CN110450869B - Self-adaptive underactuated tracked robot - Google Patents
Self-adaptive underactuated tracked robot Download PDFInfo
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- CN110450869B CN110450869B CN201910711377.0A CN201910711377A CN110450869B CN 110450869 B CN110450869 B CN 110450869B CN 201910711377 A CN201910711377 A CN 201910711377A CN 110450869 B CN110450869 B CN 110450869B
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- 230000007246 mechanism Effects 0.000 claims description 29
- 230000003044 adaptive effect Effects 0.000 claims description 15
- 238000013016 damping Methods 0.000 claims description 9
- 230000035939 shock Effects 0.000 claims description 9
- 239000006096 absorbing agent Substances 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000000969 carrier Substances 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000009194 climbing Effects 0.000 description 4
- 238000005265 energy consumption Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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
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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
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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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
-
- 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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- 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
- B62D55/30—Track-tensioning means
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a self-adaptive underactuated tracked robot, which comprises: the robot comprises a robot body, a first main crawler, a second main crawler, a first planetary crawler, a second planetary crawler, a first driving shaft and a second driving shaft. The first main crawler belt, the second main crawler belt, the first planetary crawler belt and the second planetary crawler belt are symmetrically arranged on two sides of the robot body respectively, and the first planetary crawler belt and the second planetary crawler belt are arranged at the front end of the robot. The first driving shaft transmits the power output by the first motor to the first main track and the first planetary track, and the second driving shaft transmits the power output by the second motor to the second main track and the second planetary track to drive the robot to move; the front ends of the first planetary crawler belt and the second planetary crawler belt are tightly attached to the ground to be used as the crawler belt when the first planetary crawler belt and the second planetary crawler belt run on the flat ground, when the first planetary crawler belt and the second planetary crawler belt meet obstacles such as steps, the first driving shaft and the second driving shaft can be overturned to realize passive self-adaptive obstacle surmounting, the robot can be driven by only two motors to realize functions of running, steering, obstacle surmounting and the like, the weight of the robot is reduced, the obstacle surmounting time is shortened, the control cost is reduced, and the endurance time is prolonged.
Description
Technical Field
The invention belongs to the technical field of robots, relates to a ground mobile robot, and particularly relates to a self-adaptive underactuated tracked robot.
Background
The crawler-type mobile robot is widely researched due to the characteristics of large ground area, small ground specific pressure, small steering radius and stable operation during movement, and is gradually applied to anti-terrorism, explosion-proof and military investigation occasions. Patent US6263989 and CN108216400a respectively disclose a crawler robot, two swing arm tracks are installed on two sides of a main track at the front end of the crawler robot for assisting the robot to surmount the obstacle, and the crawler and the swing arm are respectively driven to move by a motor, so that the trafficability and obstacle surmounting capability of the robot are improved; when the two tracked robots surmount the obstacle, the remote control equipment is used for controlling the robot swing arm to rotate, and the robot is regulated to a certain posture to assist the robot to climb the obstacle. On one hand, the obstacle crossing mode needs three motors to work in a coordinated manner, so that the overall weight and energy consumption of the robot are increased; on the other hand, when encountering an obstacle, the robot is required to be detected by a sensor, the gesture of the robot is adjusted by an algorithm or a person, the control is complex, and the obstacle crossing time is long.
Disclosure of Invention
The invention aims to provide an under-actuated self-adaptive obstacle surmounting tracked robot, which reduces the number of driving motors of the tracked robot, reduces the self weight of the tracked robot, ensures that the tracked robot has more excellent obstacle surmounting capability and endurance time, can realize rapid obstacle surmounting by passive self-adaptive terrain, reduces control cost and reduces obstacle surmounting time.
In order to solve the problems, the invention provides the following technical scheme: an adaptive underactuated tracked robot comprising: the robot comprises a robot body, a first main track, a second main track, a first planetary track, a second planetary track, a first driving shaft and a second driving shaft; the first driving shaft transmits the power output by the first motor to the first main track and the first planetary track, and the second driving shaft transmits the power output by the second motor to the second main track and the second planetary track to drive the robot to move; the first and second main tracks are driven by the first and second driving shafts respectively; the first planetary crawler belt and the second planetary crawler belt are in an underactuated state; when the first planetary crawler belt and the second planetary crawler belt run on a flat ground, the front ends of the first planetary crawler belt and the second planetary crawler belt are tightly attached to the ground to be used as the crawler belt, and when the first planetary crawler belt and the second planetary crawler belt meet steps, slopes and gully obstacles, the first planetary crawler belt and the second planetary crawler belt can turn around the first driving shaft and the second driving shaft to realize passive self-adaptive obstacle surmounting, and the robot can only be driven by two motors to realize running, steering and obstacle surmounting functions.
