CN110282041A - A kind of full terrain self-adaptive intelligent family moving platform and its working method - Google Patents
A kind of full terrain self-adaptive intelligent family moving platform and its working method Download PDFInfo
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- CN110282041A CN110282041A CN201910721061.XA CN201910721061A CN110282041A CN 110282041 A CN110282041 A CN 110282041A CN 201910721061 A CN201910721061 A CN 201910721061A CN 110282041 A CN110282041 A CN 110282041A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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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
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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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention relates to a kind of full terrain self-adaptive intelligent family moving platform and its working methods, component, power-transmitting part, driving assembly are adjusted including mobile chassis, suspension assembly, damping crawler belt, suspension angles, mobile chassis includes car body, upper cover plate and side plate, the upper surface of car body is fixed with upper cover plate, the two sides of car body are respectively arranged with side plate, suspension assembly, damping crawler belt, suspension angles adjustment component, power-transmitting part, driving assembly are provided with two sets, are respectively arranged at the two sides of upper cover plate.Component cooperation rotation arch wheel and worm gear structure are adjusted by suspension angles, the left and right angle adjustment of suspension assembly relative movement platform body is realized, the obstacle detouring of all kinds of " ∨ " shapes, " ∧ " shape ramp or other complicated grounds is passed through to realize.It is persistently exported by the power that the power-transmitting part under varied angle realizes the left and right angle adjustment that suspension assembly relatively moves platform body, ensure that the power resources of mobile platform under suspension angles adjustment function.
Description
Technical field
The invention belongs to mobile underpan technical fields, and in particular to a kind of full terrain self-adaptive intelligent family moving platform
And its working method.
Background technique
Crawler-type mobile chassis, have many advantages, such as flexible movements, with contact area of ground is big, to pass through barrier ability strong,
With respect to wheel type mobile chassis, crawler-type mobile chassis is due to being provided with suspended shock absorbing mechanism, having stronger obstacle performance and answering
Miscellaneous landform handling capacity.Therefore the walking mechanism of crawler-type mobile chassis and matched suspended structure as associated mechanical,
Developing direction is always around security reliability, applied widely, ease-to-operate, environmental protection and energy saving and hair at low cost etc.
Exhibition is always continually striving to improve both at home and abroad in this respect.
Crawler-type mobile chassis mainly uses the shockproof suspension system of specific structure at present, and is generally divided into each side
Symmetrical suspended structure is set, and the quantity of suspension is even number.Such as Patent No. 201610049480.X invention disclosed patent
A kind of crawler body, the general chassis of track robot etc. that Patent No. 201210043540.9 is announced.
In order to improve the obstacle performance or passability of mobile chassis, improved and optimizated frequently with following several modes:
(1) suspended structure carries out the angle horizontal adjustment that structure changes realize mobile platform or so or front and back
It is the 201820105211.5 endless-track vehicle chassis regulation and control systems announced that typical technical solution, which has patent, is led to
Obliquity sensor detection chassis inclination angle is crossed, the horizontal adjusting that suspension left and right telescoping mechanism realizes the left and right directions of platform is changed.Also
Have Patent No. 201721341789.2 announce a kind of angle adjustable dolly chassis, using control front and rear suspension malformation,
Realize the adjustment of platform front and rear angles to adapt to the different gradients.
(2) adjustment of mobile platform height is realized in suspended structure deformation
A kind of adjustable crawler attachment that typical technical solution has Patent No. 201810575356.6 to announce, passes through tune
Whole hydraulic pole length realizes the height adjustment on chassis, to improve the passability of caterpillar chassis.
(3) the advance bow of suspended structure deformation adjustment pedrail mechanism is to angle
The crawler belt angle for the pipe robot that typical technical solution has Patent No. 201621305890.8 to announce is adaptive
Mechanism is answered, the bow for changing two sides caterpillar drive by adjusting electric pushrod is realized to angle adapts to the pipeline of different tube diameters.
The suspended structure on existing crawler-type mobile chassis is generally only capable of changing height to realize the horizontal angle to platform
Degree or height adjust, when suspended structure is by " ∨ " shape or " ∧ " shape ramp or the ramp of other two sides angle differences, crawler belt
It can occur serious deformation, slight person damages crawler belt or falls band, heavy then make left and right sides caterpillar belt structure unbalance stress that car body occur and damage
Wound seriously endangers the mobile service life of crawler belt, is that crawler-type mobile chassis passability and obstacle detouring propose huge challenge.
Summary of the invention
The purpose of the present invention is to provide a kind of full terrain self-adaptive intelligent family moving platform and its working methods, by real-time
The operating angle for changing side-by-side mounting structure, makes carrying roller and crawler belt preferably be bonded ground, solves current caterpillar chassis and exist
Pass through passage capacity weak problem when " ∨ " shape or the shape ramp " ∧ ".
