CN108238120B - Six-crawler walking device capable of realizing single/multi-dimensional switching movement - Google Patents
Six-crawler walking device capable of realizing single/multi-dimensional switching movement Download PDFInfo
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- CN108238120B CN108238120B CN201810148202.9A CN201810148202A CN108238120B CN 108238120 B CN108238120 B CN 108238120B CN 201810148202 A CN201810148202 A CN 201810148202A CN 108238120 B CN108238120 B CN 108238120B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 186
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 16
- 239000000523 sample Substances 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 4
- 238000007789 sealing Methods 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 claims description 2
- 230000002265 prevention Effects 0.000 claims 1
- 230000008569 process Effects 0.000 description 3
- 230000007704 transition Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
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- 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
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- 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 six-crawler traveling device capable of realizing single/multi-dimensional switching motion comprises a traveling vehicle and two crawler systems, wherein a power source for providing power for the two crawler systems is arranged in the traveling vehicle; each crawler system comprises a front crawler mechanism, a rear crawler mechanism and a middle crawler mechanism, wherein the front crawler mechanism, the rear crawler mechanism and the middle crawler mechanism comprise driving sprockets, driven sprockets and crawler belts, the driving sprockets of the front crawler mechanism are in transmission connection with the driven sprockets of the middle crawler mechanism, and the driving sprockets of the rear crawler mechanism are in transmission connection with the driving sprockets of the middle crawler mechanism; the front crawler mechanism and the rear crawler mechanism are internally provided with a plurality of connecting rod units I which are symmetrically arranged, and the middle crawler mechanism is internally provided with a plurality of connecting rod units II. The invention can realize obstacle surmounting movement on a non-flat wall surface with single dimension or multiple dimensions and movement on a curved ground.
Description
Technical Field
The invention relates to the technical field of crawler-type running devices, in particular to a six-crawler-type running device capable of achieving single/multi-dimensional switching movement.
Background
Currently, the moving mechanism of the robot has various forms, mainly including a wheel type moving mechanism, a leg type moving mechanism and a crawler type moving mechanism. The wheel type moving mechanism is mainly applied to the condition of good ground state, has high moving speed, high operating efficiency and simple structure, but has weak off-road capability; the leg type moving mechanism has the advantages of good traffic capacity on rugged road surfaces, low speed, complex structure and low energy utilization rate; the crawler-type moving mechanism integrates the characteristics of legs and wheels, has higher moving speed and has excellent obstacle crossing performance.
In the prior art, the tracked robot generated according to the track is generated, the application field of the tracked robot is continuously expanded, and the application requirements of human beings on the tracked robot are higher and higher from safety monitoring, fire fighting, search and rescue, consignment and the like to explosion elimination, building survey, mine sweeping, barrier breaking and the like. At present, the adopted mobile robot has a complex structure and high cost, and can only realize a single-dimension walking function.
Disclosure of Invention
The invention aims to provide a six-crawler walking device capable of realizing single/multi-dimensional switching movement, which not only can realize multi-dimensional movement, but also can realize movement with single dimension.
The technical scheme adopted by the invention for achieving the purpose is as follows: the six-crawler traveling device capable of realizing single/multi-dimensional switching motion comprises a traveling vehicle and two crawler systems symmetrically arranged on two opposite sides of the traveling vehicle, wherein the traveling vehicle comprises a bottom plate, a top plate arranged opposite to the bottom plate and a plurality of side plates used for sealing and connecting the side edges of the bottom plate and the top plate, and a power source for providing power for the two crawler systems is arranged in the traveling vehicle; each crawler system comprises a front crawler mechanism, a rear crawler mechanism and a middle crawler mechanism, wherein the middle crawler mechanism is arranged on the outer side edge of the traveling vehicle, and the front crawler mechanism and the rear crawler mechanism are respectively arranged on the outer side edges of two ends of the middle crawler mechanism; the front crawler mechanism, the rear crawler mechanism and the middle crawler mechanism comprise a driving sprocket, a driven sprocket and crawler belts sleeved outside the driving sprocket and the driven sprocket in a closed loop manner, wherein the driving sprocket of the front crawler mechanism is in transmission connection with the driven sprocket of the middle crawler mechanism, and the driving sprocket of the rear crawler mechanism is in transmission connection with the driving sprocket of the middle crawler mechanism; the front crawler mechanism and the rear crawler mechanism are also provided with a plurality of connecting rod units I which are symmetrically arranged, and the middle crawler mechanism is provided with a plurality of connecting rod units II.
In each connecting rod unit II, the upper end of the first connecting rod II is rotatably provided with a supporting pulley supported on a track strip in the middle track mechanism, the lower end of the second connecting rod II is rotatably provided with a loading pulley supported on the track strip in the middle track mechanism, the head end of the third connecting rod II, the lower end of the first connecting rod II and the upper end of the second connecting rod II are compositely hinged on the pin, and the tail end of the third connecting rod II is connected with the pin in the adjacently arranged connecting rod unit II through a spring; the tail end of a third connecting rod II in a connecting rod unit II which is arranged adjacent to a driving chain wheel in the middle crawler mechanism is connected with a pin which is additionally arranged in the traveling vehicle through a spring.
In each connecting rod unit II, the lower extreme of second connecting rod II is rotated through the pin and is installed the bogie, and the end connection of this pin has the multistage connecting rod that stretches into walking car inside, and the inner wall of curb plate is connected with the guide block, and sliding fit is connected with the guide bar of vertical setting in the guide block, is connected with stop nut on the guide bar that stretches out the guide block upper end, and the lower extreme connection and the multistage connecting rod of guide bar are connected, and the cover is equipped with the spring on the guide bar that is located between multistage connecting rod and the guide block.
