CN109436112A - Cterpillar drive and barrier-surpassing robot - Google Patents
Cterpillar drive and barrier-surpassing robot Download PDFInfo
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- CN109436112A CN109436112A CN201811653730.6A CN201811653730A CN109436112A CN 109436112 A CN109436112 A CN 109436112A CN 201811653730 A CN201811653730 A CN 201811653730A CN 109436112 A CN109436112 A CN 109436112A
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- 230000007246 mechanism Effects 0.000 claims abstract description 136
- 230000005540 biological transmission Effects 0.000 claims abstract description 44
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 30
- 238000013016 damping Methods 0.000 claims description 34
- 230000035939 shock Effects 0.000 claims 2
- 230000000694 effects Effects 0.000 description 14
- 230000009194 climbing Effects 0.000 description 7
- 230000001360 synchronised effect Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008450 motivation Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
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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
-
- 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
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
本发明提供了一种履带式行走装置及越障机器人，涉及履带式越障机器人的技术领域。一种履带式行走装置，包括机体、履带机构和至少一对摆臂机构，履带机构分别设置在机体的两侧，摆臂机构设置在机体的至少一端，摆臂机构包括摆臂本体，各对摆臂机构中的摆臂本体之间通过传动轴连接，传动轴与摆线针轮减速机传动连接，摆线针轮减速机与第一驱动机构传动连接；第一驱动机构能够通过摆线针轮减速机驱动传动轴旋转，并由传动轴带动各对中的摆臂本体摆动，以调节摆臂机构的摆角。一种越障机器人，包括履带式行走装置。缓解了现有技术中的越障机器人越障能力不强等问题。The invention provides a crawler type walking device and a obstacle-obstacle robot, and relates to the technical field of a crawler type obstacle-obstacle robot. A crawler type walking device comprises a body, a crawler mechanism and at least one pair of swing arm mechanisms, the crawler mechanisms are respectively disposed on two sides of the body, the swing arm mechanism is disposed at at least one end of the body, and the swing arm mechanism comprises a swing arm body, each pair The swing arm body in the swing arm mechanism is connected by a transmission shaft, the transmission shaft is drivingly connected with the cycloidal pin gear reducer, and the cycloidal pin gear reducer is drivingly connected with the first drive mechanism; the first drive mechanism can pass the cycloidal needle The wheel reducer drives the drive shaft to rotate, and the swing shaft body of each pair is swung by the drive shaft to adjust the swing angle of the swing arm mechanism. A barrier-free robot, including a crawler type walking device. The problem of the obstacle-obstacle ability of the obstacle-obscured robot in the prior art is alleviated.
Description
Technical field
The present invention relates to the technical fields of crawler type obstacle crossing robot, more particularly, to a kind of cterpillar drive and more
Hinder robot.
Background technique
It is more and more applied in actual life, is living with progress, caterpillar type robot with the development of science and technology
Caterpillar type robot is used to work with dangerous in working environment and other insecurity factors needs, crawler belt swing arm
Barrier-surpassing robot is a kind of equipment that can move simultaneously crossing over blockage, is that field environment is investigated, maked an inspection tour, clearance gets rid of the danger and badly endangers
One of the important automation equipment to work when detecting in dangerous environment due to such robot obstacle climbing ability and is fitted
Answer the ability of outdoor complicated landform strong, passability is good in uneven and road environment that is having barrier, so it uses neck
Domain is also increasingly wider.
Currently, existing barrier-surpassing robot product has the following deficiencies: (1) although robot structure is simple, transmit
Torque is not big enough, is short of power in crossing over blockage, this will weaken its obstacle climbing ability significantly；(2) existing barrier-surpassing robot
Then the crossbeam of one entirety of setting among crawler belt is arranged shock-damping structure is unified on crossbeam, crawler sections is caused to seem ratio
Cumbersome, structure is complex, and dismounts more troublesome；(3) in existing barrier-surpassing robot, the mounting structures and tensioner of crawler belt
Structure is provided separately, and virtually increases the structure of crawler sections, is kept crawler belt whole heavy, is influenced obstacle climbing ability.
