CN108216408A - A kind of foldable robot crawler platform based on resilient support wheel - Google Patents
A kind of foldable robot crawler platform based on resilient support wheel Download PDFInfo
- Publication number
- CN108216408A CN108216408A CN201810194757.7A CN201810194757A CN108216408A CN 108216408 A CN108216408 A CN 108216408A CN 201810194757 A CN201810194757 A CN 201810194757A CN 108216408 A CN108216408 A CN 108216408A
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- China
- Prior art keywords
- support wheel
- crawler belt
- crawler
- support
- resilient support
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- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 11
- 230000009471 action Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000001681 protective effect Effects 0.000 abstract description 2
- 239000004576 sand Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 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
- B62D55/08—Endless track units; Parts thereof
- B62D55/30—Track-tensioning means
Abstract
The present invention provides a kind of foldable robot crawler platform based on resilient support wheel, the crawler platform includes resilient support wheel mechanism, crawler belt and robot body, the robot body takes turns mechanism connecting band track by resilient support, the resilient support wheel mechanism includes elastic bearing wheel pedestal, torsional spring, support wheel module and rotary shaft, the support wheel module passes through rotary shaft and torsional spring, it is connect with the elastic bearing wheel pedestal, the resilient support wheel mechanism is used to support crawler belt and generates tension to crawler belt.The present invention is using the structure of resilient support wheel, and the design structure is novel, and purposes is various, and adaptation to the ground ability is strong；While supporting crawler belt, and have the function of to automatically adjust crawler belt tighting degree and be oriented to；Present invention manufacture is at low cost, environmentally protective.
Description
Technical field
The invention belongs to robot components technical fields, and in particular to a kind of foldable robot based on resilient support wheel
Crawler platform.
Background technology
The Special support mechanism of robot crawler belt is mostly form that is fixed and cannot automatically adjusting at present, after crawler tensioning, machine
Enter sand, branch between process belt wheel and crawler belt that people advances when sundries, crawler belt can be stretched, since crawler belt has been opened
Tight and no excessive flexible surplus, crawler belt can only lean on the deflection of rubber itself to compensate the amount of stretching, influence the longevity of crawler belt
Life and the stability of robot operation.Current crawler belt supporting mechanism weight is big, complicated, and crawler belt support is most for fixed shape
Formula, purposes is single, only plays a supporting role to crawler belt, and adapts to the energy force difference of complicated landform.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of foldable robot crawler platform based on resilient support wheel,
The crawler platform includes resilient support wheel mechanism, crawler belt and robot body, the robot body is taken turns by flexibly supporting
Mechanism connecting band track, the resilient support wheel mechanism include elastic bearing wheel pedestal, torsional spring, support wheel module and rotary shaft, institute
Support wheel module is stated by rotary shaft and torsional spring, is connect with the elastic bearing wheel pedestal, the resilient support wheel mechanism is used for
It supports crawler belt and tension is generated to crawler belt；
Further, the support wheel module includes the first support wheel, the second support wheel and third support wheel, first support
Wheel, the second support wheel and third support wheel are sequentially connected by rotary shaft, and the rotary shaft can be with axial rotation, the support wheel
Module and rotary shaft are used to generate limiting and guiding role to the axial of crawler belt；
Further, groove is equipped in the crawler belt, first support wheel, the second support wheel and third support wheel are described
It is moved in groove；
Further, in its natural state, support wheel module and elastic bearing wheel pedestal are into 270 for the resilient support wheel mechanism
Degree；
Further, the resilient support wheel mechanism is after crawler belt is loaded onto, and crawler belt is tensioned, and support wheel module is in the effect of crawler belt
Under, it is rotated counterclockwise around rotary shaft, the angle of rotation is directly proportional to crawler tensioning degree；
Further, the support wheel module generates clockwise restoring force by torsional spring so that the resilient support wheel support
Tensile force is generated to crawler belt while crawler belt；
Further, the torsional spring is 270 degree of torsional springs；
Beneficial effects of the present invention are as follows：
1）：Using the structure of resilient support wheel, the design structure is novel, and purposes is various, and adaptation to the ground ability is strong；
2）：While supporting crawler belt, and have the function of to automatically adjust crawler belt tighting degree and be oriented to；
3）：Manufacture it is at low cost, it is environmentally protective.
