CN111874113A - Crawler-type walking obstacle avoidance mechanism - Google Patents
Crawler-type walking obstacle avoidance mechanism Download PDFInfo
- Publication number
- CN111874113A CN111874113A CN202010672315.6A CN202010672315A CN111874113A CN 111874113 A CN111874113 A CN 111874113A CN 202010672315 A CN202010672315 A CN 202010672315A CN 111874113 A CN111874113 A CN 111874113A
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- China
- Prior art keywords
- gear
- shaft
- swing arm
- vehicle body
- crawler
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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
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
Abstract
The invention discloses a crawler-type walking obstacle avoidance mechanism which comprises a vehicle body, crawler mechanisms and swing arm mechanisms, wherein the crawler mechanisms are arranged on two sides of the vehicle body and are used for driving the vehicle body to move, the swing arm mechanism is arranged at the front end of the vehicle body and comprises an installation panel, a swing arm driving device, U-shaped supports, Z-shaped supports and walking mechanisms, the installation panel is fixed at the front end of the vehicle body, a swing arm shaft is rotatably arranged on the installation panel in a penetrating mode, one end of the swing arm shaft is connected with the swing arm driving device, the number of the Z-shaped supports is two, one ends of the two Z-shaped supports are fixed on the swing arm shaft, and the walking mechanisms are arranged at the other ends of the two Z. When encountering an obstacle, the swing arm driving device drives the swing arm mechanism to move upwards, then the swing arm mechanism is lapped at the top of the obstacle, then the swing arm driving device drives the swing arm mechanism to move downwards, the front end of the vehicle body is lifted upwards by utilizing the reaction force of the obstacle, and then the obstacle is crossed through the crawler mechanism, so that the rapid obstacle avoidance is realized.
Description
Technical Field
The invention relates to the field of obstacle avoidance mechanisms, in particular to a crawler type walking obstacle avoidance mechanism.
Background
Sudden events such as natural disasters, terrorism, chemical engineering fire control and the like occur at times, and all of the events have the properties of sudden, urgent and dangerous. When an earthquake, a mine disaster, a chemical accident and other events occur, the environmental information is mastered at the first time, the method has important significance for rescuing trapped people or controlling the spread of dangerous cases, and therefore, the method has practical significance for providing a small-sized trolley for detection and rescue or soil sampling. At present, a wheel type travelling mechanism is adopted for exploration, and although the wheel type travelling mechanism has the characteristics of light weight, high speed, flexibility, high efficiency and difficulty in damaging a road surface, the wheel type travelling mechanism has poor obstacle crossing performance and poor stability when facing complex terrains such as steps, stairs, gullies, steep slopes and the like. In the prior art, a track is adopted for obstacle crossing, but when a track mechanism encounters a step or a stair, the height of the step or the stair is greater than that of a vehicle body and the track mechanism, so that the track mechanism cannot be put on an obstacle, and the obstacle avoidance of the step and the stair cannot be realized, and therefore, a walking mechanism with the obstacle avoidance capability needs to be provided.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a crawler type walking obstacle avoidance mechanism for solving the problems in the background art.
The purpose of the invention is realized by the following technical scheme: a crawler-type walking obstacle avoidance mechanism comprises a vehicle body, crawler mechanisms and swing arm mechanisms, wherein the crawler mechanisms are arranged on two sides of the vehicle body and are used for driving the vehicle body to move, and the swing arm mechanisms are arranged at the front end of the vehicle body;
swing arm mechanism includes installation panel, swing arm drive arrangement, U-shaped support, Z shape support and running gear, the installation panel is fixed the front end of automobile body, rotatable swing arm axle of wearing to be equipped with on the installation panel, the one end of swing arm axle with swing arm drive arrangement connects, Z shape support sets up to two, two the one end of Z shape support is all fixed on the swing arm is epaxial, two Z shape support parallel arrangement, the other end of two Z type supports all is provided with running gear, the middle part of Z type support is provided with the U-shaped support, two the Z shape support is fixed respectively on two inside walls of U-shaped support.
Further, the swing arm driving device comprises a motor and a gearbox, the output end of the motor is connected with the gearbox, and the output end of the gearbox is connected with one end of the swing arm shaft.
Furthermore, the gearbox comprises a first shaft and a second shaft, the first shaft and the second shaft are rotatably arranged in the gearbox in a penetrating mode through a bearing, the first shaft and the second shaft are arranged in parallel, one end of the first shaft is connected with an output shaft of the motor through a coupler, a duplex sliding gear is arranged on the first shaft and can move along the axial direction of the first shaft, a first gear and a second gear are sequentially fixed on the second shaft from left to right, the number of teeth of the first gear is larger than that of the second gear, the duplex sliding gear is composed of a left gear and a right gear, the left gear is meshed with the first gear, the right gear is meshed with the second gear, when the left gear is meshed with the first gear, the right gear is separated from the second gear, when the right gear is meshed with the second gear, the left gear is separated from the first gear, one end of the second shaft is fixed with a third gear, one end of the swing arm shaft is fixed with a fourth gear, the third gear is meshed with the fourth gear, and the first shaft is provided with a shifting tooth which is used for enabling the duplex sliding gear to move in the axial direction of the first shaft.