Based on problem above, propose that a kind of cterpillar drive that obstacle climbing ability is strong is particularly important.
The information disclosed in the background technology section is intended only to deepen understanding of the general background technology to the present invention, and
It is not construed as recognizing or implying in any form that the information constitutes the prior art known to those skilled in the art.
Summary of the invention
The purpose of the present invention is to provide a kind of cterpillar drive and barrier-surpassing robots, in the prior art to alleviate
The problems such as barrier-surpassing robot obstacle climbing ability is not strong.
In order to solve the above-mentioned technical problem, the technological means that the present invention takes are as follows:
A kind of cterpillar drive provided by the invention, including body, pedrail mechanism and at least a pair of of oscillating arm mechanisms, institute
The left and right sides that the body is arranged in pedrail mechanism is stated, at least one end of the body is arranged in the oscillating arm mechanisms；
The oscillating arm mechanisms include swing arm ontology, pass through transmission between each swing arm ontology in the oscillating arm mechanisms
Axis connection, the transmission shaft and cycloidal planetary gear speed reducer are sequentially connected, and the cycloidal planetary gear speed reducer and the first driving mechanism pass
Dynamic connection；
First driving mechanism can drive the transmission shaft to rotate by the cycloidal planetary gear speed reducer, and by described
Transmission shaft drives the swing arm body oscillatory of each centering, to adjust the pivot angle of the oscillating arm mechanisms.
As a kind of further technical solution, the oscillating arm mechanisms include swing arm driving wheel, swing arm driven wheel and swing arm
Crawler belt；
The swing arm driving wheel is rotatably arranged on the transmission shaft, and close to the first end of the swing arm ontology
Place；
The swing arm driven wheel is rotatably arranged at the second end of the swing arm ontology；
The swing arm crawler belt is connected between the swing arm driving wheel and the swing arm driven wheel.
As a kind of further technical solution, first gear, the cycloidal-pin wheel are sequentially connected on the transmission shaft
The output end of speed reducer is provided with second gear, and the first gear is meshed with the second gear.
As a kind of further technical solution, the pedrail mechanism includes the walking driver gear connected by traveling crawler
And walking passive gear；
The walking driver gear and the second driving mechanism are sequentially connected；
The walking driver gear and/or the walking passive gear are rotatablely connected with the corresponding transmission shaft, and described
Walking driver gear and/or the walking passive gear are connected with the corresponding swing arm driving wheel；
Second driving mechanism drives the walking driver gear rotation, and as described in the walking driver gear synchronous drive
The rotation of swing arm driving wheel, to drive the oscillating arm mechanisms to operate, and/or, second driving mechanism drives the walking actively
Wheel rotation, the walking driver gear drive the walking passive gear rotation by the traveling crawler, and driven by the walking
Wheel synchronizes the swing arm driving wheel rotation, to drive the oscillating arm mechanisms to operate.
As a kind of further technical solution, which includes damping；
The damping is set to the left and right sides of the body, and is located on the inside of the corresponding pedrail mechanism；
The damping can carry out damping, support to the traveling crawler in the pedrail mechanism.
As a kind of further technical solution, the damping includes swinging frame, damper element and damping wheel；
The first end of the swinging frame and the body are rotatablely connected, and the damping wheel is rotatably arranged on the swinging frame
Second end；
The damper element is connected between the body and the swinging frame.
As a kind of further technical solution, which includes support roller tension mechanism；
The support roller tension mechanism is set to the left and right sides of the body, and is located in the corresponding pedrail mechanism
Side；
The support roller tension mechanism can carry out tensioner, support to the traveling crawler in the pedrail mechanism.
As a kind of further technical solution, the support roller tension mechanism includes mounting rack, tensioner wheel assembly and tensioner
Component；
The mounting rack is connect with the body, and at least one set of tensioner wheel assembly is movably disposed at the installation
On frame, the output end of the tensioner component is connect with the tensioner wheel assembly, for driving the tensioner wheel assembly relative to institute
It is mobile to state mounting rack, to pass through traveling crawler described in the tensioner wheel assembly tensioner.