The robot body comprises a chassis, a shell covered on the chassis, a bearing seat, a motor seat, a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear, wherein the bearing seat is arranged on the chassis; the first motor and the second motor are respectively arranged on the two motor bases; the first bevel gear and the second bevel gear are respectively connected to the output shafts of the first motor and the second motor, and transmit power to the first driving shaft and the second driving shaft through the third bevel gear and the fourth bevel gear.
The first main crawler belt and the second main crawler belt of the robot are in mirror image relationship and are symmetrically arranged on the left side and the right side of the chassis of the robot; the first main track includes: the device comprises a first driving wheel, a main track wheel frame, a driven wheel, a damping mechanism, a riding wheel mechanism and a tensioning mechanism; the main crawler wheel frame is arranged on one side of the robot chassis, the crawler wheel frame is provided with a front fork and a rear fork, a first driving wheel is arranged in the front fork, a driven wheel is arranged on the rear fork, and a riding wheel mechanism and a damping mechanism are arranged between the front fork and the rear fork of the crawler wheel frame; the first driving wheel is arranged on the first driving shaft, the driven wheel is arranged on the driven wheel shaft, the driven wheel shaft is arranged in a waist-shaped hole on the rear fork of the crawler wheel frame, and tensioning mechanisms are arranged on two sides of the rear fork of the crawler wheel frame to realize tightness adjustment of the crawler; the first pin shaft and the second pin shaft of the damping mechanism are both arranged on the crawler wheel frame; the upper end of the shock absorber is arranged on the second pin shaft, the lower end of the shock absorber is arranged on the rod, and the upper end of the rod is arranged on the first pin shaft; the third pin shaft is arranged in a corresponding hole at the lower end of the rod, and crawler wheels are arranged at two ends of the third pin shaft.
The first planetary crawler belt and the second planetary crawler belt are arranged on the first driving shaft and the second driving shaft, and thrust bearings are arranged between the first main crawler belt and the first planetary crawler belt and between the second main crawler belt and the second planetary crawler belt in order to prevent interference or friction between the first planetary crawler belt and the second planetary crawler belt and between the first main crawler belt and the second main crawler belt.
The first planetary crawler includes: the planetary driving wheel, the first planetary gear, the second planetary gear, the planetary carrier, the ejector rod and the crawler belt are respectively arranged at two sides of the planetary driving wheel, the axes of the three wheels are positioned on the same plane, and the crawler belt is arranged at the outer sides of the three wheels; the planetary driving wheel is arranged on the driving shaft, the first planetary gear and the second planetary gear are respectively arranged on the first planetary gear shaft and the second planetary gear shaft, the first planetary gear and the second planetary gear are driven wheels, and bearings are arranged between the first planetary gear and the second planetary gear shaft and between the first planetary gear and the second planetary gear shaft; the two sides of the planetary driving wheel, the first planetary gear and the second planetary gear are fixed by utilizing a planetary carrier; in order to prevent friction between the planet carrier and the first driving shaft, a flange bearing is arranged between the planet carrier and the first driving shaft; the first planetary wheel shaft and the second planetary wheel shaft are arranged in waist-shaped grooves at two ends of the planetary wheel carrier, a gasket at one end of a tensioning bolt is sleeved on the first planetary wheel shaft, and an adjusting nut enables the planetary wheel shaft to move so as to adjust tightness of the crawler belt; and a push rod is arranged between the planetary wheel carriers at the two sides of the planetary driving wheel and used for reinforcing the planetary crawler belt.
The beneficial effects of the application are mainly shown in the following steps: the first motor and the second motor transmit power to the first driving shaft and the second driving shaft, the first driving shaft drives the first main crawler belt and the first planetary crawler belt, and the second driving shaft drives the second main crawler belt and the second planetary crawler belt, so that the robot moves. The whole crawler robot can realize the functions of advancing, retreating, steering and obstacle crossing by only two motors, the number of the motors is reduced, the overall weight and energy consumption of the robot are reduced, and the continuous voyage mileage of the robot is improved; the self-adaptive obstacle surmounting capability is beneficial to reducing the difficulty of a control algorithm and the fatigue degree of operators, and the obstacle surmounting time is reduced.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application and that other obvious variants can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an overall block diagram of an adaptive under-actuated tracked robot.