In the invention, in the front crawler mechanism, except for a connecting rod unit I which is arranged adjacent to a driving chain wheel in the front crawler mechanism, each connecting rod unit I comprises a pin, a first connecting rod I, a second connecting rod I and a third connecting rod I, in each connecting rod unit I, the upper end of the first connecting rod I is rotatably provided with a supporting pulley which is supported on a crawler belt in the front crawler mechanism, the lower end of the second connecting rod I is rotatably provided with a loading wheel which is supported on the crawler belt in the front crawler mechanism, the head end of the third connecting rod I, the lower end of the first connecting rod I and the upper end of the second connecting rod I are in compound hinge joint with a pin, and the tail end of the third connecting rod I is connected with the pin in the connecting rod unit I which is arranged adjacent to the first connecting rod I through a spring; in a connecting rod unit I arranged adjacent to a driving chain wheel in the front crawler mechanism, the lower end of a first connecting rod I and the upper end of a second connecting rod I are compositely hinged on a pin, and the pin is connected with pins which are additionally arranged in the walking vehicle through springs; the head end of a third connecting rod I in a connecting rod unit I which is arranged adjacent to a driven chain wheel in the front crawler mechanism is connected with a pin which is additionally arranged in the traveling vehicle through a spring.
In the invention, the two sides of the rest opposite arrangement in the walking vehicle are respectively provided with an ultrasonic detection mechanism and an anti-overturning mechanism.
The ultrasonic detection mechanism comprises an ultrasonic probe and camera module, a transverse moving unit, a longitudinal moving unit and a connecting piece, wherein the transverse moving unit comprises a transverse frame, a first motor arranged on the transverse frame, a transverse screw driven by the first motor and a first nut matched and sleeved on the transverse screw, the longitudinal moving unit comprises a longitudinal frame, a second motor arranged on the longitudinal frame, a longitudinal screw driven by the second motor and a second nut matched and sleeved on the longitudinal screw, one end of the connecting piece is fixed on a travelling vehicle, the other opposite end of the connecting piece is connected with the longitudinal frame, the transverse frame is arranged on the second nut, and the ultrasonic probe and the camera module are arranged on the first nut.
The anti-overturning mechanism comprises a rotary table, a connecting frame, a spring and a universal wheel, wherein the rotary table is arranged on a top plate, the universal wheel comprises a fork and a roller wheel arranged on the fork, one end of the connecting frame is fixed on the rotary table, the other end of the connecting frame is connected with the upper end of the spring, and the lower end of the spring is connected with the fork; the rotary table comprises a third motor, a rotary shaft and a base, wherein the third motor is fixedly arranged on the upper surface of the top plate, a driving shaft of the third motor is in transmission connection with one end of the rotary shaft, the base is fixed at the other end of the rotary shaft, and one end of the connecting frame is fixed on the base; the connecting frame comprises a first connecting rod fixedly connected with the connecting frame and a second connecting rod extending outwards of the walking vehicle, a third connecting rod vertically arranged is fixedly connected to the second connecting rod, and the lower end of the third connecting rod is connected with the upper end of the spring; the connecting part of the first connecting rod and the second connecting rod is positioned outside the walking vehicle, and the first connecting rod positioned outside the walking vehicle is bent downwards, so that the roller and the crawler mechanism are positioned on the same plane.
Wherein, be close to ultrasonic detection mechanism's position on walking car's the roof and be equipped with camera mechanism, camera mechanism includes the camera, connects horizontal pole and dead lever, and the lower extreme of dead lever is connected on the roof, and the upper end of dead lever is connected with the one end of connecting the horizontal pole, and the other end at the connection horizontal pole is installed to the camera.
The invention discloses a crawler belt system, which comprises a crawler belt system, a crawler belt system and a crawler belt system, wherein the crawler belt system comprises a first power source for driving a rear crawler belt mechanism and a second power source for driving a front crawler belt mechanism, the first power source comprises a fixed plate, a fourth motor, a fifth motor and a sixth motor, the fourth motor and the fifth motor are arranged on a bottom plate, a first gear is arranged on a driving shaft of the fourth motor, a second gear is arranged on the first gear in an external meshing manner, tooth surfaces of the first gear and the second gear are vertically arranged, a hollow shaft is connected on the tooth surface of the second gear, the hollow shaft is connected with a bearing fixed on a side plate, and a driving sprocket in the middle crawler belt mechanism is arranged at the end part of the hollow shaft extending out of a traveling vehicle so that a driving sprocket in the middle crawler belt mechanism is driven by a fourth motor to rotate; the inside clearance fit of hollow shaft has first major axis, and the one end of first major axis is connected with the drive shaft transmission of fifth motor, and the other end of first major axis stretches out outside the driving sprocket in the middle crawler and is connected with the fixed plate, and the sixth motor is installed on this fixed plate, and the drive shaft of sixth motor is connected with the driving sprocket transmission in the rear-mounted crawler.
The second power source comprises a fixed plate, a seventh motor and an eighth motor, the seventh motor is arranged on the bottom plate, a driving shaft of the seventh motor is in transmission connection with a second long shaft, a hollow shaft is sleeved outside the second long shaft in clearance fit, the hollow shaft is connected with a bearing fixed on the side plate, a driven sprocket in the middle crawler is arranged at the end part of the hollow shaft extending out of the traveling vehicle, one end of the second long shaft extends out of the driven sprocket in the middle crawler and is connected with the fixed plate, the eighth motor is arranged on the fixed plate, and a driving shaft of the eighth motor is in transmission connection with a driving sprocket in the front crawler.
In the invention, the fixed plates in the first power source and the second power source comprise two connecting plates, the two connecting plates in the same power source are connected through a plurality of springs, the pins in the front crawler mechanism and the rear crawler mechanism are connected to the connecting plates, and the pins in the middle crawler mechanism are connected to the side plates.