As a kind of further technical solution, the tensioner component includes tension bolt, the tension bolt with it is described
Mounting rack is threadedly coupled；
The end of the tension bolt is connect with the tensioner wheel assembly；
Screwing the tension bolt can drive the tensioner wheel assembly mobile relative to the mounting rack, by described
Traveling crawler described in tensioner wheel assembly tensioner.
A kind of barrier-surpassing robot provided by the invention, including the cterpillar drive.
Compared with prior art, technical advantage possessed by cterpillar drive and barrier-surpassing robot provided by the invention
Are as follows:
A kind of cterpillar drive provided by the invention, including body, pedrail mechanism and at least a pair of of oscillating arm mechanisms, machine
Pedrail mechanism is respectively set at left and right sides of body, front end, rear end or the rear and front end of body are arranged oscillating arm mechanisms, pass through setting
Oscillating arm mechanisms can make cterpillar drive have stronger walking, obstacle climbing ability, so that cterpillar drive more adapts to
In complicated landform.
Further, oscillating arm mechanisms include swing arm ontology, pass through transmission shaft between the swing arm ontology in each pair of oscillating arm mechanisms
Realize connection, also, transmission shaft is sequentially connected with the output end of cycloidal planetary gear speed reducer again, the input terminal of cycloidal planetary gear speed reducer
It is sequentially connected with the output end of the first driving mechanism；As a result, under the driving effect of the first driving mechanism, cycloidal planetary gear speed reducer
It operates and transmission shaft is driven to rotate, further drive the swing arm ontology of left and right ends to be swung by transmission shaft, to adjust
The pivot angle of each pair of oscillating arm mechanisms, so that oscillating arm mechanisms more adapt to complicated landform.
Cterpillar drive provided by the invention substitutes traditional transmission mechanism by cycloidal planetary gear speed reducer, according to
The characteristic of cycloidal planetary gear speed reducer itself can provide bigger transfer of torque for transmission shaft, and drive swing arm pendulum by transmission shaft
It is dynamic, to ensure that power output when obstacle detouring work, the obstacle climbing ability of cterpillar drive is greatly strengthened, is effectively relieved
The problem of existing barrier-surpassing robot is short of power in crossing over blockage.
Preferably, it by setting damping and support roller tension mechanism, increases steady when cterpillar drive works
Qualitative and adaptability, to improve the ability that it adapts to outdoor complicated landform.
A kind of barrier-surpassing robot provided by the invention, including above-mentioned cterpillar drive, as a result, the barrier-surpassing robot institute
The technical advantage and effect reached includes above-mentioned barrier-surpassing robot technical advantage achieved and effect, and details are not described herein again.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the first schematic diagram of cterpillar drive provided in an embodiment of the present invention；
Fig. 2 is the second schematic diagram of cterpillar drive provided in an embodiment of the present invention；
Fig. 3 is the third schematic diagram of cterpillar drive provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of damping provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of support roller tension mechanism provided in an embodiment of the present invention.
Icon:
100- body；
200- pedrail mechanism；210- traveling crawler；220- walking driver gear；230- walking passive gear；
300- oscillating arm mechanisms；310- swing arm ontology；320- swing arm driving wheel；330- swing arm driven wheel；340- swing arm
Crawler belt；
The first driving mechanism of 410-；420- cycloidal planetary gear speed reducer；430- transmission shaft；440- first gear；450-
Second gear；The second driving mechanism of 460-；470- third gear；The 4th gear of 480-；490- planetary reducer；
500- damping；510- swinging frame；520- damper element；530- damping wheel；
600- support roller tension mechanism；610- mounting rack；620- tensioner wheel assembly；630- tensioner component；631- tensioner
Bolt；
700- battery pack；800- control element.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The present invention is described in further detail below through specific implementation examples and in conjunction with the accompanying drawings.
Specific structure is as Figure 1-Figure 5.