Fig. 2 is a schematic diagram of a transmission of an adaptive under-actuated tracked robot.
FIG. 3 is a schematic diagram of a primary crawler of an adaptive under-actuated tracked robot.
FIG. 4 is a schematic diagram of a tensioning mechanism for an adaptive under-actuated tracked robot.
FIG. 5 is a schematic diagram of a shock absorbing mechanism for an adaptive under-actuated tracked robot.
Fig. 6 is an exploded view of a planetary crawler of an adaptive under-actuated crawler robot.
FIG. 7 is a schematic diagram of a process for an adaptive under-actuated tracked robot to climb over a step with the assistance of a planetary track.
FIG. 8 is a schematic of an adaptive under-actuated tracked robot operating on successive steps.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
As shown in fig. 1 and 2, the adaptive under-actuated tracked robot includes: the robot comprises a robot body (1), a first main track (2), a second main track (3), a first planetary track (4), a second planetary track (5), a first driving shaft (6) and a second driving shaft (7).
As shown in fig. 2, the first main crawler belt (2), the second main crawler belt (3), the first planetary crawler belt (4) and the second planetary crawler belt (5) are arranged at two sides of the robot body (1), and the first planetary crawler belt (4) and the second planetary crawler belt (5) are arranged at the front end of the robot; the first driving shaft (6) transmits power output by a first motor (1-1) arranged on the robot car body (1) to a first bevel gear (1-8) and a third bevel gear (1-7) and further transmits the power to a first driving wheel (2-1) of the first main crawler belt (2) and a planetary driving wheel (4-1) of the first planetary crawler belt (4); the second driving shaft (7) transmits power output by the second motor (1-2) to the second main crawler belt (3) and the second planetary crawler belt (5) in the same way to drive the robot to move; the first main crawler belt (2) and the second main crawler belt (3) are respectively required to be driven and are respectively and completely restrained by the first driving shaft (6) and the second driving shaft (7); the first planetary crawler belt (4) and the second planetary crawler belt (5) have two degrees of freedom respectively, two driving is needed, one degree of freedom is restrained through the first driving shaft (6) and the second driving shaft (7), the other degree of freedom is not restrained, and the mechanism is in an underactuated state; the front ends of the first planetary crawler belt (4) and the second planetary crawler belt (5) are tightly attached to the ground to be used as the crawler belt when the robot runs on the flat ground, and the robot can roll around the first driving shaft (6) and the second driving shaft (7) to realize self-adapting obstacle crossing when encountering step obstacles.
As shown in fig. 2, the robot body (1) comprises a robot body chassis (1-3), a housing (1-4) covered on the chassis, a bearing seat (1-5) mounted on the chassis (1-3), a motor seat (1-6), a first bevel gear (1-8), a second bevel gear (1-10), a third bevel gear (1-7) and a fourth bevel gear (1-9); the two motor bases (1-6) are arranged on the robot chassis (1-3), a first motor (1-1) and a second motor (1-2) are respectively arranged on the two motor bases, the first bevel gear (1-8) and the second bevel gear (1-10) are respectively arranged on front end output shafts of the first motor (1-1) and the second motor (1-2) through flat key connection, a third bevel gear (1-7) and a fourth bevel gear (1-9) are respectively arranged on the first driving shaft (6) and the second driving shaft (7) through flat key connection, and the first bevel gear (1-8) and the second bevel gear (1-10) on the output shafts of the first motor (1-1) and the second motor (1-2) are respectively meshed with the third bevel gear (1-7) and the fourth bevel gear (1-9) on the first driving shaft (6) and the second driving shaft (7) to realize power transmission; the four bearing seats (1-5) are arranged on the robot chassis (1-3) and are used for fixing the first driving shaft (6) and the second driving shaft (7).
