CN110171495A - A kind of deformable link-type crawler belt obstacle detouring system - Google Patents
A kind of deformable link-type crawler belt obstacle detouring system Download PDFInfo
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- CN110171495A CN110171495A CN201910315716.3A CN201910315716A CN110171495A CN 110171495 A CN110171495 A CN 110171495A CN 201910315716 A CN201910315716 A CN 201910315716A CN 110171495 A CN110171495 A CN 110171495A
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- CN
- China
- Prior art keywords
- connecting rod
- link
- track assembly
- obstacle detouring
- vehicle frame
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B62D55/08—Endless track units; Parts thereof
Abstract
A kind of deformable link-type crawler belt obstacle detouring system, the system include vehicle frame (A), first to fourth link-type track assembly (B-a, B-b, B-c, B-d)；First is respectively arranged to fourth link formula track assembly (B-a, B-b, B-c, B-d) in the front end two sides of vehicle frame (A) and rear end sides realization rotation connection.This system respectively drives first to fourth link formula track assembly using four motors (C-a, C-b, C-c, C-d), it is mobile by drive link deformation under motor and environment double action and crawler belt, realize crawler-type mobile obstacle detouring and overturning great-leap-forward mobile obstacle detouring of the obstacle detouring system under different terrain, the obstacle climbing ability that track assembly can be improved while connecting rod Passive deformation enhances the handling capacity of obstacle detouring system.
Description
Technical field
The present invention relates to ground moving system regions more particularly to a kind of deformable link-type crawler belt obstacle detouring systems, specifically
It is made of a vehicle frame, four link-type track assemblies, four motors, is become by drive link under motor and environment double action
Shape and crawler belt are mobile, realize crawler-type mobile obstacle detouring and overturning great-leap-forward mobile obstacle detouring of the system under different terrain, connecting rod quilt
The obstacle climbing ability that track assembly can be improved while dynamic deformation enhances the handling capacity of obstacle detouring system.
Background technique
Chinese patent CN201810648386.5 discloses " a kind of novel crawler-type obstacle detouring mobile system ", uses differential
Mobile system is designed as front and rear, left and right, structure symmetrical above and below, had in narrow or complicated landform by formula track assembly
Better passability may be implemented a variety of move modes under different terrain, reduce the dependence to control system, improve
The stability of mobile system.But " a kind of novel crawler-type obstacle detouring mobile system " during climbing hard slope, crawler belt and ground
The contact in face is mainly line contact, can not embody the big feature of the tractive force of crawler belt, and the impact of obstacle detouring process is larger.The present invention
Using link-type track assembly, the big advantage of crawler belt grounding pressure is maintained, while relatively reducing the impact of obstacle detouring process.
Summary of the invention
The problem to be solved in the present invention is to provide a kind of obstacle detouring systems of cross-country traveling ability, can keep the same of the mobile advantage of crawler belt
When, by link mechanism Passive deformation and improve obstacle climbing ability.
Technical solution of the present invention: a kind of deformable link-type crawler belt obstacle detouring system includes a vehicle frame A, is arranged in vehicle frame
First to fourth link-type track assembly B-a, B-b, B-c, B-d, first and second link-type track assembly B-a, B-b on A
Realized respectively with the front end two sides of vehicle frame A rotation connection, third and fourth link formula track assembly B-c, B-d respectively with vehicle frame A
Rear end sides realize rotation connection, the front end vehicle frame A two sides arrangement there are two motor C-a, C-b, vehicle frame A rear end sides are disposed with
Two motors C-c, C-d；Four motors C-a, C-b, C-c, C-d respectively drive first should to the realization of fourth link formula track assembly
The movement of obstacle detouring system and obstacle detouring.
The first connecting rod formula track assembly includes: crawler belt, central axis, the first to the 6th carrier wheel, first to the tenth
Three-link, gear drive knot.
The first connecting rod formula track assembly passes through on the central axis and front frame on first connecting rod formula track assembly
Motor is connected, and realizes and be rotatablely connected with front frame.
Second to shape, mechanical structure and the assembly side of fourth link formula track assembly and first connecting rod formula track assembly
Formula is identical.
By above-mentioned connection, the assembling of first connecting rod formula track assembly to fourth link formula track assembly is completed.