A kind of cterpillar drive provided in this embodiment, including body 100, pedrail mechanism 200 and at least a pair of of pendulum
Pedrail mechanism 200, front end, rear end or the rear and front end of body 100 is respectively set in arm mechanism 300, the left and right sides of body 100
Oscillating arm mechanisms 300 are set, can enable cterpillar drive that there is stronger walking, obstacle detouring by the way that oscillating arm mechanisms 300 are arranged
Power, so that cterpillar drive is more suitable for complicated landform.
Further, oscillating arm mechanisms 300 include swing arm ontology 310, the swing arm ontology 310 in each pair of oscillating arm mechanisms 300 it
Between connection realized by transmission shaft 430, also, transmission shaft 430 is sequentially connected with the output end of cycloidal planetary gear speed reducer 420 again,
The input terminal of cycloidal planetary gear speed reducer 420 and the output end of the first driving mechanism 410 are sequentially connected；As a result, in the first driving machine
Under the driving effect of structure 410, cycloidal planetary gear speed reducer 420 operates and transmission shaft 430 is driven to rotate, further by transmission shaft 430
The swing arm ontology 310 at left and right ends is driven to be swung, so that the pivot angle of each pair of oscillating arm mechanisms 300 is adjusted, so that swing arm machine
Structure 300 more adapts to complicated landform.Preferably, the first driving mechanism 410 uses driving motor.
Cterpillar drive provided in this embodiment substitutes traditional transmission mechanism by cycloidal planetary gear speed reducer 420,
According to the characteristic of cycloidal planetary gear speed reducer 420 itself, bigger transfer of torque can be provided for transmission shaft 430, and by transmission shaft
430 drive swing arm to swing, to ensure that power output when obstacle detouring work, greatly strengthen the obstacle detouring of cterpillar drive
The problem of existing barrier-surpassing robot is short of power in crossing over blockage has been effectively relieved in ability.
In the optional technical solution of the present embodiment, oscillating arm mechanisms 300 include swing arm driving wheel 320,330 and of swing arm driven wheel
Swing arm crawler belt 340；Swing arm driving wheel 320 is rotatably arranged on transmission shaft 430, and is located at the first end of swing arm ontology 310
Place；Swing arm driven wheel 330 is rotatably arranged at the second end of swing arm ontology 310；Swing arm crawler belt 340 is connected to swing arm actively
Between wheel 320 and swing arm driven wheel 330.
In the optional technical solution of the present embodiment, first gear 440 is sequentially connected on transmission shaft 430, cycloidal-pin wheel subtracts
The output end of fast machine 420 is provided with second gear 450, and first gear 440 is meshed with second gear 450.
In the present embodiment, oscillating arm mechanisms 300 further include swing arm driving wheel 320, swing arm other than including swing arm ontology 310
Driven wheel 330 and swing arm crawler belt 340, specifically, being sequentially connected between swing arm ontology 310 and transmission shaft 430, so that transmission shaft
430 two swing arm ontologies 310 being able to drive in each pair of oscillating arm mechanisms 300 are swung, to adjust the pendulum of each pair of oscillating arm mechanisms 300
Angle；Preferably, it is connected between swing arm ontology 310 and transmission shaft 430 using spline, can also be other forms, such as flat key certainly
Connection, locking connection etc..
Further, which is string configuration, and the first end of swing arm ontology 310 is matched with transmission shaft 430
Installation is closed, and swing arm driving wheel 320 is then assembled on transmission shaft 430 by bearing, swing arm driven wheel 330 is mounted on by shaft
The second end of swing arm ontology 310, and be arranged with swing arm crawler belt 340 on swing arm driving wheel 320 and swing arm driven wheel 330, as a result, when
When swing arm driving wheel 320 rotates, it is able to drive the running of swing arm crawler belt 340, in order to crossing over blockage.Also, in 430 band of transmission shaft
Under movement is used, swing arm ontology 310 and swing arm driven wheel 330 thereon are able to carry out oscillation adjustment pivot angle, to adapt to complicated landform
And crossing over blockage.