Description of the drawings
Fig. 1 takes turns mechanism structure chart for resilient support of the present invention；
Fig. 2 is crawler platform overall structure figure of the present invention.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is explained in further detail.It should be appreciated that specific embodiment described herein is used only for explaining the present invention, and
It is not used in the restriction present invention.On the contrary, the present invention cover it is any be defined by the claims the present invention spirit and scope on do
Replacement, modification, equivalent method and scheme.Further, in order to which the public is made to have a better understanding the present invention, below to this
It is detailed to describe some specific detail sections in the datail description of invention.It is thin without these for a person skilled in the art
The description of section part can also understand the present invention completely.
The invention will be further described in the following with reference to the drawings and specific embodiments, but not as a limitation of the invention.
Below most preferred embodiment is enumerated for the present invention：
As Figure 1-Figure 2, the present invention provides a kind of foldable robot crawler platform based on resilient support wheel, the crawler belt
Platform includes resilient support wheel mechanism 1, crawler belt 2 and robot body 3, the robot body 3 and takes turns mechanism 1 by resilient support
Connecting band track 2, the resilient support wheel mechanism 1 include elastic bearing wheel pedestal 11, torsional spring 12, support wheel module 13 and rotary shaft
14, the support wheel module 13 is connect, the elasticity branch by rotary shaft 14 and torsional spring 12 with the elastic bearing wheel pedestal 11
Cheng Lun mechanisms 1 are used to support crawler belt 2 and generate tension to crawler belt 2.The support wheel module 13 includes the first support wheel
131st, the second support wheel 132 and third support wheel 133, first support wheel 131, the second support wheel 132 and third support wheel
133 are sequentially connected by rotary shaft 14, and the rotary shaft 14 can be used for axial rotation, the support wheel module 13 to crawler belt 2
It is axial generate limiting and guiding role, be equipped with groove, first support wheel 131, the second support wheel 132 in the crawler belt 2
It is moved in the groove with third support wheel 133, the resilient support takes turns mechanism 1 in its natural state, support wheel module
13 take turns mechanism 1 after crawler belt 2 is loaded onto with elastic bearing wheel pedestal 11 into 270 degree, the resilient support, and crawler belt 2 is tensioned, support
Module 13 to be taken turns under the action of crawler belt 2, is rotated counterclockwise around rotary shaft 14, the angle of rotation is directly proportional to 2 tensioning degree of crawler belt,
The support wheel module 13 generates clockwise restoring force by torsional spring 12 so that the resilient support wheel module 13 supports crawler belt
Tensile force is generated while 2 to crawler belt 2, the torsional spring is 270 degree of torsional springs.
After crawler belt 2 generates a certain amount of loosening, resilient support wheel is subjected to displacement under the action of torsional spring 12, by crawler belt
2 auto-tensionings save the workload of adjustment belt wheel, and then improve robot working efficiency；
When robot sand ground, stone when complex environments are advanced, the sundries such as stone, sand are involved between belt wheel and crawler belt 2
When, crawler belt 2 is stretched, and the torsional spring 12 for flexibly supporting wheel is compressed, by the pre- allowance that crawler belt 2 is tensioned be transferred to crawler belt 2, belt wheel and
The contact position of sundries, the amount of tension of compensation crawler belt herein can effectively prevent track tensioning force and become larger suddenly and give robot row
Into bringing detrimental effect.
One kind of embodiment described above, only more preferably specific embodiment of the invention, those skilled in the art
The usual variations and alternatives that member carries out in the range of technical solution of the present invention should all include within the scope of the present invention.
Claims (7)
1. a kind of foldable robot crawler platform based on resilient support wheel, which is characterized in that the crawler platform includes bullet
Property support wheel mechanism, crawler belt and robot body, the robot body passes through resilient support and takes turns mechanism connecting band track, the bullet
Property support wheel mechanism include elastic bearing wheel pedestal, torsional spring, support wheel module and rotary shaft, the support wheel module passes through rotation
Axis and torsional spring are connect with the elastic bearing wheel pedestal, and the resilient support wheel mechanism is used to support crawler belt and crawler belt is generated
Tension.