The beneficial effects are that: according to actual needs, the crawler angle of the front-mounted rear-mounted crawler mechanism is changed through a power source, so that the purposes of realizing multidimensional movement (transition of a robot between two intersecting wall surfaces), movement on a small-radius conical wall surface, obstacle-crossing movement of a large obstacle on a single-dimensional non-flat wall surface and movement on a curved wall surface are achieved;
the multi-stage connecting rod structure in the front-middle rear-mounted crawler mechanism enables the flexible crawler in the crawler mechanism to be closely attached to the wall surface according to the surface morphology of the wall surface, so that the robot can operate more stably and safely;
the invention can realize obstacle surmounting movement on a single-dimensional or multi-dimensional non-flat wall surface and movement on a curved ground;
the multi-section link mechanism can enable the crawler mechanism to enable the crawler bars to be closely attached to the wall surface according to the surface shape of the wall surface, so that the robot can operate more stably and safely; meanwhile, the connecting rod units are connected through springs, so that the crawler mechanism has a damping and buffering function in the running process.
According to the invention, the link mechanism is provided with each link unit, the supporting wheel and the loading wheel, so that the supporting wheel and the loading wheel can adaptively adjust the tightness degree of the crawler belt in the running process of the crawler mechanism, and the moving platform has better adaptability.
When the bottom surface of the crawler mechanism is subjected to external force, the spring on the guide rod indirectly presses the loading wheel downwards along the vertical direction by using the multi-section connecting rod, and the limit nut prevents the multi-section connecting rod from falling off.
Drawings
FIG. 1 is a schematic illustration of the present invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a front view of FIG. 1;
FIG. 4 is an enlarged schematic view of the anti-tipping mechanism of FIG. 3;
FIG. 5 is an enlarged schematic view of the front track mechanism of FIG. 3;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is an enlarged schematic view of the rear track mechanism of FIG. 3;
FIG. 8 is a top view of FIG. 7;
FIG. 9 is an enlarged schematic view of the intermediate track mechanism of FIG. 3;
FIG. 10 is a schematic illustration of the connection of track shoes in accordance with the present invention;
FIG. 11 is a schematic illustration of the connection between the drive sprocket of the rear track and the drive sprocket of the intermediate track in accordance with the present invention;
FIG. 12 is a schematic illustration of the connection between the drive sprocket of the front track and the driven sprocket of the intermediate track in accordance with the present invention;
FIG. 13 is a schematic view of the connection of the road wheel to the multi-segment link according to the present invention;
FIG. 14 is an enlarged schematic view of the ultrasonic detection mechanism of FIG. 1;
FIG. 15 is a left side view of FIG. 14;
fig. 16 is an enlarged schematic view of a right side view of the imaging mechanism of fig. 2.
Reference numerals: 1. the device comprises a front crawler mechanism, a rear crawler mechanism, a middle crawler mechanism, a driving chain wheel, a driven chain wheel and a driven chain wheel, wherein the front crawler mechanism, the rear crawler mechanism, the middle crawler mechanism, the driving chain wheel and the driven chain wheel are arranged on the front crawler mechanism; 6. the track shoe comprises a track shoe body, wherein the track shoe body comprises a track shoe, 60, a track shoe, 61, an inner connecting plate, 62, an outer connecting plate, 63 and a rubber layer; 7. the walking vehicle comprises a walking vehicle body 70, a top plate 71, a bottom plate 72 and side plates; 8. the ultrasonic detection mechanism 80, the ultrasonic probe and camera module 81, the transverse frame 82, the first motor 83, the transverse screw rod 84, the first nut 85, the longitudinal frame 86, the second motor 87, the longitudinal screw rod 88, the second nut 89 and the connecting piece; 9. the camera comprises a camera mechanism 90, a camera 91, a connecting cross rod 92 and a fixing rod; 10. the anti-overturning mechanism comprises 100 parts of an anti-overturning mechanism, 100 parts of a rotating platform, 101 parts of a wheel fork, 102 parts of a roller, 103 parts of a third motor, 104 parts of a rotating shaft, 105 parts of a base, 106 parts of a first connecting rod, 107 parts of a second connecting rod, 108 parts of a third connecting rod; 11. the connecting rod unit I, 110, the first connecting rod I, 111, the second connecting rod I, 112 and the third connecting rod I; 12. the connecting rod units II, 120, the first connecting rods II, 121, the second connecting rods II, 122 and the third connecting rod II; 13. pin, 14, riding wheel, 15, bogie wheel, 16, spring, 17, multistage connecting rod, 18, guide block, 19, guide rod, 20, limit nut, 21, fourth motor, 22, fifth motor, 23, sixth motor, 24, first gear, 25, second gear, 26, hollow shaft, 27, bearing, 28, first long shaft, 29, second long shaft, 30, seventh motor, 31, eighth motor, 32, connecting plate, 33, fixed shaft, 34, pin.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and 2, the six-crawler traveling device capable of realizing single/multi-dimensional switching motion comprises a traveling vehicle 7 and two crawler systems symmetrically arranged on two opposite sides of the traveling vehicle 7, wherein the traveling vehicle 7 comprises a bottom plate 71, a top plate 70 arranged opposite to the bottom plate 71 and a plurality of side plates 72 used for sealing and connecting the side edges of the bottom plate 71 and the top plate 70, and a power source for providing power for the two crawler systems is arranged in the traveling vehicle 7.
Wherein, every track system all includes leading track mechanism 1, rearmounted track mechanism 2 and intermediate track mechanism 3, and intermediate track mechanism 3 establishes the outside limit at walking car 7, and leading track mechanism 1 and rearmounted track mechanism 2 establish the outside limit at intermediate track mechanism 3 both ends respectively.
As shown in fig. 3, the front crawler 1, the rear crawler 2 and the middle crawler 3 all comprise a driving sprocket, a driven sprocket and a crawler belt strip sleeved outside the driving sprocket and the driven sprocket in a closed loop manner, wherein the driving sprocket of the front crawler 1 is in transmission connection with the driven sprocket of the middle crawler 3, and the driving sprocket of the rear crawler 2 is in transmission connection with the driving sprocket of the middle crawler 3; the front crawler mechanism 1 and the rear crawler mechanism 2 are also provided with a plurality of connecting rod units I11 which are symmetrically arranged, and the middle crawler mechanism 3 is provided with a plurality of connecting rod units II 12.