Further, it is sequentially connected with first gear 440 on transmission shaft 430, and the output of cycloidal planetary gear speed reducer 420
Setting second gear 450 in end transmits power when the first driving mechanism 410 driving cycloidal planetary gear speed reducer 420 works as a result,
Be transmitted to first gear 440 to second gear 450, and by second gear 450, then by first gear 440 drive transmission shaft 430 and
The swing arm ontology 310 connecting with transmission shaft 430 moves, so that the pivot angle for adjusting oscillating arm mechanisms 300 is realized, to adapt to intricately
Shape.Certainly, it can also be realized and be connected by other kinds of drive between cycloidal planetary gear speed reducer 420 and transmission shaft 430, such as chain
Item-sprocket wheel, worm gear-endless screw, belt wheel-belt etc., concrete mode is unrestricted.
In the optional technical solution of the present embodiment, pedrail mechanism 200 includes the walking active connected by traveling crawler 210
Wheel 220 and walking passive gear 230；Walking driver gear 220 and the second driving mechanism 460 are sequentially connected；Walking driver gear 220 and/
Or walking passive gear 230 is rotatablely connected with corresponding transmission shaft 430, and walking driver gear 220 and/or walking passive gear 230
It is connected with corresponding swing arm driving wheel 320；Second driving mechanism 460 drives walking driver gear 220 to rotate, and actively by walking
The rotation of 220 synchronous drive swing arm driving wheels 320 is taken turns, to drive oscillating arm mechanisms 300 to operate, and/or, the second driving mechanism 460 is driven
Dynamic walking driver gear 220 rotates, and walking driver gear 220 drives walking passive gear 230 to rotate by traveling crawler 210, and by going
It walks the synchronous swing arm driving wheel 320 of driven wheel 230 to rotate, to drive oscillating arm mechanisms 300 to operate.
In the present embodiment, pedrail mechanism 200 includes traveling crawler 210, walking driver gear 220 and walking passive gear 230, row
It walks driving wheel 220 to be driven by the second driving mechanism 460, it is preferable that the output end of the second driving mechanism 460 is connected with row
Star speed reducer 490, the output end of planetary reducer 490 are provided with third gear 470, are provided with the 4th on walking driver gear 220
Gear 480, and third gear 470 and the 4th gear 480 are intermeshed, as a result, in the driving effect of the second driving mechanism 460
Under, planetary reducer 490 operates and third gear 470 is driven to rotate, then drives the 4th gear 480 to rotate by third gear 470,
It is finally rotated by 480 synchronous drive walking driver gear 220 of the 4th gear, to drive traveling crawler 210 and walking passive gear 230 to transport
It is dynamic, to realize walking.Preferably, the second driving mechanism 460 uses driving motor, and third gear 470 and the 4th gear 480 use
Intermeshing bevel gear.In the present embodiment, the walking driver gear 220 of 100 left and right sides of body is driven by one group second respectively
Mechanism 460 provides power, and two group of second driving mechanism 460 is controlled by the control element 800 of cterpillar drive, control
The control principle of element 800 processed can refer to the prior art, be not set forth in detail herein.
Further, when oscillating arm mechanisms 300 are a pair and the front end or rear end of body 100 is arranged in, swing arm driving wheel
320 are fixedly connected with walking driver gear 220 or walking passive gear 230, as a result, under the driving effect of the second driving mechanism 460,
Walking driver gear 220 and walking passive gear 230 can be rotated around transmission shaft 430, and driven by walking driver gear 220 or walking
Take turns 230 synchronous drive swing arm driving wheels 320 (front end or rear end) rotation, walking driver gear 220 be able to drive traveling crawler 210 and
Walking passive gear 230 moves, and realizes walking, swing arm driving wheel 320 is able to drive swing arm crawler belt 340 and swing arm driven wheel 330 is transported
It is dynamic, so that oscillating arm mechanisms 300 operate, in order to crossing over blockage.