2. crawler platform according to claim 1, which is characterized in that the support wheel module includes the first support wheel, the
Two support wheels and third support wheel, first support wheel, the second support wheel and third support wheel are sequentially connected by rotary shaft,
The rotary shaft can be used to the axial generation limiting to crawler belt and be oriented to make with axial rotation, the support wheel module and rotary shaft
With.
3. crawler platform according to claim 2, which is characterized in that groove, first support are equipped in the crawler belt
Wheel, the second support wheel and third support wheel move in the groove.
4. crawler platform according to claim 3, which is characterized in that the resilient support takes turns mechanism in its natural state,
Support wheel module is with elastic bearing wheel pedestal into 270 degree.
5. crawler platform according to claim 3, which is characterized in that the resilient support takes turns mechanism after crawler belt is loaded onto,
Crawler belt is tensioned, and support wheel module rotates counterclockwise under the action of crawler belt around rotary shaft, angle and the crawler tensioning journey of rotation
It spends directly proportional.
6. crawler platform according to claim 5, which is characterized in that the support wheel module is generated clockwise by torsional spring
Restoring force so that it is described resilient support wheel support crawler belt while to crawler belt generate tensile force.
7. crawler platform according to claim 6, which is characterized in that the torsional spring is 270 degree of torsional springs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810194757.7A CN108216408A (en) | 2018-03-09 | 2018-03-09 | A kind of foldable robot crawler platform based on resilient support wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810194757.7A CN108216408A (en) | 2018-03-09 | 2018-03-09 | A kind of foldable robot crawler platform based on resilient support wheel |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108216408A true CN108216408A (en) | 2018-06-29 |
Family
ID=62658294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810194757.7A Pending CN108216408A (en) | 2018-03-09 | 2018-03-09 | A kind of foldable robot crawler platform based on resilient support wheel |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR825564A (en) * | 1937-07-30 | 1938-03-08 | Marmon Herrington Company | Improvements to tracked vehicles |
| DE931994C (en) * | 1942-06-30 | 1955-08-22 | Ind G M B H | Crawler chassis |
| JPH0594079U (en) * | 1992-05-25 | 1993-12-21 | 株式会社小松製作所 | Track tension device |
| CN1603197A (en) * | 2004-11-01 | 2005-04-06 | 大连大学 | Deformed crawler belt system |
| JP2011020512A (en) * | 2009-07-14 | 2011-02-03 | Kubota Corp | Crawler tension wheel support member |
| CN206155604U (en) * | 2016-08-24 | 2017-05-10 | 山东国兴智能科技有限公司 | Asymmetric upper block is from tensioning formula crawler attachment |
| CN107521573A (en) * | 2017-08-10 | 2017-12-29 | 南京理工大学 | A kind of damping crawler-type unmanned mobile platform |
| CN207984996U (en) * | 2018-03-09 | 2018-10-19 | 北京华信智航科技有限公司 | A kind of foldable robot crawler platform based on resilient support wheel |
-
2018
- 2018-03-09 CN CN201810194757.7A patent/CN108216408A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR825564A (en) * | 1937-07-30 | 1938-03-08 | Marmon Herrington Company | Improvements to tracked vehicles |
| DE931994C (en) * | 1942-06-30 | 1955-08-22 | Ind G M B H | Crawler chassis |
| JPH0594079U (en) * | 1992-05-25 | 1993-12-21 | 株式会社小松製作所 | Track tension device |
| CN1603197A (en) * | 2004-11-01 | 2005-04-06 | 大连大学 | Deformed crawler belt system |
| JP2011020512A (en) * | 2009-07-14 | 2011-02-03 | Kubota Corp | Crawler tension wheel support member |
| CN206155604U (en) * | 2016-08-24 | 2017-05-10 | 山东国兴智能科技有限公司 | Asymmetric upper block is from tensioning formula crawler attachment |
| CN107521573A (en) * | 2017-08-10 | 2017-12-29 | 南京理工大学 | A kind of damping crawler-type unmanned mobile platform |
| CN207984996U (en) * | 2018-03-09 | 2018-10-19 | 北京华信智航科技有限公司 | A kind of foldable robot crawler platform based on resilient support wheel |
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