As shown in fig. 1, the first main crawler belt (2) and the second main crawler belt (3) are in mirror image relationship and are arranged at the left side and the right side of the robot chassis (1-3); as shown in fig. 3, the first main track (2) includes: the device comprises a first driving wheel (2-1), a main track wheel frame (2-2), a driven wheel (2-3), a damping mechanism (2-4), a riding wheel mechanism (2-5) and a tensioning mechanism (2-6); the main track wheel frame (2-2) is arranged on one side of the robot chassis (1-3) through nuts, the track wheel frame (2-2) is provided with a front fork and a rear fork, a first driving wheel (2-1) is arranged in the front fork, a driven wheel (2-3) is arranged on the rear fork, a riding wheel mechanism (2-5) is arranged between the front fork and the rear fork of the track wheel frame (2-2), and a damping mechanism (2-4) is arranged between the front fork and the rear fork; the first driving wheel (2-1) is arranged on the first driving shaft (6), the first driving wheel (2-1) is connected with the first driving shaft (6) through a flat key, and sleeves are arranged on two sides of the first driving wheel (2-1) to axially position the first driving wheel; the driven wheel (2-3) is arranged on the driven wheel shaft (2-7), the driven wheel (2-3) is connected with the driven wheel shaft (2-7) through a bearing, the driven wheel shaft (2-7) is arranged in a waist-shaped hole (2-2-1) on a rear fork of the crawler wheel frame (2-2),
As shown in fig. 4, tensioning mechanisms (2-6) are arranged on two sides of a rear fork of a crawler wheel carrier, washers on tensioning bolts (2-6-1) of the tensioning mechanisms (2-6) are arranged on a driven wheel shaft, the bolts are arranged in through holes at the end parts of the rear fork of a main crawler wheel carrier, and driven wheels (2-3) are moved forwards and backwards through adjusting nuts (2-6-2) to realize tightness adjustment of a crawler;
As shown in fig. 5, a first pin shaft (2-4-1) and a second pin shaft (2-4-2) of the damping mechanism (2-4) are arranged on a crawler wheel frame (2-2), and two ends of the pin shafts are fixed through clamp springs; the upper end of the shock absorber (2-4-3) is arranged on the second pin shaft (2-4-2), two sides of the shock absorber are positioned through sleeves, the lower end of the shock absorber (2-4-3) is arranged on the rod (2-4-6), the upper end of the rod (2-4-6) is arranged on the first pin shaft (2-4-1), and two sides of the rod (2-4-6) are positioned through sleeves; the third pin shaft (2-4-5) is arranged in a corresponding hole at the lower end of the rod (2-4-6), the crawler wheels (2-4-4) are arranged at the two ends of the third pin shaft (2-4-5), bearings are arranged between the crawler wheels (2-4-4) and the third pin shaft (2-4-5) for enabling the crawler wheels (2-4-4) to rotate smoothly, and the outer sides of the crawler wheels (2-4-4) are fixed by using snap springs.
As shown in fig. 2, the first planetary crawler belt (4) and the second planetary crawler belt (5) are mounted on the first driving shaft (6) and the second driving shaft (7), and in order to prevent interference or friction between the first planetary crawler belt (4) and the second planetary crawler belt (5) and the first main crawler belt (2) and the second main crawler belt (3) when the first planetary crawler belt (4) and the second planetary crawler belt (5) move, thrust bearings (8) are mounted between the first main crawler belt (2) and the first planetary crawler belt (4) and between the second main crawler belt (3) and the second planetary crawler belt (5).
As shown in fig. 2 and 6, the first planetary crawler belt (4) and the second planetary crawler belt (5) of the robot are in mirror image relationship, and the first planetary crawler belt (4) comprises: the planetary transmission mechanism comprises a planetary driving wheel (4-1), a first planetary gear (4-2-1), a second planetary gear (4-2-2), a planetary carrier (4-9), a push rod (4-3) and a track, wherein the first planetary gear (4-2-1) and the second planetary gear (4-2-2) are respectively arranged at two sides of the planetary driving wheel (4-1), the axes of the three wheels are positioned on the same plane, and the track is arranged at the outer sides of the three wheels; the planetary driving wheel (4-1) is arranged on the driving shaft (6) and is connected with the driving shaft through a flat key; the first planet gears (4-2-1) and the second planet gears (4-2-2) are respectively arranged on the first planet gear shafts (4-4-1) and the second planet gear shafts (4-4-2), the first planet gears (4-2-1) and the second planet gears (4-2-2) are driven wheels, and bearings (4-5) are arranged between the first planet gears (4-2-1) and the second planet gears (4-2-2) and the first planet gear shafts (4-4-1) and between the second planet gear shafts (4-4-2); the two sides of the planetary driving wheel (4-1), the first planetary gear (4-2-1) and the second planetary gear (4-2-2) are fixed by a planetary wheel carrier (4-9), and the planetary driving wheel (4-1), the first planetary gear (4-2-1) and the second planetary gear (4-2-2) are axially positioned by sleeves respectively; in order to prevent friction between the planet carrier (4-9) and the first driving shaft (6), a flange bearing (4-10) is arranged between the planet carrier (4-9) and the first driving shaft (6); the first planetary wheel shaft (4-4-1) and the second planetary wheel shaft (4-4-2) are arranged in waist-shaped grooves at two ends of the planetary wheel frame (4-9), a gasket at one end of a tensioning bolt (4-7) is sleeved on the first planetary wheel shaft (4-4-1), an adjusting nut (4-6) enables the planetary wheel shaft (4-4-2) to move, tightness of a crawler belt is adjusted, and after tensioning is completed, the first planetary wheel shaft (4-4-1) is fixed by tightening the nut (4-11); an ejector rod (4-3) is arranged between the planetary wheel carriers (4-9) at two sides of the planetary driving wheel (4-1), and is fixed by screws (4-8).