The gear transmission structure includes: a gear wheel, connecting rod, four pinion gears；
Passive deformation carries out crawler type obstacle detouring or convertible obstacle detouring when obstacle detouring system of the present invention encounters obstacle, mentions
The high handling capacity of obstacle detouring system.
Detailed description of the invention
A kind of whole three-dimensional figure of deformable link-type crawler belt obstacle detouring system of Fig. 1；
Fig. 2 link-type track assembly three-dimensional figure one；
Fig. 3 link-type track assembly three-dimensional figure two；
Fig. 4 gear transmission structure three-dimensional figure；
Fig. 5 conventional track formula obstacle detouring schematic diagram；
Fig. 6 deformed caterpillar formula obstacle detouring schematic diagram；
Fig. 7 overturns great-leap-forward obstacle detouring schematic diagram.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
A kind of deformable link-type crawler belt obstacle detouring system, as shown in Figure 1, including vehicle frame A, first be arranged on vehicle frame A
To fourth link formula track assembly B-a, B-b, B-c, B-d；First and second link-type track assembly B-a, B-b respectively with vehicle frame
The front end two sides of A realize rotation connection, third and fourth link formula track assembly B-c, B-d rear end sides with vehicle frame A respectively
Realize that there are two motor C-a, C-b for rotation connection, the front end vehicle frame A two sides arrangement, there are two motor C- for vehicle frame A rear end sides arrangement
c,C-d；Four motors C-a, C-b, C-c, C-d respectively drive first and realize the obstacle detouring system to fourth link formula track assembly
Mobile and obstacle detouring.
As shown in Figures 2 and 3, the first connecting rod formula track assembly B-a includes: crawler belt B-a-1, the first to the 6th support
Belt wheel B-a-2, B-a-3, B-a-4, B-a-5, B-a-6, B-a-7, first to the tenth three-link B-a-8, B-a-9, B-a-10, B-
A-11, B-a-12, B-a-13, B-a-14, B-a-15, B-a-16, B-a-17, B-a-18, B-a-19, B-a-20, gear drive
Structure B-a-21, central axis B-a-22；As shown in Fig. 2, first, second carrier wheel B-a-2, B-a-3 respectively with first connecting rod B-
A-8 realizes rotation connection, and the first, the 6th carrier wheel B-a-2, B-a-7 and second connecting rod B-a-9, which are realized, to be rotatablely connected, the 4th, the
Five carrier wheel B-a-5, B-a-6 realize rotation connection, first, third carrier wheel B-a-2, B-a- with fourth link B-a-11 respectively
4 respectively with third connecting rod B-a-10 realize be rotatablely connected, the five, the 6th carrier wheel B-a-6, B-a-7 respectively with the 5th connecting rod B-
A-12 realize rotation connection, the 6th, seven-link assembly B-a-13 and B-a-14 respectively with third, the 5th connecting rod B-a-10, B-a-12
Realize rotation connection；As shown in figure 3, the 8th connecting rod B-a-15 and fourth link B-a-11 achieves a fixed connection, the 9th connecting rod B-
A-16 realizes rotation connection, the tenth connecting rod B-a-17 and third connecting rod B- with the second, the 6th carrier wheel B-a-3 and B-a-7 respectively
A-10 achieves a fixed connection, and the 11st connecting rod B-a-18 and first connecting rod B-a-8 achieves a fixed connection, the 12nd connecting rod B-a-19
Achieve a fixed connection with the 5th connecting rod B-a-12, the tenth three-link B-a-20 respectively with third, the 4th carrier wheel B-a-4, B-a-5
Realize rotation connection.
The crawler belt B-a-1 respectively with first to the 6th carrier wheel B-a-2, B-a-3, B-a-4, B-a-5, B-a-6, B-
A-7 realizes engagement connection.
The first connecting rod formula track assembly B-a passes through the central axis B-a-22 on first connecting rod formula track assembly B-a
It is connected with the motor C-a on vehicle frame A, and realizes and be rotatablely connected with vehicle frame A.
Shape, the machinery of second to fourth link formula track assembly B-b, B-c, B-d and first connecting rod formula track assembly B-a
Structure and assembly method are identical.
By above-mentioned connection, the assembling of first connecting rod formula track assembly B-a to fourth link formula track assembly B-d is completed.