Further, running gear includes mounting panel, axletree and wheel, the mounting panel is fixed the outside of Z shape support one end, rotatable wearing to be equipped with on the mounting panel the axletree, the axletree is kept away from the one end of mounting panel is provided with the wheel.
Further, the crawler mechanism comprises a steering engine, a main driving shaft and a driven shaft, the main driving shaft is rotatably arranged at the rear end of one side of the vehicle body, the main driving shaft is rotatably arranged at the front end of one side of the vehicle body, the main driving shaft and the driven shaft are far away from one end of the vehicle body and are respectively provided with a chain wheel, and a crawler is arranged on the chain wheel.
Furthermore, anti-collision guide wheel mechanisms are arranged on two sides of the top of the front end of the vehicle body and comprise connecting rods and guide wheels, one ends of the connecting rods are fixed on the vehicle body, and the guide wheels are rotatably arranged at the other ends of the connecting rods.
Furthermore, the connecting rod is an L-shaped rod, one end of the connecting rod, which is provided with a guide wheel, extends out of the vehicle body, and the guide wheel is parallel to the vehicle body.
The invention has the beneficial effects that:
the utility model provides a barrier mechanism is kept away in crawler-type walking, when meetting the obstacle, swing arm drive arrangement drive swing arm mechanism upward movement, then with swing arm mechanism overlap joint at the top of obstacle, then swing arm drive arrangement drive swing arm mechanism downward movement, utilize the reaction force of obstacle to upwards lift the front end of automobile body, then cross the obstacle through crawler, realized keeping away the obstacle fast.
Drawings
FIG. 1 is a front view of a crawler-type walking obstacle avoidance mechanism of the present invention;
FIG. 2 is a top view of a crawler-type walking obstacle avoidance mechanism of the present invention;
FIG. 3 is a left side view of a crawler type walking obstacle avoidance mechanism of the present invention;
FIG. 4 is a schematic view of an internal structure of a gearbox in the crawler-type walking obstacle avoidance mechanism of the present invention;
in the figure, 1-vehicle body, 2-crawler mechanism, 3-swing arm mechanism, 21-steering engine, 22-main driving shaft, 23-driven shaft, 24-chain wheel, 25-crawler, 26-connecting rod, 27-guide wheel, 31-mounting panel, 32-U-shaped bracket, 33-Z-shaped bracket, 34-walking mechanism, 35-swing arm shaft, 36-mounting plate, 37-vehicle shaft, 38-vehicle wheel, 83-gearbox, 84-shaft I, 85-shaft II, 87-duplex sliding gear, 88-gear I, 89-gear II, 90-gear III and 91-gear IV.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1 to 4, a crawler-type walking obstacle avoidance mechanism comprises a vehicle body 1, crawler mechanisms 2 and swing arm mechanisms 3, wherein the crawler mechanisms 2 are arranged on both sides of the vehicle body 1, the crawler mechanisms 2 are used for driving the vehicle body 1 to move, and the swing arm mechanisms 3 are arranged at the front end of the vehicle body 1;
the vehicle body 1 can walk on an obstacle through the crawler mechanisms 2, and the height of the obstacle is higher than that of the vehicle body, so that the crawler mechanisms 2 cannot directly cross the obstacle.
As shown in fig. 1 and 2, the swing arm mechanism 3 includes an installation panel 31, a swing arm driving device, U-shaped brackets 32, Z-shaped brackets 33 and a traveling mechanism 34, the installation panel 31 is fixed at the front end of the vehicle body 1, a swing arm shaft 35 is rotatably arranged on the installation panel 31 in a penetrating manner, one end of the swing arm shaft 35 is connected with the swing arm driving device, the Z-shaped brackets 33 are arranged in two numbers, one ends of the two Z-shaped brackets 33 are fixed on the swing arm shaft 35, the two Z-shaped brackets 33 are arranged in parallel, the other ends of the two Z-shaped brackets 33 are provided with the traveling mechanism 34, the middle of the Z-shaped brackets 33 are provided with the U-shaped brackets 32, and the two Z-shaped brackets 33 are respectively fixed on two inner side walls.
In specific implementation, the crawler mechanism 2 drives the vehicle body 1 to move, when the vehicle body 1 passes through gullies and steep slopes, the swing arm driving device drives the traveling mechanism 34 to ascend, so as to prevent the traveling mechanism 34 from being clamped on the gullies or the steep slopes, and the crawler mechanism 2 drives the vehicle body 1 to cross obstacles, when the height of the steps, the stairs or the obstacles is higher than the height of the vehicle body 1 and the crawler 2, the swing arm driving device drives the swing arm shaft 35 to rotate, thereby driving the Z-shaped bracket 33 to rotate, making the travelling mechanism 34 rotate upwards, when the travelling mechanism 34 moves to the upper part of the obstacle, the swing arm driving device drives the swing arm shaft to rotate reversely, so that the walking mechanism 34 is lapped on the top of the barrier, then the swing arm driving device drives the swing arm mechanism to move downwards, the front end of the vehicle body 1 is lifted upwards by utilizing the reaction force of the obstacle, and then the front end of the vehicle body passes through the obstacle through the crawler mechanism, so that the rapid obstacle avoidance is realized.