As shown in fig. 7, when the track robot encounters an obstacle during operation, the robot can use the tumbling auxiliary robot of two planetary tracks to surmount the obstacle without spending time adjusting the planetary tracks of the robot. The specific implementation mode is as follows: when the track robot encounters a step in the running process, the front ends of the first planetary tracks (4) and the second planetary tracks (5) are contacted with the vertical surfaces of the step in the process a, the reaction force of the first planetary tracks (4) and the second planetary tracks (5) on the vertical surfaces of the step is gradually increased under the pushing of the first main tracks (2) and the second main tracks (3) of the robot until the driving wheels of the first planetary tracks (4) and the second planetary tracks (5) stop rotating, and the power of the first motor (1-1) and the second motor (1-2) is transmitted to the planetary wheel carrier (4-9) by the first driving shafts (6) and the second driving shafts (7), so that the first planetary tracks (4) and the second planetary tracks (5) rotate around the wheel centers of the first driven wheels (4-2-1) at the front ends of the robot to lift the robot; during the process c, one sides of the first and second planetary tracks (4, 5) coincide with the vertical plane of the step, along with the continuous pushing of the first and second main tracks (2, 3), the first and second planetary tracks (4, 5) turn over to the step (process d), and after the front ends of the first and second main tracks (2, 3) are put up to the edge of the step, the robot is enabled to successfully climb up the step under the action of the first and second main tracks (2, 3) and the edge of the step (process e), so that the step climbing obstacle-crossing is completed. The robot climbing step obstacle crossing process does not need to detect and control the postures of the robot and the planetary crawler, passive self-adaptive obstacle crossing can be realized only by driving two motors to move forwards, the two motors are arranged at the front end of the robot, the gravity center of the whole robot is close to the front, and the robot climbing step and the slope obstacle are facilitated.
As shown in fig. 8, when the robot runs on the continuous steps, the reasonable structural size of the robot can ensure that the grounding length of the first main track (2) and the second main track (3) of the robot is longer than the distance between two points P, Q on the three-stage steps, and the grounding length of the planetary track is also longer than the distance between the two-stage steps; when the robot climbs continuous steps, the first main caterpillar band (2) and the second main caterpillar band (3) are always kept in contact with the edges of the two steps, and the robot can continuously run on the steps, so that repeated climbing time and energy consumption of the robot are reduced.
Claims (5)
1. An adaptive underactuated tracked robot, comprising: the robot comprises a robot body (1), a first main track (2), a second main track (3), a first planetary track (4), a second planetary track (5), a first driving shaft (6) and a second driving shaft (7);
the first main crawler belt (2), the second main crawler belt (3), the first planetary crawler belt (4) and the second planetary crawler belt (5) are arranged on two sides of the robot body (1), and the first planetary crawler belt (4) and the second planetary crawler belt (5) are arranged at the front end of the robot; the first driving shaft (6) transmits power output by a first motor (1-1) arranged on the robot car body (1) to a first bevel gear (1-8) and a third bevel gear (1-7) and further transmits the power to a first driving wheel (2-1) of the first main crawler belt (2) and a planetary driving wheel (4-1) of the first planetary crawler belt (4); the second driving shaft (7) transmits power output by the second motor (1-2) to the second main crawler belt (3) and the second planetary crawler belt (5) in the same way to drive the robot to move; the first main crawler belt (2) and the second main crawler belt (3) are respectively required to be driven and are respectively and completely restrained by the first driving shaft (6) and the second driving shaft (7); the first planetary crawler belt (4) and the second planetary crawler belt (5) have two degrees of freedom respectively, two driving is needed, one degree of freedom is restrained through the first driving shaft (6) and the second driving shaft (7), the other degree of freedom is not restrained, and the mechanism is in an underactuated state; the front ends of the first planetary crawler belt (4) and the second planetary crawler belt (5) are tightly attached to the ground to be used as the crawler belt when the robot runs on the flat ground, and the robot can roll around the first driving shaft (6) and the second driving shaft (7) to realize self-adaptive obstacle surmounting when encountering steps, slopes and gully obstacles, and can realize running, steering and obstacle surmounting functions only by driving two motors.