As shown in fig. 10, the track strip 6 of the present invention includes a plurality of track shoes 60 connected in sequence, the track shoes 60 are square, one side of the track shoes 60 is connected with two inner connecting plates 61, the other opposite side of the track shoes 60 is connected with two outer connecting plates 62, and the inner connecting plates 61 of adjacent track shoes 60 are hinged with the outer connecting plates 62 through pin shafts 34. Preferably, the outer surface of the track shoe 60 is provided with a rubber layer 63. The crawler belt strip 6 is composed of two layers, wherein the inner layer is a flexible link formed by connecting a crawler belt plate with a pin shaft, the outer layer is a rubber layer, and the rubber layer is flatly paved on the surface of the inner layer. The flexible crawler belt is paved on the driven sprocket wheels and the driving sprocket wheels of the front crawler belt mechanism 1, the middle crawler belt mechanism 3 and the rear crawler belt mechanism 2, and when the flexible crawler belt is paved, the gear teeth of the driving sprocket wheel 4 and the driven sprocket wheel 5 are inserted into the rectangular gaps between the crawler belt plates 60.
As shown in fig. 3 and 9, each link unit ii 12 includes a pin, a first link ii 120, a second link ii 121, and a third link ii 122, and in each link unit ii 12, the upper end of the first link ii 120 is rotatably mounted with a pulley 14 supported on the upper track bar 6 in the middle track mechanism 3 through the pin, the lower end of the second link ii 121 is rotatably mounted with a bogie 15 supported on the lower track bar 6 in the middle track mechanism 3 through the pin, the head end of the third link ii 122, the lower end of the first link ii 121, and the upper end of the second link ii 121 are compositely hinged on a pin, and the end of the third link ii 122 is connected with the pin in the adjacently disposed link unit ii 12 through a spring.
The end of the third link ii 122 in the link unit ii 12 disposed adjacent to the driving sprocket 4 in the middle crawler 3 is connected to the pin additionally disposed in the traveling vehicle 7 through a spring, that is, the pin in the last link unit ii 12 (from left to right in fig. 9, the first link unit ii, the second link unit ii, the third link unit ii, and the last link unit ii in sequence) is connected to the first link ii 120, the second link ii 121, and the third link ii 122, and the other end of the pin with one end welded to the fixing plate is connected to the other end of the pin with one end welded to the fixing plate, where the other end is spaced from the pin connecting the first link ii 120, the second link ii 121, and the third link ii 122.
As shown in fig. 9 and 13, in each link unit ii 12, the lower end of the second link ii 121 is rotatably mounted with the bogie wheel 15 through a pin, and the end of the pin is connected with a plurality of segments of links 17 extending into the traveling vehicle 7, the inner wall of the side plate 72 is connected with a guide block 18, the guide block 18 is slidably coupled with a vertically arranged guide rod 19, the guide rod 19 extending out of the upper end of the guide block 18 is connected with a limit nut 20, the lower end of the guide rod 19 is connected with a plurality of segments of links 17 extending out of the side plate 72 of the traveling vehicle 7, and the guide rod 19 between the segments of links 17 and the guide block 18 is sleeved with a spring. Wherein, the multistage connecting rod 17 is the structure of falling L, and the lower extreme of multistage connecting rod 17 is connected with round pin axle 34, makes multistage connecting rod 17 and this round pin axle 34 constitute the structure of falling "Z" style of calligraphy, and bogie wheel 15 rotation is installed on this round pin axle 34 and is not deviate from.
In the invention, the pin of the connecting rod unit II 12 closest to the driving sprocket 4 for connecting the first connecting rod II 120, the second connecting rod II 121 and the third connecting rod II 122 is connected with the other end of the pin with one end connected with the traveling vehicle 7 through a spring; in each link unit ii 12, a multi-stage link 17 is welded above the other end of the pin connecting the third link ii 122 and the bogie wheel 15. The lower vertical section connecting rod of the multi-section connecting rod 17 is connected with the pin shaft of the bogie wheel 15, namely, the upper part of the end part of the pin is welded, wherein the horizontal section connecting rod of the multi-section connecting rod 17 passes through the side plate 72 of the travelling car 7, the horizontal section connecting rod is fixedly provided with a guide rod 19 which is vertically arranged, the guide rod 19 passes through a spring and then passes through a guide block 18 which is fixedly arranged on the side plate 72, finally, the upper end part of the guide rod 19 is connected with a limit nut 20 through threads, the guide rod 19 and the guide block 18 are in clearance fit, and the spring cannot pass through a through hole of the guide block 18.
As shown in fig. 3, 5 and 6, in the front crawler 1, except for the link units i 11 disposed adjacent to the drive sprocket 4 in the front crawler 1, each of the remaining link units i 11 includes a pin, a first link i 110, a second link i 111 and a third link i 112, and in each of the link units i 11, the upper end of the first link i 110 is rotatably mounted with a carrier roller 14 supported on the upper track bar 6 in the front crawler 1, the lower end of the second link i 111 is rotatably mounted with a weight wheel 15 supported on the lower track bar 6 in the front crawler 1, and the head end of the third link i 112, the lower end of the first link i 110 and the upper end of the second link i 111 are compositely hinged on the pin, and the end of the third link i 112 is connected with the pin in the adjacently disposed link units i 11 by a spring. In a connecting rod unit I11 arranged adjacent to a driving chain wheel 4 in the front crawler mechanism 1, the lower end of a first connecting rod I110 and the upper end of a second connecting rod I111 are compositely hinged on a pin, and the pin is connected with pins which are additionally arranged in the traveling vehicle 7 through springs; the head end of the third connecting rod I112 in the connecting rod unit I11 arranged adjacent to the driven chain wheel 5 in the front crawler mechanism 1 is connected with a pin additionally arranged in the travelling vehicle 7 through a spring. As shown in fig. 3, 7 and 8, the rear crawler 2 is equivalent to this arrangement.
