CN108725611A - A kind of novel crawler-type obstacle detouring mobile system - Google Patents
A kind of novel crawler-type obstacle detouring mobile system Download PDFInfo
- Publication number
- CN108725611A CN108725611A CN201810648386.5A CN201810648386A CN108725611A CN 108725611 A CN108725611 A CN 108725611A CN 201810648386 A CN201810648386 A CN 201810648386A CN 108725611 A CN108725611 A CN 108725611A
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- China
- Prior art keywords
- track assembly
- support base
- crawler
- small
- realizes
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Classifications
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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
- B62D55/0655—Articulated endless track vehicles
-
- 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
Abstract
A kind of novel crawler-type obstacle detouring mobile system, the system include front frame (A), Rear frame (B), first to fourth track assembly (C, D, E, F), intermediate rotary shaft (G)；Front frame (A), Rear frame (B) are rotatably assorted by articulated structure (G) realization；First to the 4th differential track assembly (C, D, E, F) is respectively arranged in the both ends of front frame (A) and the both ends of Rear frame (B) and realizes rotation connection.Around the present invention, be up and down arranged symmetrically, four track assemblies respectively driven using four motors, may be implemented under different terrain it is wheeled fast move, crawler-type mobile and overturning great-leap-forward movement.Move mode is automatically selected under complicated landform, mechanism is simple and reliable, easy to operation, has preferable respond and practicability.
Description
Technical field
The present invention relates to ground moving system regions more particularly to a kind of novel crawler-type obstacle detouring mobile systems, specifically by
Two vehicle frames, four track assemblies, central rotational structure, four motors are constituted, and pass through the canine tooth in motor-driven caterpillar tracks component
Rotation, the rotation of track assembly relative frame are taken turns, wheel of the mobile system under different terrain is realized in the rotation between front/rear frame
Formula, crawler-type mobile and overturning great-leap-forward movement, ensure that the adaptability and handling capacity under complicated landform.
Background technology
Chinese patent CN207311658U discloses " one kind can turn on one's side mountainous region robot ", and it is hinged to use triangular symmetrical formula
Structure, the self-adaptive recovery ability turned on one's side by robot substantially increases the mobility of platform, but its three-legged structure increases
Complexity, while wheeled obstacle climbing ability is general.By the way of the present invention is arranged symmetrically using front and back, upper and lower, left and right, adopt simultaneously
With novel crawler-type structure, the handling capacity and maneuverability of mobile system are substantially increased.
Invention content
The problem to be solved in the present invention is to provide a kind of mobile system being adapted to complicated landform, ensures it different
Best move mode is kept under landform.
Technical scheme of the present invention：A kind of novel crawler-type obstacle detouring mobile system includes two identical vehicle frames, four phases
Same track assembly；Front frame, Rear frame are realized by intermediate rotary shaft and are rotatablely connected；First and second track assembly respectively with it is preceding
Realize that rotation connection, third are realized respectively with the both ends of Rear frame with the 4th track assembly and be rotatablely connected in the both ends of vehicle frame.Front truck
Arrangement is there are two motor on frame, and there are two motors, four motors to respectively drive the first to the 4th track assembly for arrangement in Rear frame
Realize movement and the obstacle detouring of mobile system.
First track assembly includes：Crawler belt, central shaft, small moping pulley, gear wheel, supporting rod, small moping pulley branch
Support seat, crawler tensioning structure, gear wheel support base；Gear wheel and gear wheel support base, which are realized, to be rotatablely connected, small moping pulley with it is small
Moping pulley support base realizes rotation connection, and supporting rod achieves a fixed connection with small moping pulley support base, small moping pulley support base and
Gear wheel support base is slidably connected by the realization of crawler tensioning structure, and crawler belt realizes that gear connects respectively with small moping pulley, gear wheel
It connects.
First track assembly is connected by the central shaft on the first track assembly with the motor in front frame, and
It realizes and is rotatablely connected with front frame.
Second to the 4th track assembly is identical with the shape of the first track assembly, mechanical structure and assembly method.
By above-mentioned connection, the assembling of the first track assembly to the 4th track assembly is completed.
The crawler tensioning structure includes：Tensioning bolt, sliding panel, voussoir；
The sliding panel respectively with small moping pulley support base and gear wheel support base realization be slidably connected, voussoir respectively with
Small moping pulley support base is slidably connected with the realization of gear wheel support base, and tensioning bolt is realized with sliding panel and is rotatablely connected, and is tensioned spiral shell
Bolt is threadedly coupled with voussoir realization, realizes the tensioning function to crawler belt.