As shown in figure 4, the gear transmission structure B-a-21 includes: the 14th to the 15th connecting rod B-a-21-1, B-
A-21-2, gear wheel B-a-21-3, first to fourth pinion gear B-a-21-4, B-a-21-5, B-a-21-6, B-a-21-7.
The tenth double leval jib B-a-21-1 and second connecting rod B-a-9 achieves a fixed connection, the tenth double leval jib B-a-21-
1 achieves a fixed connection with 15 connecting rod B-a-21-2；Gear wheel B-a-21-3 and the 14th, 15 connecting rod B-a-21-1, B-a-
Realize rotation connection, first to fourth pinion gear B-a-21-4, B-a-21-5, B-a-21-6, B-a-21- in the middle position of 21-2
7 be arranged in 14,15 connecting rod B-a-21-1, B-a-21-2 it is upper and with 14,15 connecting rod B-a-21-1, B-a-21-2
Realize rotation connection；Second, third pinion gear B-a-21-5, B-a-21-6 realizes that gear is nibbled with gear wheel B-a-21-3 respectively
It closes, the first pinion gear B-a-21-4 and the second pinion gear B-a-21-5 realization gear engage, third pinion B-a-21-6 and the
Four pinion gear B-a-21-7 realize gear engagement, and gear wheel B-a-21-3 achieves a fixed connection with central axis B-a-22, and first is small
Gear B-a-21-4 achieves a fixed connection with third carrier wheel B-a-4, fourth pinion B-a-21-7 and the 6th carrier wheel B-a-7
It achieves a fixed connection.
The deformable link-type crawler belt obstacle detouring system, may be implemented crawler-type mobile obstacle detouring under different terrain and
Overturn the mobile obstacle detouring mode of great-leap-forward.
As shown in figure 5, deformable link-type crawler belt obstacle detouring system when encountering smaller obstacle, is acted in the tractive force of crawler belt
Under clear the jumps, realize conventional track formula obstacle detouring mode.
As shown in fig. 6, deformable link-type crawler belt obstacle detouring system passes through link mechanism quilt when encountering different height obstacle
Dynamic deformation increases its obstacle climbing ability, realizes deformed caterpillar formula obstacle detouring mode.
As shown in fig. 7, the resistance when deformable link-type crawler belt obstacle detouring system encounters higher barrier, by barrier
Gear, the overturning of link-type track assembly complete cycle clear the jumps, and realization carries out overturning great-leap-forward obstacle detouring mode.
Claims (3)
1. a kind of deformable link-type crawler belt obstacle detouring system, it is characterized in that:
The deformable link-type crawler belt obstacle detouring system includes vehicle frame (A), first to fourth link-type being arranged on vehicle frame (A) shoe
With component (B-a, B-b, B-c, B-d), first and second link-type track assembly (B-a, B-b) front end with vehicle frame (A) respectively
Realize that rotation connection, third and fourth link formula track assembly (B-c, B-d) are realized with the rear end sides of vehicle frame (A) respectively in two sides
There are two motor (C-a, C-b) for rotation connection, the front end two sides vehicle frame (A) arrangement, and there are two motors for vehicle frame (A) rear end sides arrangement
(C-c,C-d)；Four motors (C-a, C-b, C-c, C-d) respectively drive first and realize the obstacle detouring to fourth link formula track assembly
The movement of system and obstacle detouring.