The technical solution adopted by the present invention to solve the technical problems is: a kind of full terrain self-adaptive intelligent family moving platform,
Component, power-transmitting part, driving assembly, mobile bottom are adjusted including mobile chassis, suspension assembly, damping crawler belt, suspension angles
Disk includes car body, upper cover plate and side plate, and the upper surface of car body is fixed with upper cover plate, and the two sides of car body are respectively arranged with side plate, is hanged
Hanging component, damping crawler belt, suspension angles adjustment component, power-transmitting part, driving assembly are provided with two sets, are respectively arranged at
The two sides of upper cover plate.
Suspension assembly is set on the outside of side plate, and suspension assembly is connect with damping crawler belt, suspension assembly also with power transmission part
One end of part connects, and the other end of power-transmitting part is connect with driving assembly, and driving assembly is fixed on caterpillar chassis, hangs
It hangs angle regulation component one end to be fixed on upper cover plate, the other end is connect with side plate.
Every set suspension angles adjustment component includes pedestal, rotation arch wheel, Rotating Plates, worm screw, driving motor, pedestal U
The front end face of type groove structure, pedestal is fixed on upper cover plate, and the rotation for capableing of opposite base rotation is connected in the U-type groove of pedestal
Arch wheel, rotation arch wheel are fixed in Rotating Plates, and Rotating Plates are fixed on side plate, and rotation arch wheel engages connection, snail with worm screw
Bar connects the output shaft of driving motor, and driving motor is fixed on upper cover plate.
Specifically, the U-type groove inner wall two sides of the pedestal are provided with arc convex, the two sides of rotation arch wheel are provided with slot
Mouthful, arc convex is placed in notch, and arc convex matches the angle rotation for realizing rotation arch wheel opposite base with notch.
Further, the rotation arch wheel is semi-cylindrical in configuration, and rotation arch wheel is equipped with turbine screw thread, and worm screw is equipped with snail
Bar screw thread, turbine screw thread are matched with worm thread.
Specifically, every set suspension assembly includes suspension skeleton, damping, driving wheel, carrying roller, suspension skeleton is fixed on
The outside of side plate, the rear end for hanging skeleton are equipped with driving wheel, and the axle center of driving wheel and one end of power-transmitting part connect, hang
Linked bone frame is connected by damping and the carrying roller of lower section, and the train outer rim engagement of driving wheel, carrying roller composition, which is connected with, to be subtracted
Shake crawler belt.
Further, the damping quantity is more sets, including vibration damper plate, elastic element, is propped up damping crawler belt
Support.
Specifically, every set power-transmitting part includes base disc, main sliding shoe, secondary sliding shoe, main transmission axle, secondary transmitting
Axis, main power shaft, secondary line shaft, power commutation component, base disc is vertical to be set to upper cover plate rear end sides, and base disc is
Round dish structure, two sides are along the circumferential direction respectively arranged with commutation notch, in two commutation notches respectively it is clamped have main sliding shoe and
Secondary sliding shoe, the inside of main sliding shoe connect main transmission axle, and the outside of main sliding shoe connects main power shaft, the inside of secondary sliding shoe
Auxiliary connection transmission axle, the outside auxiliary connection line shaft of secondary sliding shoe, main transmission axle is oppositely arranged with secondary transmission axle and main transmission axle
By power commutation component and secondary transmitting axis connection, main power shaft is connect with driving assembly, in secondary line shaft and suspension assembly
The axle center of driving wheel connects.
Further, the bottom of the main sliding shoe and secondary sliding shoe is equipped with shaft, main sliding shoe and secondary sliding shoe point
Not Tong Guo shaft it is clamped in commutation notch, and main sliding shoe and secondary sliding shoe by shaft in commutation notch sliding.
Further, the power commutation component is changed including the first inverting seat, the first commutation section, the second commutation section, second
To seat, the end of main transmission axle is fixed in one end of the first inverting seat, and the other end of the first inverting seat connects two set of first commutation
Section, two set of first commutation section is oppositely arranged and centre is there are gap, and the end of secondary transmission axle is fixed in one end of the second inverting seat,
The other end of second inverting seat connects the second commutation section, and the second commutation section is embedded in the gap between two set of first commutation section.
Specifically, every set driving assembly includes servo motor and deceleration mechanism, servo motor is fixed in car body, servo electricity
The shaft of machine connects deceleration mechanism, and the output end of deceleration mechanism and the main power shaft of power-transmitting part connect.
The working method of above-mentioned full terrain self-adaptive intelligent family moving platform the following steps are included:
1) movement step of the mobile platform in normal ground environment:
A, suspension angles adjustment component is in original state, acts without angle adjustment；Servo motor is forward or backwards
Rotation, drive deceleration mechanism rotation, to drive the main power shaft rotation connecting with deceleration mechanism output wheel, so by with master
The sequentially connected main sliding shoe of line shaft, main transmission axle, power commutation component, secondary transmission axle, secondary sliding shoe, secondary line shaft it is dynamic
Power transmitting drives to be rotated with the secondary connected driving wheel of line shaft, realizes the laying to damping crawler belt.
