 346 extension to be connected in spring connection ring 345, the other end of extension spring 34 hangs the one end for being connected in yaw bar 31.Using
This technical scheme, when mobile platform 100 moves in out-of-flatness landform, track unit 2 drives buffer-type differential balance device 3 to transport
It is dynamic, cause yaw bar 31 to swing, as shown in figure 11, and when yaw bar 31 is swung, the wherein flexible member 34 of side
Extension spring 346 spring hanging seat 344 and yaw bar 31 occur stretching (in such as Figure 11 V at, refer to Figure 13) to yaw bar 31
Swing produce damping buffering effect；Transported to spring connection ring 345 one end of the extension spring 346 of opposite side flexible member 34
It is dynamic, do not produce extensional motion, and extension spring 346 do not depart from spring connection ring 345 (in such as Figure 11 IV at, refer to Figure 12).
Pass through above-mentioned technical proposal, one end and the rotating seat 131 of the rotating cylinder 132 of runner assembly 13 form revolute pair,
Realize rotation of the runner assembly 13 relative to the middle part of middle car body 1；The other end of rotating cylinder 132 is connected with track unit 2, so
The can of track unit 2 is relatively rotated by runner assembly 13 with middle housing.Quill shaft 133 by bearing 1,
Bearing 1362 and positioning end cap 137 realize support and axially position with rotating cylinder 132；So motor 12 is fixed on centre
In the vehicle frame 11 of car body 1, its output shaft 121 can drive the flexible element wheel 134 of quill shaft 133 and first to turn in rotating cylinder 132
It is dynamic；Again because rotating cylinder 132 is provided with opening 1321, the first flexible element can is by opening 1321 by power by the first flexible element wheel
134 pass to the first track assembly 201 of track unit 2；The first shoe has been imparted power to further through the transmission of the second flexible element
Band component 202, realizes the motion of track unit.1, two phase of track unit 2 of buffer-type differential balance device 3 and middle car body
Even, the linkage of two track units 2 and middle car body 1 is realized.The flexible member 34 of buffer-type differential balance device 3 is to yaw
The swing of bar 31 can produce damping buffering effect, that is, realize middle car body 1 and the damping buffering of two track units 2 is acted on.
Using this scheme, when mobile platform is moving in the landform of out-of-flatness, two track units 2 are uneven by turning because landform
When its relative middle car body 1 of dynamic component 13 is swung, certain damping buffering effect be present；It can reduce because track unit 2
The impact that brings of quick swing.Therefore, can be by motor installation and middle car body by technical scheme
It portion, so can be simplified track unit structure, and the installation of motor and electric elements and arrangement are all more convenient, and
The track unit that two relative main car bodies are swung can be imparted power to；Mobile platform is also achieved to move in complicated landform
When, the damping buffering of track unit is acted on, therefore good cushioning effect can be provided for mobile platform.
In addition, the invention also provides a kind of robot, its buffering included built in above-mentioned driving shakes crawler belt movement
Platform；If Figure 14 is the mobile robot that employs the mobile platform 100 shown in Fig. 1, mobile robot be provided with power subsystem,
Control unit, head 4, sensing unit 5 etc..It has been prior art for other compositions of mobile robot, and has been this area
It is well-known to the ordinarily skilled artisan, therefore be not described in detail.Due to shaking tracked mobile platform using the buffering built in above-mentioned driving
Reason, can have the built-in driving for realizing robot and buffering, cushioning effect.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is limited by claim and its equivalent.