2. a kind of deformable link-type crawler belt obstacle detouring system described according to claim 1, it is characterized in that:
The first connecting rod formula track assembly (B-a) includes: crawler belt (B-a-1), first to the 6th carrier wheel (B-a-2, B-a-
3, B-a-4, B-a-5, B-a-6, B-a-7), the first to the tenth three-link (B-a-8, B-a-9, B-a-10, B-a-11, B-a-12,
B-a-13, B-a-14, B-a-15, B-a-16, B-a-17, B-a-18, B-a-19, B-a-20), gear transmission structure (B-a-
21), central axis (B-a-22)；
First, second carrier wheel (B-a-2, B-a-3) is rotatablely connected with first connecting rod (B-a-8) realization respectively, first,
6th carrier wheel (B-a-2, B-a-7) and second connecting rod (B-a-9), which are realized, to be rotatablely connected, the four, the 5th carrier wheel (B-a-5, B-
A-6) respectively with fourth link (B-a-11) realize be rotatablely connected, first, third carrier wheel (B-a-2, B-a-4) respectively with third
Connecting rod (B-a-10) realizes rotation connection, and the five, the 6th carrier wheels (B-a-6, B-a-7) are real with the 5th connecting rod (B-a-12) respectively
Now it is rotatablely connected；6th, seven-link assembly (B-a-13, B-a-14) is realized with third, the 5th connecting rod (B-a-10, B-a-12) respectively
Rotation connection, the 8th connecting rod (B-a-15) achieve a fixed connection with fourth link (B-a-11), and the 9th connecting rod (B-a-16) is respectively
It realizes and is rotatablely connected with the second, the 6th carrier wheel (B-a-3, B-a-7), the tenth connecting rod (B-a-17) and third connecting rod (B-a-10)
It achieves a fixed connection, the 11st connecting rod (B-a-18) achieves a fixed connection with first connecting rod (B-a-8), the 12nd connecting rod (B-a-
19) achieve a fixed connection with the 5th connecting rod (B-a-12), the tenth three-link (B-a-20) respectively with third, the 4th carrier wheel (B-
A-4, B-a-5) realize rotation connection；
The crawler belt (B-a-1) respectively with first to the 6th carrier wheel (B-a-2, B-a-3, B-a-4, B-a-5, B-a-6, B-
A-7 engagement connection) is realized；
The first connecting rod formula track assembly (B-a) passes through the central axis (B-a- on first connecting rod formula track assembly (B-a)
22) it is connected with the motor (C-a) on vehicle frame (A), and realizes and be rotatablely connected with vehicle frame (A)；
Second shape to fourth link formula track assembly (B-b, B-c, B-d) and first connecting rod formula track assembly (B-a), machinery
Structure and assembly method are identical；
By above-mentioned connection, the assembling of first to fourth link-type track assembly (B-a, B-b, B-c, B-d) is completed.
3. according to the gear transmission structure (B-a-21) that claim 2 describes, it is characterized in that:
The gear transmission structure (B-a-21) includes: the 14th to the 15th connecting rod (B-a-21-1, B-a-21-2), canine tooth
Take turns (B-a-21-3), first to fourth pinion gear (B-a-21-4, B-a-21-5, B-a-21-6, B-a-21-7)；
Tenth double leval jib (B-a-21-1) achieves a fixed connection with second connecting rod (B-a-9), the tenth double leval jib (B-a-
21-1) achieve a fixed connection with the 15th connecting rod (B-a-21-2)；Gear wheel (B-a-21-3) and the 14th, 15 connecting rod (B-
A-21-1, B-a-21-2) middle position realize rotation connection, first to fourth pinion gear (B-a-21-4, B-a-21-5, B-
A-21-6, B-a-21-7) be arranged on the 14th, 15 connecting rods (B-a-21-1, B-a-21-2) and with the 14th, 15
Connecting rod (B-a-21-1, B-a-21-2) realizes rotation connection；Second, third pinion gear (B-a-21-5, B-a-21-6) respectively with
Gear wheel (B-a-21-3) realizes gear engagement, and the first pinion gear (B-a-21-4) and the second pinion gear (B-a-21-5) realize tooth
Wheel engagement, third pinion (B-a-21-6) realize that gear engages with fourth pinion (B-a-21-7), gear wheel (B-a-21-
3) it achieves a fixed connection with central axis (B-a-22), the first pinion gear (B-a-21-4) and third carrier wheel (B-a-4) are realized admittedly
Fixed connection, fourth pinion (B-a-21-7) achieve a fixed connection with the 6th carrier wheel (B-a-7).
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| CN201910315716.3A CN110171495A (en) | 2019-04-19 | 2019-04-19 | A kind of deformable link-type crawler belt obstacle detouring system |
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|---|---|---|---|
| CN201910315716.3A CN110171495A (en) | 2019-04-19 | 2019-04-19 | A kind of deformable link-type crawler belt obstacle detouring system |
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| CN113401238A (en) * | 2021-07-21 | 2021-09-17 | 北京交通大学 | Foldable and deformable crawler |
| CN114506390A (en) * | 2021-12-28 | 2022-05-17 | 高维智控机器人科技(苏州)有限公司 | Four-wheel carrying crawler type mobile chassis structure |
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