2. An adaptive underactuated tracked robot as defined in claim 1, wherein: the robot car body (1) comprises a robot car body chassis (1-3), a shell (1-4) covered on the chassis, a bearing seat (1-5) arranged on the chassis (1-3), a motor seat (1-6), a first bevel gear (1-8), a second bevel gear (1-10), a third bevel gear (1-7) and a fourth bevel gear (1-9);
The two motor bases (1-6) are arranged on the robot chassis (1-3), a first motor (1-1) and a second motor (1-2) are respectively arranged on the two motor bases, the first bevel gear (1-8) and the second bevel gear (1-10) are respectively arranged on front end output shafts of the first motor (1-1) and the second motor (1-2) through flat key connection, a third bevel gear (1-7) and a fourth bevel gear (1-9) are respectively arranged on the first driving shaft (6) and the second driving shaft (7) through flat key connection, and the first bevel gear (1-8) and the second bevel gear (1-10) on the output shafts of the first motor (1-1) and the second motor (1-2) are respectively meshed with the third bevel gear (1-7) and the fourth bevel gear (1-9) on the first driving shaft (6) and the second driving shaft (7) to realize power transmission; the four bearing seats (1-5) are arranged on the robot chassis (1-3) and are used for fixing the first driving shaft (6) and the second driving shaft (7).
3. An adaptive underactuated tracked robot as defined in claim 1, wherein: the first main crawler belt (2) and the second main crawler belt (3) of the robot are in mirror image relationship and are arranged on the left side and the right side of the chassis (1-3) of the robot; the first main track (2) is characterized by comprising: the device comprises a first driving wheel (2-1), a main track wheel frame (2-2), a driven wheel (2-3), a damping mechanism (2-4), a riding wheel mechanism (2-5) and a tensioning mechanism (2-6);
the main crawler wheel frame (2-2) is arranged on one side of the robot chassis (1-3) through nuts, the crawler wheel frame (2-2) is provided with a front fork and a rear fork, a first driving wheel (2-1) is arranged in the front fork, a driven wheel (2-3) is arranged in the rear fork, a riding wheel mechanism (2-5) and a damping mechanism (2-4) are arranged between the front fork and the rear fork of the crawler wheel frame (2-2);
The first driving wheel (2-1) is arranged on the first driving shaft (6), the first driving wheel (2-1) is connected with the first driving shaft (6) through a flat key, and sleeves are arranged on two sides of the first driving wheel (2-1) to axially position the first driving wheel;
The driven wheel (2-3) is arranged on the driven wheel shaft (2-7), the driven wheel (2-3) is connected with the driven wheel shaft (2-7) through a bearing, the driven wheel shaft (2-7) is arranged in a waist-shaped hole (2-2-1) on a rear fork of the crawler wheel frame (2-2), tensioning mechanisms (2-6) are arranged on two sides of the rear fork of the crawler wheel frame, washers on tensioning bolts (2-6-1) of the tensioning mechanisms (2-6) are arranged on the driven wheel shaft, the bolts are arranged in through holes at the rear fork end parts of the main crawler wheel frame, and the driven wheel (2-3) moves forwards and backwards through adjusting nuts (2-6-2) so as to realize tightness adjustment of the crawler;
The first pin shaft (2-4-1) and the second pin shaft (2-4-2) of the damping mechanism (2-4) are both arranged on the crawler wheel frame (2-2), and two ends of the pin shaft are fixed through clamp springs; the upper end of the shock absorber (2-4-3) is arranged on the second pin shaft (2-4-2), two sides of the shock absorber are positioned through sleeves, the lower end of the shock absorber (2-4-3) is arranged on the rod (2-4-6), the upper end of the rod (2-4-6) is arranged on the first pin shaft (2-4-1), and two sides of the rod (2-4-6) are positioned through sleeves; the third pin shaft (2-4-5) is arranged in a corresponding hole at the lower end of the rod (2-4-6), the crawler wheels (2-4-4) are arranged at the two ends of the third pin shaft (2-4-5), bearings are arranged between the crawler wheels (2-4-4) and the third pin shaft (2-4-5) for enabling the crawler wheels (2-4-4) to rotate smoothly, and the outer sides of the crawler wheels (2-4-4) are fixed by using snap springs.