Claims (9)
1. the built-in buffering of driving shakes tracked mobile platform, it is characterised in that the buffering built in the driving is shaken crawler belt and moved
Moving platform includes：
Middle car body, the middle car body include：
Vehicle frame；
Motor, the motor are two, and two motors are connected with the vehicle frame；
Runner assembly, the runner assembly are two, and two runner assemblies are symmetricly set on the both sides of vehicle frame, and runner assembly bag
Include：
Rotating seat, described rotating seat one end are fixed with vehicle frame, and the rotating seat coaxial line of two runner assemblies；
Rotating cylinder, the rotating cylinder are pivotly connected with rotating seat, form revolute pair, are provided with and open on the face of cylinder of rotating cylinder
Mouthful；
Jackshaft, the jackshaft is located at the inside of rotating cylinder, and jackshaft is pivotly connected with rotating cylinder, forms and rotates
Pair, jackshaft are connected with the output shaft of motor, drive jackshaft to rotate by motor；
First flexible element wheel, the first flexible element wheel are coaxially connected with the jackshaft, and the first flexible element wheel is in institute
State the opening of rotating cylinder；
Track unit, the track unit are two, and two track units are symmetricly set on the both sides of middle car body, and crawler belt list
Member includes：
Track frame, the track frame inner side are connected with rotating cylinder；
First crawler driving whell, first crawler driving whell are connected with track frame；
Second flexible element wheel, the second flexible element wheel are coaxially connected with the first crawler driving whell；
First flexible element, first flexible element is through the opening on rotating cylinder and connects the first flexible element wheel and the second flexible element
Wheel, realize that flexible element is driven；
First Athey wheel, first Athey wheel are connected with track frame；
First crawler belt, first crawler belt are enclosed in the outside of the first Athey wheel and the first crawler driving whell；
Buffer-type differential balance device, the buffer-type differential balance device are connected with middle car body, two track units, and poor
Dynamic poise device includes：
Yaw bar, the yaw bar middle part form revolute pair with being pivotly connected in the middle part of middle car body one end；
Connecting rod one, one end of the connecting rod one are connected with one end of yaw bar so that ball is secondary, the other end of connecting rod one and a crawler belt
The track frame of unit is connected so that ball is secondary；
Connecting rod two, one end of the connecting rod two and the other end of yaw bar are connected so that ball is secondary, the other end of connecting rod two and another
The track frame of track unit is connected so that ball is secondary；
Flexible member, the flexible member are two, and two flexible members are symmetricly set on the both ends of yaw bar, flexible member
One end is connected with yaw bar, and the other end of flexible member is connected with vehicle frame, and vehicle frame is by two flexible members to yaw bar both ends
Carry out spacing.
2. the buffering built in driving according to claim 1 shakes tracked mobile platform, it is characterised in that：The rotating cylinder
One end is provided with axle journal, and the axle journal is provided with axial limiting catch in axle journal front end in the axis hole of the rotating seat, after axle journal
The shaft shoulder is formed between end and rotating cylinder, axial limiting catch and the shaft shoulder are posted by the both sides of rotating seat, pass through axial limiting catch
Axially position is carried out to rotating cylinder with the shaft shoulder.
3. the buffering built in driving according to claim 1 shakes tracked mobile platform, it is characterised in that：The rotating cylinder
Bearing is provided between the jackshaft；Jackshaft is quill shaft, the output shaft of the motor stretch into jackshaft and with
Jackshaft passes through key connection；The output shaft rear end of motor is provided with the spacing shaft shoulder, and the spacing shaft shoulder is posted by jackshaft one end end
Face, output shaft front end are provided with nut, and nut is located in the stopper slot of the jackshaft other end, passes through the spacing shaft shoulder of output shaft and nut
Axially position is carried out to jackshaft.
4. the buffering built in driving according to claim 1 shakes tracked mobile platform, it is characterised in that：The crawler belt list
Member also includes：
Second crawler driving whell, second crawler driving whell are connected with track frame；
3rd flexible element wheel, the 3rd flexible element wheel are coaxially connected with the first crawler driving whell；
4th flexible element wheel, the 4th flexible element wheel are coaxially connected with the second crawler driving whell；
Second flexible element, second flexible element connect the 3rd flexible element wheel and the 4th flexible element wheel, realize that flexible element is driven；
Second Athey wheel, second Athey wheel are connected with track frame；
Second crawler belt, second crawler belt are enclosed in the outside of the second Athey wheel and the second crawler driving whell.
5. the buffering built in driving according to claim 4 shakes tracked mobile platform, it is characterised in that：Described first scratches
Property part wheel, the second flexible element wheel, the 3rd flexible element wheel, the 4th flexible element wheel be sprocket wheel, it is first flexible element, second flexible
Part is chain.
6. the buffering built in driving according to claim 4 shakes tracked mobile platform, it is characterised in that：Described first scratches
Property part wheel, the second flexible element wheel, the 3rd flexible element wheel, the 4th flexible element wheel are synchronous pulley, first flexible element, second
Flexible element is timing belt.
7. the buffering built in driving according to claim 1 shakes tracked mobile platform, it is characterised in that：The elasticity member
Part includes spring connecting seat, compression spring, spring-compressed cylinder, and spring connecting seat is connected with yaw bar, one end of compression spring and
Spring connecting seat is connected；Spring-compressed cylinder is connected with the vehicle frame of middle car body, and spring-compressed cylinder is provided with blind hole, compression spring it is another
One end is placed in the blind hole of spring-compressed cylinder.