As shown in fig. 3, the included angle orientation of the first link ii 120 and the second link ii 121 in each link unit ii 12 in the intermediate crawler 3 is the same as the included angle orientation of the first link i 110 and the second link i 111 in each link unit i 11 in the front crawler 1; wherein, the size of the driven sprocket 4 in the front crawler 1 and the rear crawler 2 is smaller than the size of the driving sprocket 5, the size of the connecting rod unit I11 in each front crawler 1 and the rear crawler 2 is adaptively set according to the size of the crawler belt, so that the size of the connecting rod unit I11 is gradually increased from the direction of the driven sprocket 5 approaching the driving sprocket 4 in the front crawler 1 and the rear crawler 2.
In the present invention, as shown in fig. 1, the ultrasonic detection mechanism 8 and the anti-overturning mechanism 10 are provided on the opposite sides of the rest of the traveling carriage 7.
As shown in fig. 14 and 15, the ultrasonic detection mechanism 8 includes an ultrasonic probe and camera module 80, a lateral moving unit, a longitudinal moving unit and a connecting piece 89, the lateral moving unit includes a lateral frame 81, a first motor 82 installed on the lateral frame 81, a lateral screw 83 driven by the first motor 82, and a first nut 84 fitted over the lateral screw 83, the longitudinal moving unit includes a longitudinal frame 85, a second motor 86 installed on the longitudinal frame 85, a longitudinal screw 87 driven by the second motor 86, and a second nut 88 fitted over the longitudinal screw 87, one end of the connecting piece 89 is fixed on the carriage 7, the other opposite end of the connecting piece 89 is connected with the longitudinal frame 85, the lateral frame 81 is installed on the second nut 88, and the ultrasonic probe and the camera module 80 are installed on the first nut 84. Wherein, through holes for installing the transverse screw 83 and the longitudinal screw 87 are respectively arranged on the transverse frame 81 and the longitudinal frame 85. One end of the connecting piece 89 is connected with the wall surface at the notch at the front part of the traveling carriage 7 by welding, and the other end of the connecting piece 89 is connected with the longitudinal frame 85 by welding; preferably, each frame is provided with a guide rail which is in fit connection with a respective nut.
As shown in fig. 4, the anti-overturning mechanism 10 includes a rotary table 100, a connecting frame, a spring and a universal wheel, the rotary table 100 is mounted on the top plate 70, the universal wheel includes a wheel fork 101 and a roller 102 mounted on the wheel fork 101, and the structure of the universal wheel belongs to the prior known technology and is not described herein. One end of the connecting frame is fixed on the rotary table 100, the other end of the connecting frame is connected with the upper end of a spring in the anti-overturning mechanism 10, and the lower end of the spring is connected with the wheel fork 101; the rotary table 100 comprises a third motor 103, a rotary shaft 104 and a base 105, wherein the third motor 103 is fixedly arranged on the upper surface of the top plate 70, a driving shaft of the third motor 103 is in transmission connection with one end of the rotary shaft 104, the base 105 is fixed at the other end of the rotary shaft 104, and one end of a connecting frame is fixed on the base 105; the connecting frame comprises a first connecting rod 106 fixedly connected with the connecting frame and a second connecting rod 107 extending outwards of the travelling crane 7, the second connecting rod 107 extends in a direction deviating from the ultrasonic detection mechanism 8, a third connecting rod 108 vertically arranged is fixedly connected to the second connecting rod 107, and the lower end of the third connecting rod 108 is connected with the upper end of the spring; the connection part of the first connecting rod 106 and the second connecting rod 107 is located outside the walking vehicle 7, and the first connecting rod 106 located outside the walking vehicle 7 is bent downward, so that the roller 102 and the crawler mechanism are located on the same plane. The anti-tipping mechanism 10 is arranged, the positions of the connecting frame and the universal wheels relative to the walking vehicle 7 can be adjusted through the third motor 103, and meanwhile, the universal wheels assist to serve as supports, so that the walking vehicle 7 is prevented from tipping in the moving process.
The part of the top plate 70 of the walking vehicle 7, which is close to the ultrasonic detection mechanism 8, is provided with a camera shooting mechanism 9, as shown in fig. 16, the camera shooting mechanism 9 comprises a camera 90, a connecting cross rod 91 and a fixing rod 92, the lower end of the fixing rod 92 is connected to the top plate 70, the upper end of the fixing rod 92 is connected with one end of the connecting cross rod 91, and the camera 90 is installed at the other end of the connecting cross rod 91. Under the conditions that the placement position is close to the wall surface and the structure capable of moving longitudinally and transversely is applied, the ultrasonic detection mechanism can accurately detect wall surface hidden injuries and wall surface cracks without dead angles through the ultrasonic probe and the camera module; the camera shooting mechanism positioned at the top of the headstock is convenient for controlling personnel to remotely and visually control the robot.