4. An adaptive underactuated tracked robot as defined in claim 1, wherein: the first planetary crawler belt (4) and the second planetary crawler belt (5) are arranged on the first driving shaft (6) and the second driving shaft (7), and thrust bearings (8) are arranged between the first main crawler belt (2) and the first planetary crawler belt (4) and between the second main crawler belt (3) and the second planetary crawler belt (5) in order to prevent interference or friction between the first planetary crawler belt (4) and the second planetary crawler belt (5) when the first planetary crawler belt (4) and the second planetary crawler belt (5) move.
5. An adaptive underactuated tracked robot as defined in claim 1, wherein: the first planetary crawler belt (4) and the second planetary crawler belt (5) of the robot are in mirror image relationship; the first planetary crawler belt (4) comprises: the planetary transmission mechanism comprises a planetary driving wheel (4-1), a first planetary gear (4-2-1), a second planetary gear (4-2-2), a planetary carrier (4-9), a push rod (4-3) and a track, wherein the first planetary gear (4-2-1) and the second planetary gear (4-2-2) are respectively arranged at two sides of the planetary driving wheel (4-1), the axes of the three wheels are positioned on the same plane, and the track is arranged at the outer sides of the three wheels; the planetary driving wheel (4-1) is arranged on the driving shaft (6) and is connected with the driving shaft through a flat key; the first planet gears (4-2-1) and the second planet gears (4-2-2) are respectively arranged on the first planet gear shafts (4-4-1) and the second planet gear shafts (4-4-2), the first planet gears (4-2-1) and the second planet gears (4-2-2) are driven wheels, and bearings (4-5) are arranged between the first planet gears (4-2-1) and the second planet gears (4-2-2) and the first planet gear shafts (4-4-1) and between the second planet gear shafts (4-4-2); the two sides of the planetary driving wheel (4-1), the first planetary gear (4-2-1) and the second planetary gear (4-2-2) are fixed by a planetary wheel carrier (4-9), and the planetary driving wheel (4-1), the first planetary gear (4-2-1) and the second planetary gear (4-2-2) are axially positioned by sleeves respectively; in order to prevent friction between the planet carrier (4-9) and the first driving shaft (6), a flange bearing (4-10) is arranged between the planet carrier (4-9) and the first driving shaft (6); the first planetary wheel shaft (4-4-1) and the second planetary wheel shaft (4-4-2) are arranged in waist-shaped grooves at two ends of the planetary wheel frame (4-9), a gasket at one end of a tensioning bolt (4-7) is sleeved on the second planetary wheel shaft (4-4-2), an adjusting nut (4-6) enables the second planetary wheel shaft (4-4-2) to move, tightness of a crawler belt is adjusted, and after tensioning is completed, the second planetary wheel shaft (4-4-2) is fixed by tightening the nut (4-11); an ejector rod (4-3) is arranged between the planetary wheel carriers (4-9) at two sides of the planetary driving wheel (4-1), and is fixed by screws (4-8).
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| CN111634341B (en) * | 2020-07-06 | 2024-02-27 | 北京电子科技职业学院 | Self-adaptive under-actuated deformed crawler belt |
| CN111872915A (en) * | 2020-07-14 | 2020-11-03 | 重庆大学 | Obstacle-crossing exploration robot based on oscillating crawler wheel |
| CN114620153B (en) * | 2022-02-24 | 2023-01-24 | 淮阴工学院 | Crawler wheel for preventing vehicle body from clamping chassis |
| CN114809169B (en) * | 2022-06-30 | 2022-09-27 | 徐州徐工筑路机械有限公司 | Rear axle balancing box of land leveler |
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