Mobile system of the present invention have around, structure symmetrical above and below, in narrow or complicated landform
In there is better passability, the design of novel crawler component may be implemented a variety of move modes under different terrain, reduces
To the dependence of control system, the stability of mobile system is improved.
Description of the drawings
A kind of whole graphics of novel crawler-type obstacle detouring mobile system of Fig. 1；
Fig. 2 track assembly graphics；
Fig. 3 strainer graphics；
Fig. 4 wheel type mobile schematic diagrames；
Fig. 5 crawler-type mobile schematic diagrames；
The convertible mobile schematic diagrames of Fig. 6.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
A kind of novel crawler-type obstacle detouring mobile system, as shown in Figure 1, including two identical vehicle frame A, B, four identical
Track assembly C, D, E, F；Front frame A, Rear frame B realize rotation connection by intermediate rotary shaft G；First and second track assembly C,
D realizes with the both ends of front frame A is rotatablely connected that respectively third is realized with the both ends of Rear frame B respectively with the 4th track assembly E, F
Rotation connection.Arrangement is there are two motor A-1, A-2 on front frame A, and there are two motor B-1, B-2, four electricity for arrangement on Rear frame B
Machine A-1, A-2, B-1, B-2 respectively drive movement and the obstacle detouring that the first to the 4th track assembly realizes mobile system.
As shown in Fig. 2, the first track assembly C includes：Crawler belt C-a, central shaft C-b, small moping pulley C-c, canine tooth
Take turns C-d, supporting rod C-e, small moping pulley support base C-f, crawler tensioning structure C-g, gear wheel support base C-h；Gear wheel C-d with
Gear wheel support base C-h realizes rotation connection, and small moping pulley C-c and small moping pulley support base C-f, which is realized, to be rotatablely connected, supporting rod
C-e achieves a fixed connection with small moping pulley support base C-f, and small moping pulley support base C-f and gear wheel support base C-h passes through crawler belt
Tension structure C-g realizations are slidably connected, and crawler belt C-a realizes that gear is connect respectively with small moping pulley C-c, gear wheel C-d.
The first track assembly C passes through the motor A-1 on the central shaft C-b and front frame A on the first track assembly C
It is connected, and realizes and be rotatablely connected with front frame A.
The shape, mechanical structure and assembly method of second to the 4th track assembly D, E, F and the first track assembly C is complete
It is identical.
By above-mentioned connection, the assembling of the first track assembly C to the 4th track assembly F is completed.
As shown in figure 3, the crawler tensioning structure C-g includes：Tensioning bolt C-g-1, sliding panel C-g-2, voussoir C-
g-3；
The sliding panel C-g-2 realizes that sliding connects with small moping pulley support base C-f and gear wheel support base C-h respectively
It connects, voussoir C-g-3 is slidably connected with small moping pulley support base C-f and the C-h realizations of gear wheel support base respectively, tensioning bolt C-g-
1 realizes that rotation connection, tensioning bolt C-g-1 are threadedly coupled with voussoir C-g-3 realizations, realize to crawler belt with sliding panel C-g-2
Tensioning function.
Wheeled, crawler type and convertible three kinds of move modes may be implemented in the novel crawler-type obstacle detouring mobile system.
As shown in figure 4, when mobile system moves on level land, contact, can will be carried out for line between track assembly and ground
Band component is considered as wheel, realizes wheel type mobile.
As shown in figure 5, when mobile system encounters smaller obstacle, track assembly passes through under the traction force effect of crawler belt
Barrier realizes crawler-type mobile.
As shown in fig. 6, when mobile system encounters higher barrier, stopped by barrier, in the driving of motor
Overturning breaks the barriers under force effect, realizes convertible movement.
Claims (3)
1. a kind of novel crawler-type obstacle detouring mobile system, feature are：
The novel crawler-type obstacle detouring mobile system includes front frame (A), Rear frame (B), the first crawler belt being arranged in front frame
Component (C) and the second track assembly (D) and the third track assembly (E) being arranged in Rear frame and the 4th track assembly (F)；Before
Vehicle frame (A), Rear frame (B) are realized by intermediate rotary shaft (G) and are rotatablely connected；First and second track assembly (C, D) respectively with it is preceding
Rotation connection is realized at the both ends of vehicle frame (A), and third is realized with the both ends of Rear frame (B) respectively with the 4th track assembly (E, F) to be turned
Dynamic connection；Around full vehicle, it is arranged symmetrically up and down.There are two motor (A-1, A-2), Rear frames for arrangement in front frame (A)
(B) there are two motors (B-1, B-2), four motors (A-1, A-2, B-1, B-2) to respectively drive the first to the 4th crawler belt for arrangement on
Component realizes movement and the obstacle detouring of mobile system.