In the invention, the power source of each crawler system comprises a first power source for driving a rear crawler mechanism and a second power source for driving a front crawler mechanism, as shown in fig. 11, wherein the first power source comprises a fixed plate, a fifth motor 22 and a sixth motor 23, and a fourth motor 21 for driving a driving sprocket 4 in the front crawler mechanism 1 to rotate, the fourth motor 21 and the fifth motor 22 are arranged on a bottom plate 71, a first gear 24 is arranged on a driving shaft of the fourth motor 21, a second gear 25 is arranged on the outer gearing of the first gear 24, tooth surfaces of the first gear 24 and the second gear 25 are vertically arranged, a hollow shaft 26 is connected on the tooth surface of the second gear 25, the hollow shaft 26 is connected with a bearing fixed on a side plate 72, and the driving sprocket 4 in the middle crawler mechanism 3 is arranged at the end part of the hollow shaft 26 extending out of a traveling vehicle 7 so that the fourth motor 21 drives the driving sprocket 4 in the middle crawler mechanism 3 to rotate; the hollow shaft 26 is internally provided with a first long shaft 28 in clearance fit, one end of the first long shaft 28 is in transmission connection with a driving shaft of the fifth motor 22, the other end of the first long shaft 28 extends out of the driving sprocket 4 in the middle crawler mechanism 3 and is connected with a fixed plate, the sixth motor 23 is arranged on the fixed plate, and the driving shaft of the sixth motor 23 is in transmission connection with the driving sprocket 4 in the rear crawler mechanism 2.
As shown in fig. 12, the second power source comprises a fixed plate, a seventh motor 30 and an eighth motor 31, the seventh motor 30 is mounted on the bottom plate 71, a driving shaft of the seventh motor 30 is in transmission connection with a second long shaft 29, a hollow shaft 26 is sleeved outside the second long shaft 29 in a clearance fit manner, the hollow shaft 26 is connected with a bearing fixed on the side plate 72, a driven sprocket 5 in the middle crawler mechanism 3 is mounted at the end part of the hollow shaft 26 extending out of the traveling vehicle 7, one end of the second long shaft 29 extends out of the driven sprocket 5 in the middle crawler mechanism 3 and is connected with the fixed plate, the eighth motor 31 is mounted on the fixed plate, and a driving shaft of the eighth motor 31 is in transmission connection with a driving sprocket 4 in the front crawler mechanism 1.
In the invention, the structures of the front crawler mechanism 1 and the rear crawler mechanism 2 are symmetrically arranged relative to the central line of the top plate 70, namely, the structures of the front crawler mechanism and the rear crawler mechanism are identical, the centers of the driven sprockets 5 are in interference fit with a bearing, the centers of the bearings are connected with a fixed shaft 33 through interference fit, and the fixed shaft 33 is connected with the connecting plate 32.
The centers of the driving sprocket 4 and the driven sprocket 5 of the intermediate crawler 3 are respectively connected with the end of a hollow shaft 26 by interference fit, the remaining part of the hollow shaft 26 passes through the shell of the traveling carriage 7 and is connected with a bearing fixed inside the traveling carriage 7 by interference fit, the hollow shaft 26 can pass through the bearing to expose one end distance when being matched with the bearing, and in addition, a second gear 25 can be welded on the exposed outer surface of the hollow shaft 26 connected with the driving sprocket 4.
The fixed plates in the first power source and the second power source comprise two connecting plates 32, the two connecting plates 32 in the same power source are connected through a plurality of springs, and the fixed shafts 33 on the driven sprocket 5 and the motors connected with the driving sprocket 4 in the front crawler 1 and the rear crawler 2 are welded on the connecting plates 32. The two webs 32 as shown are connected by three springs which act to cushion the load-bearing when the track is deformed so that the track can better fit against the wall. Wherein, the pins in the front crawler 1 and the rear crawler 2 are connected to the connecting plate 32, and the pins in the middle crawler are connected to the side plates 72.
Referring to fig. 11, the fourth motor 21 drives the first gear 24, the first gear 24 drives the second gear 25 engaged therewith, and the second gear 25 is fixed to the body of the intermediate crawler 3 where the driving sprocket 4 is welded to the hollow shaft 26, thereby rotating the driven sprocket 5 of the intermediate crawler 3, and the driven sprocket 5 of the intermediate crawler 3 continues to stir the movement of the flexible crawler through its teeth.
Referring to fig. 11 and 12, the fifth motor 22 and the seventh motor 30 respectively drive the first long shaft 28 and the second long shaft 29 to rotate, and the first long shaft 28 and the second long shaft 29 drive the corresponding fixing plates to rotate, so that the angles of the front crawler 1 and the rear crawler 2 relative to the middle crawler 3 are changed.
The eighth motor 31 on the fixed plate drives the driving sprocket 4 in the front crawler mechanism 1 to rotate through the driving shaft of the eighth motor, the sixth motor 23 on the fixed plate drives the driving sprocket 4 in the rear crawler mechanism 2 to rotate through the driving shaft of the eighth motor, the driving sprockets 4 of the front crawler mechanism 1 and the rear crawler mechanism 2 continue to drive the flexible crawler to move through the gear teeth of the eighth motor, and the flexible crawler drives the driven sprockets 5 of the front crawler mechanism 1 and the rear crawler mechanism 2 to move. When the driven sprockets 5 of the front crawler 1 and the rear crawler 2 rotate, the outer ring of the bearing arranged in the middle hole of the driven sprocket 5 of the front crawler 1 and the rear crawler 2 rotates together with the driven sprockets 5 of the front crawler 1 and the rear crawler 2, and the inner ring and the fixed shaft 33 are stationary together.
When the bottoms of the front crawler 1 and the rear crawler 2 are stressed, the elastic structure formed by the first connecting rod I110, the second connecting rod I111, the third connecting rod I112 in the connecting rod unit I11, the springs in the connecting rod unit I11 and the springs connected between the connecting plates 32 correspondingly presses the flexible crawler in the opposite direction of the external force through the loading wheels 15 according to the external force condition of the front crawler 1 and the rear crawler 2, so that the crawler is attached to the wall surface.
In addition, the springs connected between the connecting plates 32 enable the front crawler 1 and the rear crawler 2 to form elasticity between the two ends (two driving wheels), and when the two ends are subjected to external force, the springs connected between the connecting plates 32 can press the two ends of the crawler in the opposite direction of the force.