B, when mobile platform need to turn, by adjusting revolving speed or the steering of two sets of left and right servo motor, to the left and right sides
The driving speed or direction difference of driving wheel realize that platform turns to.
2) mobile platform suspension angles set-up procedure:
A, when mobile platform needs cross the shape ramp " ∨ ", driving motor is rotated forward, and drives worm screw and snail thereon
Bar threads turn, to drive rotation arch wheel stress, realizes that rotation arch wheel is opposite by the cooperation of worm thread and turbine screw thread
The angular deflection of pedestal is connected with suspension assembly on the outside of side plate since rotation arch wheel is connected with side plate by Rotating Plates, thus
The final left and right angular deflection adjustment for realizing suspension assembly relative movement chassis upper body, makes suspension assembly that movement angle occur and increases
Big adjustment makes suspension assembly and the damping crawler belt of outside adapt to specific grade.
B, during angle of the above-mentioned suspension angles adjustment component to suspension assembly adjusts, due to suspension assembly and thereon
Driving wheel deflect with respect to car body, at this time power transmitting angle also deflect, it is specific as follows: when suspension angles adjust
When component realizes that angle increases to the angle adjustment of suspension assembly, suspension assembly and connected driving wheel etc. occur angle and increase
Adjustment, to make the secondary line shaft connecting with driving wheel that angle change occur, to drive secondary sliding shoe changing along base disc
Angle change occurs to notch, and then drives secondary transmission axle angle adjustment, drives the with connected second commutation section of secondary transmission axle
Angle adjustment occurs for one commutation section, and power transmitting at this time is not interrupted, to realize that the power under angle increase adjustment persistently passes
It passs.
C, when mobile platform needs cross the shape ramp " ∧ ", adjustment process is opposite with the process in above-mentioned steps a.
D, when mobile platform needs to cross the ramp of other two sides angle differences, adjustment process and above-mentioned steps a or step
Principle of Process in rapid b is similar, unlike the left and right sides suspension angles adjustment component to the adjustment angle of suspension assembly not
Together.
The invention has the following advantages:
(1) component cooperation rotation arch wheel and worm gear structure are adjusted by suspension angles, realizes that suspension assembly is opposite and moves
The left and right angle of moving platform ontology adjusts, to realize the obstacle detouring to all kinds of " ∨ " shapes, " ∧ " shape ramp or other complicated grounds
Pass through, improve the obstacle performance of mobile platform, protect platform security and stability, further improves platform to all kinds of
The applicability of complicated ground environment.
(2) by the power-transmitting part under varied angle, sliding shoe, Embedded power commutation component is set, realized
The power of the left and right angle adjustment of suspension assembly relative movement platform body persistently exports, and ensure that under suspension angles adjustment function
The power resources of mobile platform improve mobile platform multifunctionality and high adaptivity.
Detailed description of the invention
Fig. 1 is full terrain self-adaptive intelligent family moving platform schematic perspective view of the invention.
Fig. 2 is full terrain self-adaptive intelligent family moving platform schematic view of the front view of the invention.
Fig. 3 is full terrain self-adaptive intelligent family moving platform overlooking structure diagram of the invention.
Fig. 4 is the schematic view of the front view of power-transmitting part of the present invention.
Fig. 5 is the left view structural representation of power-transmitting part of the present invention.
Fig. 6 is the schematic perspective view of power-transmitting part of the present invention.
Fig. 7 is the partial enlargement structural representation of power commutation component in power-transmitting part of the present invention.
Fig. 8 is the schematic view of the front view of suspension angles adjustment component of the present invention.
Fig. 9 is the schematic perspective view of suspension angles adjustment component of the present invention.
Figure 10 is the mounting structure side view of suspension angles adjustment component of the present invention.
Specific embodiment
The following is specific embodiments of the present invention, is described further to technical solution of the present invention, but of the invention
Protection scope is not limited to these examples.It is all to be included in the present invention without departing substantially from the change of present inventive concept or equivalent substitute
Protection scope within.
As shown in Figure 1-3, a kind of full terrain self-adaptive intelligent family moving platform, including mobile chassis 1, suspension assembly 2, damping
Crawler belt 3, suspension angles adjust component 4, power-transmitting part 5, driving assembly 6.
Mobile chassis 1 provides the functions such as support, installation and protection for intelligent family moving platform and its attached component.Mobile bottom
Disk 1 includes car body 1-1, upper cover plate 1-2 and side plate 1-3, and it is plate that car body 1-1, which is the support ontology on a whole set of crawler-type mobile chassis,
Shape structure, outside are provided with multiple baffles to realize that car body main structure is closed.The upper surface of car body 1-1 is fixed with upper cover plate
1-2, upper cover plate 1-2 are horizontal rectangular flat plate structure, and the two sides of car body 1-1 are respectively arranged with side plate 1-3, outside side plate 1-3
Shape is rectangular slab.