When oscillating arm mechanisms 300 are two pairs and when being separately positioned on the front-end and back-end of body 100, swing arm driving wheel 320 with
Walking driver gear 220 is fixedly connected, and swing arm driving wheel 320 is equally fixedly connected with walking passive gear 230, is driven as a result, second
Under the driving effect of motivation structure 460, walking driver gear 220 can be rotated around the transmission shaft 430 of 100 one end of body, and synchronous
The swing arm driving wheel 320 at 100 one end of body is driven to rotate, meanwhile, walking passive gear 230 can surround 100 other end of body
Transmission shaft 430 rotate, and swing arm driving wheel 320 at 100 other end of synchronous drive body rotates；It is located at body 100 as a result,
Oscillating arm mechanisms 300 at rear and front end can operate, in order to crossing over blockage.
Further, the transmission shaft 430 under the driving effect of the first driving mechanism 410, at 100 one or both ends of body
Rotation, and drive corresponding swing arm ontology 310 to swing by transmission shaft 430, the adjusting to 300 angle of oscillating arm mechanisms is realized with this,
To adapt to more complicated landform.
In the optional technical solution of the present embodiment, which includes damping 500；Damping 500
100 two sides of body are set to, and are located at 200 inside of pedrail mechanism；Damping 500 can be to the walking in pedrail mechanism 200
Crawler belt 210 carries out damping, support.
In the optional technical solution of the present embodiment, damping 500 includes swinging frame 510, damper element 520 and damping wheel
530；The first end and body 100 of swinging frame 510 are rotatablely connected (preferably, connecting by shaft), the rotation setting of damping wheel 530
In the second end of swinging frame 510；Damper element 520 is connected between body 100 and swinging frame 510.
In the present embodiment, the inside setting of the traveling crawler 210 in the pedrail mechanism 200 of 100 left and right sides of body is more
The mutually independent damping 500 of group, improves damping effect, so that cterpillar drive can adapt to complicated landform；Tool
Body, which includes swinging frame 510, damper element 520 and damping wheel 530, damping wheel 530 and traveling crawler 210
Inside push against, as a result, in the process of walking, effect of the traveling crawler 210 by ground can squeeze damping wheel 530, and by
Damping wheel 530 drives swinging frame 510 to be swung relative to body 100, at this point, damper element 520 can be compressed or be extended, from
And the damping wheel 530 on swinging frame 510 can be driven to support 210 inside of traveling crawler by damper element 520, to alleviate row
The relaxation of crawler belt 210, de- band, also, the compression or elongation of the reciprocally swinging and damper element 520 by swinging frame 510 are walked, it can
Realize buffering, damping effect.Preferably, damper element 520 uses spring damper.
In addition, can individually be torn open to damping 500 due to being independent from each other between multiple groups damping 500
Dress, maintenance, repair, to reduce the complexity of the dismounting of damping 500, maintenance and maintenance；Also, it walks in replacement
When crawler belt 210, each group damping 500 can be individually removed, improves the replacement efficiency of traveling crawler 210.
In the present embodiment, by using above-mentioned damping 500, it has been effectively relieved and crossbeam is set in traveling crawler 210
The problem of, to keep the structure of damping 500 more single, keep entire cterpillar drive lighter.
In the optional technical solution of the present embodiment, which includes support roller tension mechanism 600；Support roller tensioner
Mechanism 600 is set to 100 two sides of body, and is located at 200 inside of pedrail mechanism；Support roller tension mechanism 600 can be to pedrail mechanism
Traveling crawler 210 in 200 carries out tensioner, support.
In the optional technical solution of the present embodiment, support roller tension mechanism 600 includes mounting rack 610,620 and of tensioner wheel assembly
Tensioner component 630；Mounting rack 610 is connect with body 100, and at least one set of tensioner wheel assembly 620 is movably disposed at mounting rack
On 610, the output end of tensioner component 630 is connect with tensioner wheel assembly 620, for driving tensioner wheel assembly 620 relative to installation
Frame 610 is mobile, to pass through 620 tensioner traveling crawler 210 of tensioner wheel assembly.