Compared with the front crawler 1 and the rear crawler 2 which are wound, the middle crawler 3 indirectly presses the bogie wheel 15 downwards in the vertical direction by the multi-section connecting rod 17 through the spring sleeved on the guide rod 19 when the bottom surface of the crawler is subjected to external force, and the limit nut 20 prevents the multi-section connecting rod 17 from falling.
The ultrasonic detection mechanism 8 drives the second nut 88 to move up and down indirectly through the longitudinal screw rod 87 by the second motor 86, so that the longitudinal movement of the ultrasonic probe and the camera module 80 is realized; the first motor 82 indirectly drives the first nut 84 to move left and right through the transverse screw 83, so that the transverse movement of the ultrasonic probe and the camera module 80 is realized, and dead angle-free detection of the wall surface is finally realized. And the ultrasonic probe and the camera module 80 realize accurate detection of the wall surface under the mutual matching of the ultrasonic probe and the camera.
When the multi-dimensional motion is realized, the front crawler 1 and the rear crawler 2 of the robot are arranged on different wall surfaces (i.e. intersected), and the middle travelling carriage 7 is arranged at the transition part of two intersected wall surfaces when suspended.
When the motion on the small-radius conical wall surface and the motion on the curved wall surface are realized, the front crawler mechanism 1 and the rear crawler mechanism 2 are pressed on the wall surface under the action of a power source, and at the moment, a certain angle exists between the front crawler mechanism 1 and the rear crawler mechanism 2 relative to the middle crawler mechanism 3.
Before obstacle surmounting movement of the large obstacle on the non-flat wall surface with single dimension is realized, the front crawler mechanism 1 should be lifted, and when the movement is realized, the front crawler mechanism 1 should be pressed against the large obstacle; the structure is relatively simple, the cost is low, and the device can be suitable for load operation in the civil field.
Other aspects of the invention not described are in the prior art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper end", "lower", "rear", "left", "right", "vertical", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted", "connected" and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected or integrally connected; may be directly or indirectly through an intermediate medium, and the specific meaning of the terms in the present invention will be understood by those skilled in the art in specific cases.
Claims (7)
1. The six-crawler traveling device capable of realizing single/multi-dimensional switching motion comprises a traveling vehicle and two crawler systems symmetrically arranged on two opposite sides of the traveling vehicle, wherein the traveling vehicle comprises a bottom plate, a top plate arranged opposite to the bottom plate and a plurality of side plates used for sealing and connecting the side edges of the bottom plate and the top plate, and a power source for providing power for the two crawler systems is arranged in the traveling vehicle; the method is characterized in that: each crawler system comprises a front crawler mechanism, a rear crawler mechanism and a middle crawler mechanism, wherein the middle crawler mechanism is arranged on the outer side edge of the traveling vehicle, and the front crawler mechanism and the rear crawler mechanism are respectively arranged on the outer side edges of two ends of the middle crawler mechanism;
the front crawler mechanism, the rear crawler mechanism and the middle crawler mechanism comprise a driving sprocket, a driven sprocket and crawler belts sleeved outside the driving sprocket and the driven sprocket in a closed loop manner, wherein the driving sprocket of the front crawler mechanism is in transmission connection with the driven sprocket of the middle crawler mechanism, and the driving sprocket of the rear crawler mechanism is in transmission connection with the driving sprocket of the middle crawler mechanism; a plurality of connecting rod units I which are symmetrically arranged are also arranged in the front crawler mechanism and the rear crawler mechanism, and a plurality of connecting rod units II are arranged in the middle crawler mechanism;
each connecting rod unit II comprises a pin, a first connecting rod II, a second connecting rod II and a third connecting rod II, in each connecting rod unit II, the upper end of the first connecting rod II is rotatably provided with a supporting pulley supported on a track in the middle crawler, the lower end of the second connecting rod II is rotatably provided with a loading pulley supported on the track in the middle crawler, the head end of the third connecting rod II, the lower end of the first connecting rod II and the upper end of the second connecting rod II are compositely hinged on the pin, and the tail end of the third connecting rod II is connected with the pin in the adjacently arranged connecting rod unit II through a spring; the tail end of a third connecting rod II in a connecting rod unit II which is arranged adjacent to a driving chain wheel in the middle crawler mechanism is connected with a pin which is additionally arranged in the traveling vehicle through a spring;
in each connecting rod unit II, the lower end of the second connecting rod II is rotatably provided with a loading wheel through a pin, the end part of the pin is connected with a plurality of sections of connecting rods extending into the traveling vehicle, the inner wall of each side plate is connected with a guide block, a guide rod vertically arranged is connected in a sliding fit manner in each guide block, a limit nut is connected to the guide rod extending out of the upper end of each guide block, the lower end of each guide rod is connected with a plurality of sections of connecting rods, and a spring is sleeved on each guide rod positioned between each section of connecting rod and each guide block;
the two sides of the rest opposite arrangement in the walking vehicle are respectively provided with an ultrasonic detection mechanism and an anti-overturning mechanism.
2. The six-crawler running gear capable of realizing single/multi-dimensional switching movement according to claim 1, wherein: in the front crawler mechanism, except for a connecting rod unit I which is arranged adjacent to a driving chain wheel in the front crawler mechanism, each connecting rod unit I comprises a pin, a first connecting rod I, a second connecting rod I and a third connecting rod I, in each connecting rod unit I, the upper end of the first connecting rod I is rotatably provided with a supporting pulley which is supported on a crawler belt in the front crawler mechanism, the lower end of the second connecting rod I is rotatably provided with a loading wheel which is supported on the crawler belt in the front crawler mechanism, the head end of the third connecting rod I, the lower end of the first connecting rod I and the upper end of the second connecting rod I are in compound hinge joint with pins, and the tail end of the third connecting rod I is connected with the pins in the connecting rod units I which are arranged adjacently through springs; in a connecting rod unit I arranged adjacent to a driving chain wheel in the front crawler mechanism, the lower end of a first connecting rod I and the upper end of a second connecting rod I are compositely hinged on a pin, and the pin is connected with pins which are additionally arranged in the walking vehicle through springs; the head end of a third connecting rod I in a connecting rod unit I which is arranged adjacent to a driven chain wheel in the front crawler mechanism is connected with a pin which is additionally arranged in the traveling vehicle through a spring.