2. according to a kind of novel crawler-type mobile system that claim 1 describes, feature is：
First track assembly (C) includes：Crawler belt (C-a), central shaft (C-b), small moping pulley (C-c), gear wheel (C-
D), supporting rod (C-e), small moping pulley support base (C-f), crawler tensioning structure (C-g), gear wheel support base (C-h)；Gear wheel
(C-d) it realizes and is rotatablely connected with gear wheel support base (C-h), small moping pulley (C-c) is realized with small moping pulley support base (C-f) to be turned
Dynamic connection, supporting rod (C-e) achieve a fixed connection with small moping pulley support base (C-f), small moping pulley support base (C-f) and canine tooth
Wheel support base (C-h) is slidably connected by crawler tensioning structure (C-g) realization, crawler belt (C-a) and small moping pulley (C-c), canine tooth
It takes turns (C-d) and realizes gear connection respectively；
First track assembly (C) passes through the central shaft (C-b) on the first track assembly (C) and the electricity in front frame (A)
Machine (A-1) is connected, and realizes and be rotatablely connected with front frame (A)；
The shape, mechanical structure and assembly method of second to the 4th track assembly (D, E, F) and the first track assembly (C) are complete
It is identical；
By above-mentioned connection, assembling of the first track assembly (C) to the 4th track assembly (F) is completed.
3. according to the crawler tensioning structure (C-g) that claim 2 describes, feature is：
The crawler tensioning structure (C-g) includes：Tensioning bolt (C-g-1), sliding panel (C-g-2), voussoir (C-g-3)；
The sliding panel (C-g-2) realizes that sliding connects with small moping pulley support base (C-f) and gear wheel support base (C-h) respectively
It connects, voussoir (C-g-3) is slidably connected with small moping pulley support base (C-f) and gear wheel support base (C-h) realization respectively, is tensioned spiral shell
Bolt (C-g-1) realizes with sliding panel (C-g-2) and is rotatablely connected that tensioning bolt (C-g-1) realizes that screw thread connects with voussoir (C-g-3)
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810648386.5A CN108725611A (en) | 2018-06-22 | 2018-06-22 | A kind of novel crawler-type obstacle detouring mobile system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810648386.5A CN108725611A (en) | 2018-06-22 | 2018-06-22 | A kind of novel crawler-type obstacle detouring mobile system |
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| CN108725611A true CN108725611A (en) | 2018-11-02 |
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| CN201810648386.5A Pending CN108725611A (en) | 2018-06-22 | 2018-06-22 | A kind of novel crawler-type obstacle detouring mobile system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171495A (en) * | 2019-04-19 | 2019-08-27 | 北京交通大学 | A kind of deformable link-type crawler belt obstacle detouring system |
| CN110450869A (en) * | 2019-08-02 | 2019-11-15 | 北京交通大学 | A kind of adaptive drive lacking caterpillar robot |
| CN111645768A (en) * | 2020-06-12 | 2020-09-11 | 北京鼎翰科技有限公司 | Crawler robot and part design method thereof |
| CN111959632A (en) * | 2020-07-09 | 2020-11-20 | 中国人民解放军国防科技大学 | Portable ground moving platform |
| CN113200097A (en) * | 2021-06-17 | 2021-08-03 | 聊城大学 | Obstacle-crossing crawler belt capable of adapting to different heights and excavator |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171495A (en) * | 2019-04-19 | 2019-08-27 | 北京交通大学 | A kind of deformable link-type crawler belt obstacle detouring system |
| CN110450869A (en) * | 2019-08-02 | 2019-11-15 | 北京交通大学 | A kind of adaptive drive lacking caterpillar robot |
| CN111645768A (en) * | 2020-06-12 | 2020-09-11 | 北京鼎翰科技有限公司 | Crawler robot and part design method thereof |
| CN111959632A (en) * | 2020-07-09 | 2020-11-20 | 中国人民解放军国防科技大学 | Portable ground moving platform |
| CN113200097A (en) * | 2021-06-17 | 2021-08-03 | 聊城大学 | Obstacle-crossing crawler belt capable of adapting to different heights and excavator |
| CN113200097B (en) * | 2021-06-17 | 2022-06-24 | 聊城大学 | Obstacle-crossing crawler belt capable of adapting to different heights and excavator |
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