8. the buffering built in driving according to claim 1 shakes tracked mobile platform, it is characterised in that：The elasticity member
Part includes spring hanging seat, spring connection ring, extension spring, and spring hanging seat is connected with the vehicle frame of middle car body, spring connection ring with
Spring hanging seat is connected, and extension spring one end is connected with spring connection ring, and the extension spring other end is connected with yaw bar.
9. a kind of mobile robot, it is characterised in that the mobile robot is included in claim 1 to 8 described in any one
The built-in buffering of driving shakes tracked mobile platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711012977.5A CN107651030B (en) | 2017-10-26 | 2017-10-26 | Buffer shaking crawler moving platform with built-in drive and robot with buffer shaking crawler moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711012977.5A CN107651030B (en) | 2017-10-26 | 2017-10-26 | Buffer shaking crawler moving platform with built-in drive and robot with buffer shaking crawler moving platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107651030A true CN107651030A (en) | 2018-02-02 |
| CN107651030B CN107651030B (en) | 2024-03-15 |
Family
ID=61118011
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711012977.5A Active CN107651030B (en) | 2017-10-26 | 2017-10-26 | Buffer shaking crawler moving platform with built-in drive and robot with buffer shaking crawler moving platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107651030B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110435780A (en) * | 2019-09-06 | 2019-11-12 | 中国科学院合肥物质科学研究院 | A kind of compound climbing stairs cargo plane of wheel shoe |
| CN112977669A (en) * | 2019-12-16 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Take open-air unmanned car of lateral stabilization structure |
| EP4339076A1 (en) * | 2022-09-15 | 2024-03-20 | Exobotic Technologies | Improved robot platform |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101143604A (en) * | 2007-10-31 | 2008-03-19 | 东华大学 | Joint track type walking mechanism |
| CN101554890A (en) * | 2008-04-08 | 2009-10-14 | 中国矿业大学 | Rocker-type wheel and track combining robot |
| JP2013244896A (en) * | 2012-05-28 | 2013-12-09 | Hitachi-Ge Nuclear Energy Ltd | Crawler type moving mechanism, and traveling type robot provided with crawler type moving mechanism |
| CN103640635A (en) * | 2013-12-26 | 2014-03-19 | 中国矿业大学 | Rocker-type double-trapezoid pedrail robot |
| CN103963860A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Differential connecting rod type crawler chassis of robot |
| CN105059408A (en) * | 2015-08-03 | 2015-11-18 | 中国矿业大学 | Crawler-type mobile platform passively adaptive to terrain and robot having same |
| CN105109576A (en) * | 2015-09-21 | 2015-12-02 | 中国矿业大学 | Controllable connecting rod type differential motion balancing device and moving platform with same |
| CN106167056A (en) * | 2016-08-16 | 2016-11-30 | 中国矿业大学 | Fire-fighting detects quick mobile robot platform |
| CN206049838U (en) * | 2016-08-26 | 2017-03-29 | 深圳市安泽智能工程有限公司 | Mobile robot |
| CN206243290U (en) * | 2016-11-29 | 2017-06-13 | 徐州科源液压股份有限公司 | Double crawler belt damping chassis |
| CN207403829U (en) * | 2017-10-26 | 2018-05-25 | 中国矿业大学 | The built-in buffering of driving shakes tracked mobile platform and with its robot |
-
2017
- 2017-10-26 CN CN201711012977.5A patent/CN107651030B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101143604A (en) * | 2007-10-31 | 2008-03-19 | 东华大学 | Joint track type walking mechanism |
| CN101554890A (en) * | 2008-04-08 | 2009-10-14 | 中国矿业大学 | Rocker-type wheel and track combining robot |
| JP2013244896A (en) * | 2012-05-28 | 2013-12-09 | Hitachi-Ge Nuclear Energy Ltd | Crawler type moving mechanism, and traveling type robot provided with crawler type moving mechanism |
| CN103640635A (en) * | 2013-12-26 | 2014-03-19 | 中国矿业大学 | Rocker-type double-trapezoid pedrail robot |
| CN103963860A (en) * | 2014-03-31 | 2014-08-06 | 刘建 | Differential connecting rod type crawler chassis of robot |
| CN105059408A (en) * | 2015-08-03 | 2015-11-18 | 中国矿业大学 | Crawler-type mobile platform passively adaptive to terrain and robot having same |