Suspension assembly 2, damping crawler belt 3, suspension angles adjustment component 4, power-transmitting part 5, driving assembly 6 are provided with
Two sets；Suspension assembly 2 is set on the outside of side plate 1-3, and suspension assembly 2 is connect with damping crawler belt 3, and suspension assembly 2 is also passed with power
One end of dynamic component 5 connects, and the other end of power-transmitting part 5 is connect with driving assembly 6, and driving assembly 6 is fixed on crawler type
On chassis 1, suspension angles adjustment 4 one end of component is fixed on upper cover plate 1-2, and the other end is connect with side plate 1-3.By hanging angle
Angle adjustment of the side plate 1-3 with respect to upper cover plate 1-2 is realized in the adjusting of degree adjustment component 4.
Suspension assembly 2 mainly realizes damping effect by each structure, so that the contact by crawler belt with ground such as shake at the progress
Weakening even is eliminated, and stabilization of equipment performance and safety are filled in guarantee；It simultaneously can also be real by adjusting the angle for itself hanging skeleton
Now to the obstacle detouring passage capacity of all kinds of " ∨ " shapes, " ∧ " shape ramp or other complicated grounds.
Every set suspension assembly 2 includes suspension skeleton 2-1, damping 2-2, driving wheel 2-3, carrying roller 2-4, hangs skeleton
2-1 is hollowed-out board structure, and suspension skeleton 2-1 is fixed on the outside of the side plate 1-3 of the two sides car body 1-1, hangs and sets on skeleton 2-1
The structures such as damping 2-2, driving wheel 2-3 are equipped with, the main shock-absorbing support function of realizing chassis.Hang the rear end of skeleton 2-1
Driving wheel 2-3 is installed, driving wheel 2-3 is wheel-like structure, and two sides are equipped with gear structure, is used for and 3 inner tines of damping crawler belt
Wheel engagement, the axle center of driving wheel 2-3 are connect with the secondary line shaft 5-7 of power-transmitting part 5, and driving wheel 2-3 passes through secondary line shaft
The power transmitting effect of 5-7 realizes that itself driving rotation realizes dynamic movement effect so that damping crawler belt 3 be driven to rotate.Suspension
Skeleton 2-1 passes through the carrying roller 2-4 connection of damping 2-2 and lower section, the train outer rim that driving wheel 2-3, carrying roller 24 form
Engagement is connected with damping crawler belt 3.Damping 2-2 is the suspended shock absorbing mechanism of the compositions such as vibration damper plate, elastic element, and quantity is more
Set, is supported damping crawler belt 3.Carrying roller 2-4 is contacted with damping crawler belt 3, guarantees the contact area of mobile chassis and ground,
Bearing chassis and upper installing are standby.
It totally two, damping crawler belt 3, is separately positioned on by driving wheel 2-3, carrying roller 2-4 are formed in suspension assembly 2 train
At profile outer rim.The function of damping crawler belt mainly realizes rotation by being driven by driving wheel 2-3, thus by carrying roller 2-4
Continuous rolling, which is laid with function, to be realized to the supporting role of damping crawler belt 3, and then mobile chassis 1 is driven to move.
As seen in figs. 8-10, suspension angles adjustment 4 quantity of component is two sets, is respectively arranged at the lower end surface upper cover plate 1-2
Symmetrically locate the left and right sides.Every set suspension angles adjustment component 4 includes pedestal 4-1, rotation arch wheel 4-2, Rotating Plates 4-3, worm screw
4-4, driving motor 4-5.
Pedestal 4-1 is U-type groove structure, and the front end face of pedestal 4-1 is fixed on upper cover plate 1-2 wall surface, with upper cover plate 1-2 wall
It is provided with driving motor 4-5 at the position of face contact, the rotation for capableing of opposite base 4-1 rotation is connected in the U-type groove of pedestal 4-1
Turn arch wheel 4-2, the U-type groove inner wall two sides of pedestal 4-1 are provided with arc convex 4-1-1, the two lateral edge radius sides of rotation arch wheel 4-2
To notch 4-2-1 is provided with, arc convex 4-1-1 is placed in notch 4-2-1, and arc convex 4-1-1 is matched with notch 4-2-1
Realize the angle rotation of rotation arch wheel 4-2 opposite base 4-1.
Rotation arch wheel 4-2 is semi-cylindrical in configuration, and the bottom face of rotation arch wheel 4-2 is fixed on Rotating Plates 4-3, rotation arch
It takes turns the cylindrical surface 4-2 and is equipped with turbine screw thread 4-2-2, worm screw 4-4 is equipped with worm thread 4-4-1, turbine screw thread 4-2-2 and snail
Bar screw thread 4-4-1 is matched.Effect are as follows: when worm screw 4-4 rotation, due to the thread worm screw thread 4-4-1 on worm screw and rotate
Turbine screw thread 4-2-2 mating reaction on arch wheel 4-2 realizes rotation arch wheel 4-2 relative to the rotation of worm screw 4-4.Due to worm screw 4-4
It is connected on upper cover plate 1-2 by driving motor 4-5, therefore angular deflection can be occurred by upper cover plate 1-2 relatively by rotating arch wheel 4-2.
Rotating Plates 4-3 is square plate structure, and Rotating Plates 4-3 is fixed on side plate 1-3, when wheel 4-2 hair is encircleed in rotation
When raw angular deflection, Rotating Plates 4-3 rotation is driven, and then drive side plate 1-3 that angle occurs with respect to car body 1-1 and upper cover plate 1-2
Degree deflection adjusts the angle of suspension assembly 2 to realize.Rotation arch wheel 4-2 engages connection with worm screw 4-4, and worm screw 4-4 is length
Thin column structure, the output shaft of worm screw 4-4 connection driving motor 4-5, driving motor 4-5 are fixed on upper cover plate 1-2.Driving electricity
Machine 4-5 rotation drives worm screw 4-4 rotation, to realize the adjustment of angle between rotation arch wheel 4-2 opposite base 4-1.
The overall work effect of above-mentioned suspension angles adjustment component 4 are as follows: when driving motor 4-5 is rotated, drive worm screw 4-4 and
Worm thread 4-4-1 rotation thereon, by the cooperation of worm thread 4-4-1 and turbine screw thread 4-2-2, so that rotation be driven to encircle
4-2 stress is taken turns, due to the mating reaction of notch 4-2-1 on arc convex 4-1-1 on pedestal 4-1 and rotation arch wheel 4-2, thus
Realize the angular deflection of rotation arch wheel 4-2 opposite base 4-1.Encircle wheel 4-2 due to rotation and side plate is connected with by Rotating Plates 4-3
It is connected with suspension assembly 2 on the outside of 1-3, side plate 1-3, to finally realize that suspension assembly 2 relatively moves 1 upper body 1-1's of chassis
Angular deflection adjustment in left and right adjusts to make suspension assembly 2 that movement angle dynamic occur.
As Figure 4-Figure 6,5 same number of power-transmitting part is two sets, is respectively arranged at driving wheel 2-3 and deceleration mechanism
Among 6-2, major function are as follows: when suspension angles adjustment component 4 adjusts 2 angle of suspension assembly, power-transmitting part at this time
5 are adjusted by angle, and realization equally exports power to driving wheel 2-3 from the output shaft of deceleration mechanism 6-2.Every set power
Transmission parts 5 include base disc 5-1, main sliding shoe 5-2, secondary sliding shoe 5-3, main transmission axle 5-4, secondary transmission axle 5-5, active
Power axis 5-6, secondary line shaft 5-7, power commutation component 5-8.
Base disc 5-1 is vertical to be set to upper cover plate 1-2 rear end sides, and base disc 5-1 is round dish structure, two lateral edges
Circumferencial direction is respectively arranged with commutation notch 5-1-1, clamped respectively in two commutation notch 5-1-1 to have main sliding shoe 5-2 and pair sliding
Motion block 5-3, to cooperate main sliding shoe 5-2 and secondary sliding shoe 5-3 opposite base disk 5-1 angular turn.
Main sliding shoe 5-2 is cube structure, is arranged in the side base disc 5-1, is internally provided with through-hole, to pass through master
The bottom of line shaft 5-6 and main transmission axle 5-4, main sliding shoe 5-2 are equipped with shaft 5-2-1, to be embedded in commutation notch 5-1-1,
Realize the angle adjustment of main sliding shoe 5-2 opposite base disk 5-1.The inside of main sliding shoe 5-2 connects main transmission axle 5-4, main
One end of outside connection the main power shaft 5-6, main transmission axle 5-4 and main power shaft 5-6 of sliding shoe 5-2 are in main sliding shoe 5-2's
Connection in through-hole, realizes power transmission.The other end of main power shaft 5-6 and the output shaft of the deceleration mechanism 6-2 in driving assembly 6
Connection.
Secondary sliding shoe 5-3 is similar with main sliding shoe 5-2 function and structure, is arranged in the other side base disc 5-1.Inside is set
It is equipped with through-hole, the bottom to pass through pair line shaft 5-7 and secondary transmission axle 5-5, secondary sliding shoe 5-3 is equipped with shaft 5-2-1, to
Insertion commutation notch 5-1-1 realizes the angle adjustment of secondary sliding shoe 5-3 opposite base disk 5-1.The inside of secondary sliding shoe 5-3
The one of the outside auxiliary connection line shaft 5-7 of auxiliary connection transmission axle 5-5, secondary sliding shoe 5-3, secondary transmission axle 5-5 and secondary line shaft 5-7
It holds and is connected in the through-hole of secondary sliding shoe 5-3, realize power transmission.The other end of secondary line shaft 5-7 and the master in suspension assembly 2
The axle center of driving wheel 2-3 connects.
Main transmission axle 5-4 is oppositely arranged with pair transmission axle 5-5, and main transmission axle 5-4 passes through power commutation component 5-8 and pair
Transmission axle 5-5 connection.Power commutation component 5-8 mainly realizes that self-view adjusts, and realizes the main transmitting being connected with itself left and right
Angle adjustment between axis 5-4 and secondary transmission axle 5-5.
As shown in fig. 7, power commutation component 5-8 includes the first inverting seat 5-8-1, the first commutation section 5-8-2, the second commutation
Save 5-8-3, the second inverting seat 5-8-4.
First inverting seat 5-8-1 is frustum cone structure, and main transmission axle 5-4's be fixed in an end face of the first inverting seat 5-8-1
End, it is opposite that the other end of the first inverting seat 5-8-1 connects two set of first commutation section 5-8-2, two set of first commutation section 5-8-2
Setting is respectively arranged at the axle center front and back symmetric position of the first inverting seat 5-8-1, and the first commutation section 5-8-2 shape is semicircle
Cylinder, there are gap between two cylinders, the direction in gap be it is vertical, for placing the second commutation section 5-8-3.
Second inverting seat 5-8-4 is frustum cone structure, and secondary transmission axle 5-5's be fixed in an end face of the second inverting seat 5-8-4
End, the second commutation section of other end the connection 5-8-3, the second commutation section 5-8-3 of the second inverting seat 5-8-4 is semicylinder knot
Structure, the second commutation section 5-8-3 are embedded in the gap between two set of first commutation section 5-8-2.Second commutation section 5-8-3 and two set
Clearance fit between one commutation section 5-8-2 realizes that vertical angle passively converts.
The overall work mechanism of above-mentioned power commutation component 5-8 are as follows:
1) power transfer function: main transmission axle 5-4 rotation drives the first inverting seat 5-8-1 rotation, the first inverting seat 5-8-
1 drives the first commutation section 5-8-2 and is embedded in the second commutation section 5-8-3 rotation of the first commutation section 5-8-2, and then drives the
Two inverting seat 5-8-4 rotation, realizes power transfer function.
2) power transmit angle regulation function: when suspension angles adjustment component 4 carry out angle adjustment, suspension assembly 2 and
Angle adjustment occurs for connected driving wheel 2-3 etc., thus make the secondary line shaft 5-7 on driving wheel 2-3 that angle change occur, thus
It drives pair sliding shoe 5-3 that angle change occurs along the commutation notch 5-1-1 of base disc 5-1, and then drives the pair angle transmission axle 5-5
Degree adjustment drives the first commutation section 5-8-2 that angle adjustment occurs again with the connected second commutation section 5-8-3 of secondary transmission axle 5-5, but
Power transfer function is not interrupted at this time, to realize that the power under angle adjustment persistently transmits.
Driving assembly 6 is robot power drive source and torque transmitting medium.As shown in figure 3, driving assembly 6 includes watching
Motor 6-1 and deceleration mechanism 6-2 are taken, servo motor 6-1 is the power resources of robot motion, and quantity is two sets, is installed respectively
At left and right sides position to the rear inside car body 1-1, the shaft of servo motor 6-1 connects deceleration mechanism 6-2, deceleration mechanism 6-
2 output end is connect with the main power shaft 5-6 of power-transmitting part 5.Deceleration mechanism 6-2 is wheel shaft structure, and quantity is two sets,
Power transmitting and slowing effect are realized by the mechanisms such as belt and belt pulley in centre, and deceleration mechanism 6-2 is by the height of servo motor 6-1
Speed, low torque are converted to low speed, high torque power, to improve robot dynamic strength and load-carrying ability.
The overall work effect of driving assembly 6 are as follows: servo motor 6-1 rotation drives deceleration mechanism 6-2 operating, thus will
Power is transferred on main power shaft 5-6, and power is transferred on driving wheel 2-3 through power-transmitting part 5, is realized to mobile chassis
Power drive.
The working method of above-mentioned full terrain self-adaptive intelligent family moving platform the following steps are included:
1) movement step of the mobile platform in normal ground environment:
A, suspension angles adjustment component 4 is in original state, acts without angle adjustment；Servo motor 6-1 it is positive or
It rotates backward, drive deceleration mechanism 6-2 rotation, to drive main power shaft 5-6 turns connect with deceleration mechanism 6-2 output wheel
It is dynamic, and then by commutating component 5-8, pair with the sequentially connected main sliding shoe 5-2 of main power shaft 5-6, main transmission axle 5-4, power
Transmission axle 5-5, secondary sliding shoe 5-3, secondary line shaft 5-7 power transmission belt it is dynamic with the pair connected driving wheel 2-3 of line shaft 5-7 turns
It is dynamic, realize the laying to damping crawler belt 3.
B, when mobile platform need to turn, by adjusting revolving speed or the steering of two sets of left and right servo motor 6-1, to left and right two
The driving speed or direction difference of side driving wheel 2-3 realizes that platform turns to.
2) mobile platform suspension angles set-up procedure:
A, when mobile platform needs cross the shape ramp " ∨ " when, driving motor 4-5 is rotated forward, drive worm screw 4-4 and its
On worm thread 4-4-1 rotation, by the cooperation of worm thread 4-4-1 and turbine screw thread 4-2-2, thus drive rotation arch take turns
4-2 stress realizes the angular deflection of rotation arch wheel 4-2 opposite base 4-1, encircles wheel 4-2 due to rotation and passes through Rotating Plates 4-3
It is connected with side plate 1-3, is connected with suspension assembly 2 on the outside of side plate 1-3, to finally realize that suspension assembly 2 relatively moves on chassis 1
The left and right angular deflection of car body 1-1 adjusts, and makes suspension assembly 2 that the adjustment that movement angle increases occur, makes suspension assembly 2 and outside
Damping crawler belt 3 adapt to specific grade.
B, during above-mentioned suspension angles adjustment component 4 adjusts the angle of suspension assembly 2, due to suspension assembly 2 and
Driving wheel 2-3 thereon deflects with respect to car body 1-1, and the angle of power transmitting at this time also deflects, specific as follows: when outstanding
When hanging angle adjustment realization angle increase of the angle regulation component 4 to suspension assembly 2, suspension assembly 2 and connected driving wheel
Angle increase adjustment occurs for 2-3 etc., to make the secondary line shaft 5-7 connecting with driving wheel 2-3 that angle change occur, thus band
Along the commutation notch 5-1-1 of base disc 5-1 angle change occurs for dynamic pair sliding shoe 5-3, and then drives secondary transmission axle 5-5 angle
Adjustment drives the first commutation section 5-8-2 that angle adjustment occurs, moves at this time with the connected second commutation section 5-8-3 of secondary transmission axle 5-5
Power transmitting is not interrupted, to realize that the power under angle increase adjustment persistently transmits.
C, when mobile platform needs cross the shape ramp " ∧ ", adjustment process is opposite with the process in above-mentioned steps a.
D, when mobile platform needs to cross the ramp of other two sides angle differences, adjustment process and above-mentioned steps a or step
Principle of Process in rapid b is similar, the difference is that adjustment angle of the suspension angles adjustment component 4 of the left and right sides to suspension assembly 2
It is different.
The present invention is not limited to the above-described embodiments, anyone should learn that the structure made under the inspiration of the present invention becomes
Change, the technical schemes that are same or similar to the present invention are fallen within the scope of protection of the present invention.
Technology not described in detail in the present invention, shape, construction portion are well-known technique.
Claims (10)
1. a kind of full terrain self-adaptive intelligent family moving platform, which is characterized in that including mobile chassis, suspension assembly, damping crawler belt,
Suspension angles adjust component, power-transmitting part, driving assembly, and mobile chassis includes car body, upper cover plate and side plate, car body it is upper
End face is fixed with upper cover plate, and the two sides of car body are respectively arranged with side plate, suspension assembly, damping crawler belt, suspension angles adjustment component,
Power-transmitting part, driving assembly are provided with two sets, are respectively arranged at the two sides of upper cover plate；
Suspension assembly is set on the outside of side plate, and suspension assembly is connect with damping crawler belt, suspension assembly also with power-transmitting part
One end connection, the other end of power-transmitting part are connect with driving assembly, and driving assembly is fixed on caterpillar chassis, hang angle
Degree adjustment component one end is fixed on upper cover plate, and the other end is connect with side plate；
Every set suspension angles adjustment component includes pedestal, rotation arch wheel, Rotating Plates, worm screw, driving motor, and pedestal is U-type groove
The front end face of structure, pedestal is fixed on upper cover plate, and the rotation arch for capableing of opposite base rotation is connected in the U-type groove of pedestal
Wheel, rotation arch wheel are fixed in Rotating Plates, and Rotating Plates are fixed on side plate, and rotation arch wheel engages connection, worm screw with worm screw
The output shaft of driving motor is connected, driving motor is fixed on upper cover plate.
2. full terrain self-adaptive intelligent family moving platform as described in claim 1, which is characterized in that in the U-type groove of the pedestal
Wall two sides are provided with arc convex, and the two sides of rotation arch wheel are provided with notch, and arc convex is placed in notch, arc convex and slot
Mouth matches the angle rotation for realizing rotation arch wheel opposite base.
3. full terrain self-adaptive intelligent family moving platform as described in claim 1, which is characterized in that the rotation arch wheel is semicircle
Rod structure, rotation arch wheel are equipped with turbine screw thread, and worm screw is equipped with worm thread, and turbine screw thread is matched with worm thread.
4. full terrain self-adaptive intelligent family moving platform as described in claim 1, which is characterized in that every set suspension assembly includes outstanding
Linked bone frame, damping, driving wheel, carrying roller, suspension skeleton are fixed on the outside of side plate, and the rear end for hanging skeleton is equipped with master
Driving wheel, the axle center of driving wheel and one end of power-transmitting part connect, and suspension skeleton passes through the carrying roller of damping and lower section
The train outer rim engagement of connection, driving wheel, carrying roller composition is connected with damping crawler belt.
5. terrain self-adaptive intelligent family moving platform as claimed in claim 4 complete, which is characterized in that the damping quantity is
More sets, including vibration damper plate, elastic element, are supported damping crawler belt.
6. full terrain self-adaptive intelligent family moving platform as described in claim 1, which is characterized in that every set power-transmitting part packet
Include base disc, main sliding shoe, secondary sliding shoe, main transmission axle, secondary transmission axle, main power shaft, secondary line shaft, power commutation group
Part, base disc is vertical to be set to upper cover plate rear end sides, and base disc is round dish structure, and two sides are along the circumferential direction set respectively
It is equipped with commutation notch, clamped respectively in two commutation notches to have main sliding shoe and secondary sliding shoe, the inside of main sliding shoe connects main biography
Axis is passed, the outside of main sliding shoe connects main power shaft, the inside auxiliary connection transmission axle of secondary sliding shoe, the outside connection of secondary sliding shoe
Secondary line shaft, main transmission axle and secondary transmission axle be oppositely arranged and main transmission axle by power commutate component and it is secondary transmit axis connection,
Main power shaft is connect with driving assembly, and secondary line shaft is connect with the axle center of the driving wheel in suspension assembly.
7. full terrain self-adaptive intelligent family moving platform as claimed in claim 6, which is characterized in that the main sliding shoe and pair are sliding
The bottom of motion block is equipped with shaft, and it is clamped in commutation notch that main sliding shoe and secondary sliding shoe pass through shaft respectively, and main sliding
Block and secondary sliding shoe are slided by shaft in commutation notch.
8. full terrain self-adaptive intelligent family moving platform as claimed in claim 6, which is characterized in that the power commutation component packet
The first inverting seat, the first commutation section, the second commutation section, the second inverting seat are included, main transmission axle is fixed in one end of the first inverting seat
End, the other end of the first inverting seat connects two sets first commutation section, two set of first commutation section be oppositely arranged and centre there are
The end of secondary transmission axle is fixed in gap, one end of the second inverting seat, and the other end of the second inverting seat connects the second commutation section, the
Two commutation sections are embedded in the gap between two set of first commutation section.
9. full terrain self-adaptive intelligent family moving platform as described in claim 1, which is characterized in that every set driving assembly includes watching
Take motor and speed reducer structure, servo motor is fixed in car body, and the shaft of servo motor connects deceleration mechanism, deceleration mechanism it is defeated
The connection of the main power shaft of outlet and power-transmitting part.
10. a kind of working method of full terrain self-adaptive intelligent family moving platform, which comprises the following steps:
1) movement step of the mobile platform in normal ground environment:
A, suspension angles adjustment component is in original state, acts without angle adjustment；Servo motor rotates forward or backwards,
Drive deceleration mechanism rotation, to drive the main power shaft rotation connecting with deceleration mechanism output wheel, and then by with active force
The sequentially connected main sliding shoe of axis, main transmission axle, power commutation component, secondary transmission axle, the power biography of secondary sliding shoe, secondary line shaft
It passs drive and the secondary connected driving wheel of line shaft rotates, realize the laying to damping crawler belt；
B, when mobile platform need to turn, by adjusting revolving speed or the steering of two sets of left and right servo motor, actively to the left and right sides
The driving speed or direction difference of wheel realize that platform turns to；
2) mobile platform suspension angles set-up procedure:
A, when mobile platform needs cross the shape ramp " ∨ ", driving motor is rotated forward, and drives worm screw and worm screw spiral shell thereon
Line rotation, to drive rotation arch wheel stress, realizes rotation arch wheel opposite base by the cooperation of worm thread and turbine screw thread
Angular deflection, since rotation arch wheel is connected with side plate by Rotating Plates, side plate outside is connected with suspension assembly, thus finally
The left and right angular deflection adjustment for realizing suspension assembly relative movement chassis upper body, makes suspension assembly occur what movement angle increased
Adjustment makes suspension assembly and the damping crawler belt of outside adapt to specific grade；
B, during above-mentioned suspension angles adjustment component adjusts the angle of suspension assembly, master due to suspension assembly and thereon
Driving wheel deflects with respect to car body, and the angle of power transmitting at this time also deflects, specific as follows: when suspension angles adjust component
When realizing that angle increases to the angle adjustment of suspension assembly, suspension assembly and connected driving wheel etc. occur angle increase and adjust
It is whole, to make the secondary line shaft connecting with driving wheel that angle change occur, to drive secondary sliding shoe along the commutation of base disc
Angle change occurs for notch, and then drives secondary transmission axle angle adjustment, drives first with connected second commutation section of secondary transmission axle
Angle adjustment occurs for commutation section, and power transmitting at this time is not interrupted, to realize that the power under angle increase adjustment persistently transmits；
C, when mobile platform needs cross the shape ramp " ∧ ", adjustment process is opposite with the process in above-mentioned steps a；
D, when mobile platform needs to cross the ramp of other two sides angle differences, in adjustment process and above-mentioned steps a or step b
Principle of Process it is similar, unlike the left and right sides suspension angles adjustment component it is different to the adjustment angle of suspension assembly.
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| CN110282041B (en) | 2023-10-24 |
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