3. The six-crawler running gear capable of realizing single/multi-dimensional switching movement according to claim 1, wherein: the ultrasonic detection mechanism comprises an ultrasonic probe and camera module, a transverse moving unit, a longitudinal moving unit and a connecting piece, wherein the transverse moving unit comprises a transverse frame, a first motor arranged on the transverse frame, a transverse screw driven by the first motor and a first nut sleeved on the transverse screw in a matching way, the longitudinal moving unit comprises a longitudinal frame, a second motor arranged on the longitudinal frame, a longitudinal screw driven by the second motor and a second nut sleeved on the longitudinal screw in a matching way, one end of the connecting piece is fixed on a travelling carriage, the other opposite end of the connecting piece is connected with the longitudinal frame, the transverse frame is arranged on the second nut, and the ultrasonic probe and the camera module are arranged on the first nut.
4. The six-crawler running gear capable of realizing single/multi-dimensional switching movement according to claim 1, wherein: the overturning prevention mechanism comprises a rotary table, a connecting frame, a spring and a universal wheel, wherein the rotary table is arranged on the top plate, the universal wheel comprises a fork and a roller wheel arranged on the fork, one end of the connecting frame is fixed on the rotary table, the other end of the connecting frame is connected with the upper end of the spring, and the lower end of the spring is connected with the fork; the rotary table comprises a third motor, a rotary shaft and a base, wherein the third motor is fixedly arranged on the upper surface of the top plate, a driving shaft of the third motor is in transmission connection with one end of the rotary shaft, the base is fixed at the other end of the rotary shaft, and one end of the connecting frame is fixed on the base; the connecting frame comprises a first connecting rod fixedly connected with the connecting frame and a second connecting rod extending outwards of the walking vehicle, a third connecting rod vertically arranged is fixedly connected to the second connecting rod, and the lower end of the third connecting rod is connected with the upper end of the spring; the connecting part of the first connecting rod and the second connecting rod is positioned outside the walking vehicle, and the first connecting rod positioned outside the walking vehicle is bent downwards, so that the roller and the crawler mechanism are positioned on the same plane.
5. The six-crawler running gear capable of realizing single/multi-dimensional switching movement according to claim 1, wherein: the part of the top plate of the walking vehicle, which is close to the ultrasonic detection mechanism, is provided with a camera shooting mechanism, the camera shooting mechanism comprises a camera, a connecting cross rod and a fixing rod, the lower end of the fixing rod is connected to the top plate, the upper end of the fixing rod is connected with one end of the connecting cross rod, and the camera is installed at the other end of the connecting cross rod.
6. The six-crawler running gear capable of realizing single/multi-dimensional switching movement according to claim 1, wherein: the power source of each crawler system comprises a first power source for driving the rear crawler mechanism and a second power source for driving the front crawler mechanism, wherein the first power source comprises a fixed plate, a fourth motor, a fifth motor and a sixth motor, the fourth motor and the fifth motor are arranged on a bottom plate, a first gear is arranged on a driving shaft of the fourth motor, a second gear is arranged on the first gear in an external meshing manner, tooth surfaces of the first gear and the second gear are vertically arranged, a hollow shaft is connected on the tooth surface of the second gear, the hollow shaft is connected with a bearing fixed on a side plate, and a driving sprocket in the middle crawler mechanism is arranged at the end part of the hollow shaft extending out of the walking vehicle, so that a driving sprocket in the middle crawler mechanism is driven to rotate by the fourth motor; the inside of the hollow shaft is in clearance fit with a first long shaft, one end of the first long shaft is in transmission connection with a driving shaft of a fifth motor, the other end of the first long shaft extends out of a driving sprocket in the middle crawler mechanism and is connected with a fixed plate, a sixth motor is arranged on the fixed plate, and a driving shaft of the sixth motor is in transmission connection with the driving sprocket in the rear crawler mechanism;
the second power source comprises a fixed plate, a seventh motor and an eighth motor, the seventh motor is arranged on the bottom plate, a driving shaft of the seventh motor is in transmission connection with a second long shaft, a hollow shaft is sleeved outside the second long shaft in clearance fit, the hollow shaft is connected with a bearing fixed on the side plate, a driven sprocket in the middle crawler is arranged at the end part of the hollow shaft extending out of the traveling vehicle, one end of the second long shaft extends out of the driven sprocket in the middle crawler and is connected with the fixed plate, the eighth motor is arranged on the fixed plate, and a driving shaft of the eighth motor is in transmission connection with a driving sprocket in the front crawler.
7. The six-crawler running gear capable of realizing single/multi-dimensional switching movement according to claim 6, wherein: the fixed plates in the first power source and the second power source comprise two connecting plates, the two connecting plates in the same power source are connected through a plurality of springs, the pins in the front crawler mechanism and the rear crawler mechanism are connected to the connecting plates, and the pins in the middle crawler mechanism are connected to the side plates.
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| CN201810148202.9A CN108238120B (en) | 2018-02-13 | 2018-02-13 | Six-crawler walking device capable of realizing single/multi-dimensional switching movement |
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| CN201810148202.9A CN108238120B (en) | 2018-02-13 | 2018-02-13 | Six-crawler walking device capable of realizing single/multi-dimensional switching movement |
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| CN108238120B true CN108238120B (en) | 2023-07-11 |
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| US6334496B1 (en) * | 1996-04-10 | 2002-01-01 | Komatsu Ltd. | Crawler device for a crawler type vehicle |
| CN101077717A (en) * | 2007-06-22 | 2007-11-28 | 北京理工大学 | Small-sized 6-track whole topographic form mobile robot |
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