In the optional technical solution of the present embodiment, tensioner component 630 includes tension bolt 631, tension bolt 631 and installation
Frame 610 is threadedly coupled；The end of tension bolt 631 is connect with tensioner wheel assembly 620；It screws tension bolt 631 and can drive and rise
Bearing up pulley component 620 is mobile relative to mounting rack 610, to pass through 620 tensioner traveling crawler 210 of tensioner wheel assembly.
In the present embodiment, support is arranged in the inside of the traveling crawler 210 in the pedrail mechanism 200 of 100 left and right sides of body
Tension mechanism 600 is taken turns, the tensioner effect of traveling crawler 210 is realized, so that the walking ability of traveling crawler 210 is more stable；
Specifically, the support roller tension mechanism 600 includes mounting rack 610, tensioner wheel assembly 620 and tensioner component 630, wherein expansion tightening wheel
Component 620 is mounted on the mounting rack 610 connecting with body 100, and tensioner component 630 can drive tensioner wheel assembly 620 opposite
It is moved in mounting rack 610, to carry out tensioner to traveling crawler 210.
Preferably, tensioner wheel assembly 620 includes connecting shaft and expansion tightening wheel ontology, offers long hole on mounting rack 610, is connected
Axis passes through long hole, and expansion tightening wheel ontology is rotatably arranged in connecting shaft, and tensioner component 630 includes tension bolt 631, tension bolt
631 end and connecting shaft are rotatablely connected, and tension bolt 631 is threadedly coupled with mounting rack 610 again, screws tensioner spiral shell as a result,
When bolt 631, connecting shaft and expansion tightening wheel ontology thereon can be pushed mobile relative to mounting rack 610, in turn, pass through expansion tightening wheel sheet
Body carries out tensioner to traveling crawler 210.
Support roller tension mechanism 600 in the present embodiment integrates tensioner wheel assembly 620 and tensioner component 630, shape
At the structure for having both support, tensioner function simultaneously, thus, compared with the prior art, make structure simple by using Integrated design
It is single, compact small and exquisite, further, it is possible to keep the walking ability of cterpillar drive more stable, it is effectively relieved in walking process
The problem of existing pine band, de- band.
In the present embodiment preferably, a pair of of oscillating arm mechanisms 300 are respectively set in the rear and front end of body 100, and first drives
Motivation structure 410 and cycloidal planetary gear speed reducer 420 are corresponding with oscillating arm mechanisms 300；The pedrail mechanism 200 of 100 left and right sides of body
It is operated alone respectively by one group of second driving mechanism 460.Further, the first driving mechanism 410 and the second driving mechanism 460
It connect with control element 800, is controlled by control element 800, and be powered by battery pack 700.
A kind of barrier-surpassing robot provided in this embodiment, including above-mentioned cterpillar drive, the as a result, barrier-surpassing robot
Technical advantage and effect achieved include above-mentioned barrier-surpassing robot technical advantage achieved and effect, and details are not described herein again.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
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| CN110241873A (en) * | 2019-07-03 | 2019-09-17 | 西安工业大学 | A kind of crawler-mounted excavator and its method |
| CN110435785A (en) * | 2019-07-31 | 2019-11-12 | 山东科技大学 | A kind of gear type running gear |
| CN110778668B (en) * | 2019-10-19 | 2022-04-26 | 中山神矶智能科技有限公司 | Driving suspension device of automatic driving test vehicle |
| CN110778668A (en) * | 2019-10-19 | 2020-02-11 | 中山神矶智能科技有限公司 | Driving suspension device of automatic driving test vehicle |
| CN111361647A (en) * | 2020-04-09 | 2020-07-03 | 华方特钢科技有限责任公司 | Obstacle-surmounting photovoltaic cleaning robot and obstacle-surmounting method |
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| CN112515581A (en) * | 2020-11-30 | 2021-03-19 | 上海工程技术大学 | Four-rotor traction type obstacle-crossing wall-climbing cleaning robot |
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| CN116495068A (en) * | 2023-03-08 | 2023-07-28 | 上海合时智能科技有限公司 | Running gear and mobile robot |
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