| CN105109576A (en) * | 2015-09-21 | 2015-12-02 | 中国矿业大学 | Controllable connecting rod type differential motion balancing device and moving platform with same |
| CN106167056A (en) * | 2016-08-16 | 2016-11-30 | 中国矿业大学 | Fire-fighting detects quick mobile robot platform |
| CN206049838U (en) * | 2016-08-26 | 2017-03-29 | 深圳市安泽智能工程有限公司 | Mobile robot |
| CN206243290U (en) * | 2016-11-29 | 2017-06-13 | 徐州科源液压股份有限公司 | Double crawler belt damping chassis |
| CN207403829U (en) * | 2017-10-26 | 2018-05-25 | 中国矿业大学 | The built-in buffering of driving shakes tracked mobile platform and with its robot |
Non-Patent Citations (1)
| Title |
|---|
| 李允旺;葛世荣;朱华;: "摇杆式履带悬架的构型推衍及其在煤矿救灾机器人上的应用", 机器人, no. 01, pages 25 - 33 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110435780A (en) * | 2019-09-06 | 2019-11-12 | 中国科学院合肥物质科学研究院 | A kind of compound climbing stairs cargo plane of wheel shoe |
| CN110435780B (en) * | 2019-09-06 | 2021-09-07 | 中国科学院合肥物质科学研究院 | Wheel-track composite type stair-climbing cargo transporter |
| CN112977669A (en) * | 2019-12-16 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Take open-air unmanned car of lateral stabilization structure |
| EP4339076A1 (en) * | 2022-09-15 | 2024-03-20 | Exobotic Technologies | Improved robot platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107651030B (en) | 2024-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107140052B (en) | A kind of wheel leg type hexapod robot with suspension | |
| CN103863423B (en) | One triangle crawler-type mobile mechanism | |
| CN106184469B (en) | Double Worm gear mechanism deformable shock-resistant running parts and firefighting movable platform with it | |
| CN103661667B (en) | A kind of dexterous type quadruped robot with flexible waist | |
| CN107521573A (en) | A kind of damping crawler-type unmanned mobile platform | |
| CN107651030A (en) | The built-in buffering of driving shakes tracked mobile platform and has its robot | |
| CN112849300B (en) | Multi-mode deformable wheel type moving mechanism | |
| CN106184438B (en) | The damping running part that lead screw driving deforms and the firefighting movable platform with it | |
| CN109436112A (en) | Cterpillar drive and barrier-surpassing robot | |
| CN107891918B (en) | Wheel-track combined mobile robot | |
| CN103273977A (en) | Passive self-adaption deformable continuous track type mobile robot platform | |
| CN106184434A (en) | Wheel is carried out conversion mobile chassis and has its fire-fighting sniffing robot | |
| CN207403829U (en) | The built-in buffering of driving shakes tracked mobile platform and with its robot | |
| CN205971581U (en) | Rackwork warp shock attenuation walking portion and has its fire control moving platform | |
| CN106114101A (en) | Wheeled mobile robot chassis straight line suspended shock damper | |
| CN205836411U (en) | Wheeled mobile robot chassis straight line suspended shock damper | |
| CN103010325A (en) | Convertible walking mechanism of robot | |
| CN105059408A (en) | Crawler-type mobile platform passively adaptive to terrain and robot having same | |
| JP2010047206A (en) | Cargo conveying vehicle | |
| CN102180100B (en) | Universal motor-driven chassis | |
| CN205971580U (en) | Double worm gear mechanism warp shock attenuation walking portion and has its fire control moving platform | |
| CN1413866A (en) | Support structure for thrust wheel of endless-track running gear | |
| CN209395912U (en) | Cterpillar drive and barrier-surpassing robot | |
| CN206031547U (en) | Shock attenuation walking portion that screw actuation warp and have its fire control moving platform | |
| CN204937293U (en) | The crawler-type mobile platform of passive adaptation landform and there is its robot |
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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20240218 Address after: 100012 building A1, 32 Beiyuan Road, Chaoyang District, Beijing Applicant after: CHINA ACADEMY OF SAFETY SCIENCE AND TECHNOLOGY Country or region after: China Address before: 221116 Research Institute of China University of Mining and Technology, Tongshan University Road, Xuzhou City, Jiangsu Province Applicant before: CHINA University OF MINING AND TECHNOLOGY Country or region before: China |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |