CN110304161A - A kind of deformable cterpillar drive - Google Patents
A kind of deformable cterpillar drive Download PDFInfo
- Publication number
- CN110304161A CN110304161A CN201910477081.7A CN201910477081A CN110304161A CN 110304161 A CN110304161 A CN 110304161A CN 201910477081 A CN201910477081 A CN 201910477081A CN 110304161 A CN110304161 A CN 110304161A
- Authority
- CN
- China
- Prior art keywords
- deformation
- wheel
- athey wheel
- athey
- mounting plate
- Prior art date
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
Abstract
The invention discloses a kind of deformable cterpillar drives, comprising: connection frame；Turnover mechanism, if there are two, it is connected in the two sides of connection frame respectively, wherein the front end of each turnover mechanism is respectively connected with support frame, and the upper and lower ends of support frame are provided with mounting plate；And four deformation wheels, it sets correspondingly on a mounting board, each deformation wheel includes: the Athey wheel being connected on mounting plate deflectablely and the deformation mechanism for driving the opposite mounting plate of Athey wheel to deflect in perpendicular, wherein, when this running gear is normally advanced, Athey wheel is in original horizontal position, when encountering the section for having barrier, Athey wheel deflects to obliquity by original horizontal position under the action of deformation mechanism, then turnover mechanism driving deformation wheel is flipped, to clear the jumps.The present invention not only have can steady safety is soft, ability of muddy road surface, also have the characteristics that obstacle climbing ability is strong, rugged mountain path can be passed through or have the section of barrier.
Description
Technical field
The present invention relates to mobile robot fields, are specifically related to a kind of deformable cterpillar drive.
Background technique
In recent years, with the rapid development of science and technology, more and more mobile robots are put to fire-fighting and rescue, visit
It surveys in the fields such as investigation, these mobile robots generally require to face complicated terrain environment, so to these robots
The ability of being movably walking proposes strict demand.
Cterpillar drive have can steady safety is soft, ability of muddy road surface, can be good at adapting to
Soft landform, thus it is widely used in mobile robot field.
But the obstacle climbing ability of existing cterpillar drive is lacking at present, is encountering rugged mountain path or is having
When the section of barrier, larger challenge is still suffered from, therefore, it is necessary to design one kind to pass through rugged hill path or have barrier
Hinder the cterpillar drive in object section.
Summary of the invention
The purpose of the present invention is to provide a kind of deformable cterpillar drives, to solve traditional crawler-type traveling
Device not easily passs through rugged hill path or has the problem of barrier section, has obstacle climbing ability strong, the adaptable feature of landform.
For this purpose, the invention adopts the following technical scheme:
A kind of deformable cterpillar drive, comprising: connection frame；Turnover mechanism, if there are two, it is connected to institute
State the two sides of connection frame, wherein the front end of each turnover mechanism is respectively connected with support frame, and the upper and lower ends of support frame as described above are symmetrically
It is provided with mounting plate；And four deformation wheels, it is arranged on the mounting plate correspondingly, each deformation wheel includes: can
The deflection Athey wheel that is connected on the mounting plate of ground and for driving Athey wheel mounting plate relatively in perpendicular
The deformation mechanism of deflection, wherein when this running gear is normally advanced, the Athey wheel is in original horizontal position, has encountering
When the section of barrier, the Athey wheel deflects to obliquity by original horizontal position under the action of the deformation mechanism,
Then the turnover mechanism driving deformation wheel is flipped, to clear the jumps.
Further, the turnover mechanism includes the overturning motor being connected on the connection frame and the overturning motor
The torsion shaft of connection and the ring flange for being connected to the torsion shaft front end, wherein the ring flange is also solid with support frame as described above
Even.
Further, the Athey wheel includes crawler belt and wheel hub, wherein is equipped in the wheel hub for driving the crawler belt
The driving mechanism of rotation, the hub hinged is on the mounting plate.
Further, the deformation mechanism includes that the deformation driving motor being arranged in the wheel hub and the deformation are driven
The screw rod of dynamic motor connection, the screw rod support being connected on the wheel hub, slide unit, the Yi Jizhi being threaded on the screw rod
Strut, wherein one end of the support rod is articulated on the slide unit, and the other end is articulated on the mounting plate, the deformation
Driving motor drive screw rod rotation when, the slide unit along the screw rod axial movement so that the support rod is being put down vertically
It is swung in face, and then realizes the deformation of the Athey wheel.
Further, transmission is realized by way of engaging between deformation driving motor and the screw rod bevel gear.
Further, the Athey wheel is made of straight part and sector, and the cross section of the Athey wheel is ellipse in half
Circle, two Athey wheels in described connection frame the same side are symmetrical arranged, Athey wheel below support frame as described above it is straight
Section part is located at the top of sector.
Further, the crawler belt in the Athey wheel is equipped with two, is distributed in the two sides of the wheel hub.
Further, it is equipped with attachment base on each mounting plate, the hub hinged is on the attachment base, the company
Joint chair is located at the end of the mounting plate, and the attachment base on the mounting plate in support frame as described above upper and lower ends is located at
The two sides of support frame as described above.
Deformation mechanism in the present invention enable the present apparatus when encountering barrier during traveling by Athey wheel from first
Beginning horizontal position deflection distortion is to obliquity, in order to which Athey wheel crosses barrier, until Athey wheel is in inclination
The turnover mechanism for passing through setting when position again is overturn, to realize the purpose of Athey wheel throwing over barrier.
What Athey wheel running gear of the invention not only had a conventional track wheel running gear being capable of steady safety pine
Soft, muddy road surface ability also has the characteristics that obstacle climbing ability is strong, can pass through rugged mountain path or have the road of barrier
Section.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram according to the deformable cterpillar drive of one embodiment of the invention；
Fig. 2 shows the backsight structures of cterpillar drive shown in Fig. 1；
Fig. 3 is the internal structure chart according to the Athey wheel in the deformable cterpillar drive of one embodiment of the invention
One；
Fig. 4 is the internal structure chart according to the Athey wheel in the deformable cterpillar drive of one embodiment of the invention
Two；
Fig. 5 is the internal structure chart according to the Athey wheel in the deformable cterpillar drive of one embodiment of the invention
Three；
Fig. 6 a is according to the shape before the Athey wheel overturning in the deformable cterpillar drive of one embodiment of the invention
State schematic diagram；
Fig. 6 b is to be turned over according to the Athey wheel of unilateral side two in the deformable cterpillar drive of one embodiment of the invention
Status diagram after turning 90 °；
Fig. 6 c is to be turned over according to the Athey wheel of side two in the deformable cterpillar drive of one embodiment of the invention
Turn 135 °, the Athey wheel of the other side two overturns the status diagram after 45 °；And
Fig. 6 d is to be turned over according to the Athey wheel of side two in the deformable cterpillar drive of one embodiment of the invention
Turn 180 °, the Athey wheel of the other side two overturns the status diagram after 90 °.
Description of symbols
1, connection frame；2, turnover mechanism；
21, motor is overturn；22, torsion shaft；
23, ring flange；24, shaft coupling；
3, support frame；4, mounting plate；
41, attachment base；5, Athey wheel；
5-1, Athey wheel one；5-2, Athey wheel two；
5-3, Athey wheel three；5-4, Athey wheel four；
5a, straight part；5b, sector；
51, crawler belt；52, wheel hub；
53, driving mechanism；531, track drive motor；
532, motor gear；533, driving shaft；
534, driven shaft；535, transmission gear；
536, active crawler belt gear；537, driven crawler belt gear；
538, motor support base；6, deformation mechanism；
61, driving motor is deformed；62, screw rod；
63, screw rod support；64, slide unit；
65, support rod；66, motor bevel gear；
67, screw rod bevel gear.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Fig. 1 to 5, deformable cterpillar drive of the invention includes connection frame 1, turnover mechanism 2, support
Frame 3, mounting plate 4 and four deformation wheels, wherein each deformation wheel includes Athey wheel 5 and deformation mechanism 6.
Wherein, the turnover mechanism 2 is for integrally overturning the deformation wheel, there are two the turnover mechanism 2 is set,
It is respectively fixedly connected in the two sides of the connection frame 1, support frame as described above 3, which sets there are two and respectively corresponds, is connected in two overturnings
The front end of mechanism 2, the upper and lower ends of each support frame as described above 3 are welded with horizontally disposed mounting plate 4.The cross of support frame as described above 3
Section is " I " fonts.
As shown in Fig. 1 to 5, there are four the Athey wheel 5 is set, respectively one 5-1 of Athey wheel, two 5-2 of Athey wheel, Athey wheel
Four 5-4 of three 5-3 and Athey wheel, four Athey wheels 5 are arranged in correspondingly on four mounting plates 4, each described
Athey wheel 5 includes crawler belt 51 and wheel hub 52, wherein the driving for driving the crawler belt 51 to rotate is equipped in the wheel hub 52
Mechanism 53, the wheel hub 52 in each Athey wheel 5 are hinged on corresponding mounting plate 4.In addition, one 5-1 of Athey wheel and
Two 5-2 of Athey wheel is in the left side of the connection frame 1, and three 5-3 of Athey wheel and four 5-4 of Athey wheel are in the connection
The right side of frame 1, as shown in Figure 1.
The deformation mechanism 6 is for driving the opposite mounting plate 4 of the Athey wheel 5 to deflect in perpendicular, wherein described
It there are four deformation mechanism 6 is set, and is corresponded with four Athey wheels 5, the Athey wheel 5 has the initial level before deformation
Position (as shown in Figure 1) and deformed obliquity (as shown in Figure 6 a), and each Athey wheel 5 is by original horizontal position
Into the deformation process of obliquity, the yaw rotation direction of each Athey wheel 5 is consistent, so that Athey wheel 5 is deformed into inclination
Behind position, two Athey wheels 5 up and down in described 1 the same side of connection frame are still oppositely arranged.
Wherein, when this running gear is normally advanced, the Athey wheel 5 is in original horizontal position, this running gear passes through
Underlying two Athey wheels 5, which are advanced, to be moved, and when encountering the section for having barrier, four Athey wheels 5 are in its correspondence
Deformation mechanism 6 under the action of by original horizontal position deflection distortion to obliquity, then the turnover mechanism 2 works, band
Dynamic support frame as described above 3, mounting plate 4 and deformation wheel are integrally flipped, to clear the jumps.
Specifically, as shown in Fig. 1 to 5, the driving mechanism 53 includes track drive motor 531, is arranged in the crawler belt
Motor gear 532, driving shaft 533 and driven shaft 534 on 531 output shaft of driving motor, wherein on the driving shaft 533
It is provided with the transmission gear 535 engaged with the motor gear 532 and the active caterpillar teeth with 51 engaged transmission of crawler belt
Wheel 536, the driven shaft 534 are equipped with the driven crawler belt gear 537 with 51 engaged transmission of crawler belt, the driving shaft 533
The end positions in wheel hub 52 are respectively arranged on driven shaft 534, the track drive motor 531 is fixed by motor support base 538
In the wheel hub 52.
Specifically, as shown in Fig. 1 to 5 and Fig. 6 a, the deformation mechanism 6 includes the deformation being arranged in the wheel hub 52
Driving motor 61, the screw rod 62 being connect with the deformation driving motor 61, screw rod support 63, the spiral shell being connected on the wheel hub 52
Line is connected to slide unit 64 and support rod 65 on the screw rod 62, wherein one end of the support rod 65 is articulated with the cunning
On platform 64, the other end is articulated with the middle part of the mounting plate 4, and the screw rod 62 is connected in wheel hub 52 by the screw rod support 63
On, when the deformation driving motor 61 drives screw rod 62 to rotate, the slide unit 64 along the screw rod 62 axial movement, at this time
The support rod 65 is swung in perpendicular, so as to drive Athey wheel 5 integrally to deflect, to realize the Athey wheel 5
Deformation operation.
In one embodiment, as shown in figure 5, being provided with motor bevel gear on the output shaft of the deformation driving motor 61
66, screw rod bevel gear 67 is provided on the screw rod 62, is nibbled between the deformation driving motor 61 and screw rod 62 by bevel gear
The mode of conjunction realizes transmission, in order to the space in wheel hub 52 can rationally be utilized, so that whole on the basis of stable transmission
Structure is more compact.
Specifically, as depicted in figs. 1 and 2, the turnover mechanism 2 includes the overturning motor being connected on the connection frame 1
21, the torsion shaft 22 and the ring flange 23 for being connected to 22 front end of torsion shaft that motor 21 is connect are overturn with described, wherein
The torsion shaft 22 is connected with overturning motor 21 by shaft coupling 24, and the ring flange 23 is also connected in the side of support frame as described above 3
Portion.
Deformation mechanism in the present invention enable the present apparatus when encountering barrier during traveling by Athey wheel from first
Beginning horizontal position deflection distortion is to obliquity, in order to which Athey wheel crosses barrier, until Athey wheel is in inclination
The turnover mechanism for passing through setting when position again is overturn, to realize the purpose of Athey wheel throwing over barrier.Crawler belt of the invention
Wheel running gear not only have conventional track wheel running gear can steady safety is soft, ability of muddy road surface, also
Have the characteristics that obstacle climbing ability is strong, rugged mountain path can be passed through or has the section of barrier.
In one embodiment, as shown in Fig. 1 to 5, the Athey wheel 5 is made of straight part 5a and sector 5b, institute
The cross section of Athey wheel 5 is stated in half elliptic, two Athey wheels 5 in described 1 the same side of connection frame are symmetrical arranged, and are in institute
The straight part 5a for stating the Athey wheel 5 of 3 lower section of support frame is located at the top of sector 5b, i.e. this running gear is normally advanced
When, the sector 5b of the Athey wheel 5 in 3 lower section of support frame as described above is contacted with road surface.
In the present embodiment, the design of the Athey wheel sector can be played convenient for the work of Athey wheel throwing over barrier
With.
In one embodiment, as shown in Fig. 1 to 5, the crawler belt 51 in the Athey wheel 5 is equipped with two, is distributed in the wheel
The two sides of hub 52, the deformation mechanism 6 are set to the middle part in wheel hub 52, so not only ensure that the row of this running gear
Into stability, is also provided a strong guarantee for the deformation of stablizing of Athey wheel, have the characteristics that rationally distributed, space utilization is ingenious.
In one embodiment, as shown in Fig. 1 to 5 and Fig. 6 a, attachment base 41, institute are installed on each mounting plate 4
It states wheel hub 52 to be articulated on the attachment base 41, the attachment base 41 is located at the end of the mounting plate 4, wherein in described
Attachment base 41 on the mounting plate 4 of 3 upper and lower ends of support frame is located at the two sides of support frame as described above 3, so that in same
The rotation direction that two Athey wheels 5 of 3 upper and lower of support frame are deformed into obliquity by original horizontal position is consistent, that is, after deforming
Two Athey wheels 5 up and down in described 1 the same side of connection frame are still oppositely arranged, and are provided just to cross going on smoothly for work
Benefit.
Make below with reference to mobile traveling process of the different road conditions to Athey wheel running gear of the invention further detailed
Illustrate:
51 turns of crawler belt be located in two Athey wheels 5 of 3 lower section of support frame when encountering flat section, in this running gear
Dynamic, i.e., two Athey wheels 5 that this running gear relies on 3 lower section of support frame, which are advanced, to be moved.
When encountering the barrier that this running gear can not be crossed by the normally mode of advancing, firstly, each Athey wheel 5
In crawler belt 51 stop operating, then the Athey wheel 5 by corresponding deformation mechanism 6 carry out deformation operation, four
The Athey wheel 5 waits deformation mechanism 6 after deformation to stop working by original horizontal position deflection distortion to obliquity,
The turnover mechanism 2 starts to carry out overturning work to Athey wheel 5.
Specific switching process can refer to shown in attached drawing 6a~6d, and the turnover mechanism 2 specially in 1 right side of connection frame first will
Three 5-3 of Athey wheel and four 5-4 of Athey wheel overturns 90 °, after waiting three 5-3 of Athey wheels and four 5-4 of Athey wheel to overturn 90 °, the crawler belt
The synchronous overturning of a 5-1, two 5-2 of Athey wheel, three 5-3 of Athey wheel and four 5-4 of Athey wheel is taken turns, to be crossed to barrier, etc.
After crossing barrier to this running gear, the position or three 5-3 of Athey wheel of one 5-1 of Athey wheel and two 5-2 of Athey wheel and
The position of four 5-4 of Athey wheel only needs will have 90 ° of overturnings compared to the flip angle for the initial position before overturning with 90 °
Two Athey wheels 5 at angle overturn 90 ° of overturning work that can terminate turnover mechanism 2 again, and obstacle detouring work at this time is completed, the shoe
Belt wheel 5 is restored to original horizontal position by obliquity by deformation mechanism 6, this running gear can continue according to flat section
Traveling mode mobile advance.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of deformable cterpillar drive characterized by comprising
Connection frame (1)；
Turnover mechanism (2), if there are two, it is connected to the two sides of the connection frame (1), wherein before each turnover mechanism (2)
End is respectively connected with support frame (3), and the upper and lower ends of support frame as described above (3) are symmetrically provided with mounting plate (4)；And
Four deformation wheels are arranged in correspondingly on the mounting plate (4), and each deformation wheel includes: to connect deflectablely
To the Athey wheel (5) on the mounting plate (4) and for driving the Athey wheel (5) with respect to mounting plate (4) in perpendicular
The deformation mechanism (6) of intrinsic deflection,
Wherein, when this running gear is normally advanced, the Athey wheel (5) is in original horizontal position, has barrier encountering
When section, the Athey wheel (5) deflects to obliquity by original horizontal position under the action of the deformation mechanism (6), connects
The turnover mechanism (2) driving deformation wheel be flipped, to clear the jumps.
2. deformable cterpillar drive according to claim 1, which is characterized in that turnover mechanism (2) packet
Include the overturning motor (21) being connected on the connection frame (1), with the torsion shaft (22) that connect of overturning motor (21) and
It is connected to the ring flange (23) of the torsion shaft (22) front end, wherein the ring flange (23) is also solid with support frame as described above (3)
Even.
3. deformable cterpillar drive according to claim 1, which is characterized in that the Athey wheel (5) includes
Crawler belt (51) and wheel hub (52), wherein the driving mechanism for driving the crawler belt (51) to rotate is equipped in the wheel hub (52)
(53), the wheel hub (52) is hinged on the mounting plate (4).
4. deformable cterpillar drive according to claim 3, which is characterized in that deformation mechanism (6) packet
The screw rod for including the deformation driving motor (61) being arranged in the wheel hub (52), being connect with deformation driving motor (61)
(62), the screw rod support (63) that is connected on the wheel hub (52), the slide unit (64) being threaded on the screw rod (62), with
And support rod (65), wherein one end of the support rod (65) is articulated on the slide unit (64), and the other end is articulated with the peace
In loading board (4), when deformation driving motor (61) driving screw rod (62) rotates, the slide unit (64) is along the screw rod (62)
Axial movement so that the support rod (65) is swung in perpendicular, and then realize the deformation of the Athey wheel (5).
5. deformable cterpillar drive according to claim 4, which is characterized in that the deformation driving motor
(61) transmission is realized by way of engaging between screw rod (62) bevel gear.
6. deformable cterpillar drive according to claim 3, which is characterized in that the Athey wheel (5) is by straight
Section part (5a) and sector (5b) composition, the cross section of the Athey wheel (5) are in half elliptic, are in the connection frame
(1) two Athey wheels (5) of the same side are symmetrical arranged, the straight part of the Athey wheel (5) below support frame as described above (3)
(5a) is located at the top of sector (5b).
7. deformable cterpillar drive according to claim 3, which is characterized in that in the Athey wheel (5)
Crawler belt (51) is equipped with two, is distributed in the two sides of the wheel hub (52).
8. deformable cterpillar drive according to claim 3, which is characterized in that on each mounting plate (4)
It is equipped with attachment base (41), the wheel hub (52) is articulated on the attachment base (41), and the attachment base (41) is located at the peace
The end of loading board (4), and the attachment base (41) on the mounting plate (4) in support frame as described above (3) upper and lower ends is located at
The two sides of support frame as described above (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910477081.7A CN110304161B (en) | 2019-06-03 | 2019-06-03 | Deformable crawler-type walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910477081.7A CN110304161B (en) | 2019-06-03 | 2019-06-03 | Deformable crawler-type walking device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110304161A true CN110304161A (en) | 2019-10-08 |
| CN110304161B CN110304161B (en) | 2020-10-16 |
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ID=68075183
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910477081.7A Active CN110304161B (en) | 2019-06-03 | 2019-06-03 | Deformable crawler-type walking device |
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| CN (1) | CN110304161B (en) |
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| CN109131610A (en) * | 2018-10-11 | 2019-01-04 | 中国科学院深海科学与工程研究所 | Wheel carries out deformation mechanism, running gear and vehicle |
| CN208439331U (en) * | 2018-06-01 | 2019-01-29 | 中国科学院沈阳自动化研究所 | A kind of four module changeable shape mobile robots |
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| US20110061951A1 (en) * | 2009-09-14 | 2011-03-17 | Ehud Gal | Transformable Robotic Platform and Methods for Overcoming Obstacles |
| CN101746424A (en) * | 2009-12-31 | 2010-06-23 | 华南理工大学 | Shape-changeable moving mechanism capable of driving salvation robot on multiple directions |
| CN104943762A (en) * | 2015-06-30 | 2015-09-30 | 山东科技大学 | Determination method for shape shifting robot attitude transformation optimal path |
| US20180043947A1 (en) * | 2016-08-11 | 2018-02-15 | Glen Brazier | Transformable Track Assembly |
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| Publication number | Publication date |
|---|---|
| CN110304161B (en) | 2020-10-16 |
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