The swing arm driving device comprises a motor and a gearbox 83, the output end of the motor is connected with the gearbox 83, and the output end of the gearbox 83 is connected with one end of the swing arm shaft 35.
As shown in fig. 4, the transmission case 83 includes a first shaft 84 and a second shaft 85, the first shaft 84 and the second shaft 85 are rotatably disposed in the transmission case 83 through bearings, the first shaft 84 and the second shaft 85 are disposed in parallel, one end of the first shaft 84 is connected to an output shaft of the motor through a coupling, a first dual sliding gear 87 is disposed on the first shaft 84, the first dual sliding gear 87 can move along an axial direction of the first shaft 84, a first gear 88 and a second gear 89 are sequentially fixed on the second shaft 85 from left to right, the number of teeth of the first gear 88 is greater than that of the second gear 89, the first dual sliding gear 87 is composed of a left gear and a right gear, the left gear is engaged with the first gear 88, the right gear is engaged with the second gear 89, when the left gear is engaged with the first gear 88, the right gear is disengaged with the second gear 89, the left gear is disengaged with the first gear 88, one end of the second shaft 85 is fixed with a third gear 90, one end of the swing arm shaft 35 is, gear three 90 meshes with gear four 91, and shaft one 84 is provided with a set tooth for moving double sliding gear 87 in the axial direction of shaft one 84.
As shown in fig. 1 and 2, the traveling mechanism 34 includes a mounting plate 36, an axle 37, and wheels 38, the mounting plate 36 is fixed on the outer side of one end of the Z-shaped bracket, the axle 37 is rotatably inserted through the mounting plate 36, and the wheels 38 are disposed on one end of the axle 37 away from the mounting plate 36.
When the swing arm mechanism needs to move upwards when meeting an obstacle, the traveling mechanism 34 has higher speed when the right gear of the duplex sliding gear 87 is meshed with the second gear 89, the traveling mechanism moves to the position above the obstacle quickly, then the swing arm driving device rotates reversely and dials teeth simultaneously to shift, the left gear of the duplex sliding gear 87 is meshed with the first gear 88, the traveling mechanism 34 moves downwards at lower speed to support the vehicle body 1, and damage to the traveling mechanism 34 caused by larger inertia due to too high speed is avoided. In specific implementation, the first motor driving shaft 84 rotates, the first shaft rotates through the meshing of the first duplex sliding gear 87 and the first gear 88 or the second gear 89 driving shaft 85, and the second shaft 85 drives the swing arm shaft 35 to rotate through the meshing of the third gear 90 and the fourth gear 91, so that the upward movement or the downward movement of the traveling mechanism 34 is realized.
Further, crawler 2 includes steering wheel 21, main drive shaft 22 and driven shaft 23, and the rotatable rear end that sets up in automobile body 1 one side of main drive shaft 22 is provided with steering wheel 21 on the main drive shaft 22, and the rotatable front end that sets up in automobile body 1 one side of driven shaft 23, and main drive shaft 22 and the one end that driven shaft 23 kept away from automobile body 1 all are provided with sprocket 24, are provided with track 25 on the sprocket 24.
The steering engine 21 provides power for the main driving shaft 22, so that the main driving shaft 22 rotates to drive the chain wheel 24 to rotate, and further drive the crawler belt 25 to rotate, and obstacle avoidance is realized.
Further, the both sides at automobile body 1 front end top all are provided with crashproof guide pulley mechanism, and crashproof guide pulley mechanism includes connecting rod 26 and guide pulley 27, and the one end of connecting rod 26 is fixed on automobile body 1, and the other end of connecting rod 26 is rotatable is provided with guide pulley 27.
Further, the connecting rod 26 is an L-shaped rod, one end of the connecting rod 26 provided with a guide wheel 27 extends out of the vehicle body 1, and the guide wheel 27 is arranged in parallel with the vehicle body 1.
When the vehicle body 1 passes through a gully or a narrow zone, the guide wheel 27 collides with obstacles on both sides of the vehicle body 1 to prevent the both sides of the vehicle body 1 from colliding with the obstacles to cause damage to the vehicle body 1, and the guide wheel 27 is rotatably disposed to make the contact between the guide wheel 27 and the obstacles sliding friction, so that the guide wheel 27 has a certain guiding function and simultaneously reduces the friction when both sides of the vehicle body 1 contact with the obstacles.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The crawler-type walking obstacle avoidance mechanism is characterized by comprising a vehicle body (1), crawler mechanisms (2) and swing arm mechanisms (3), wherein the crawler mechanisms (2) are arranged on two sides of the vehicle body (1), the crawler mechanisms (2) are used for driving the vehicle body (1) to move, and the swing arm mechanisms (3) are arranged at the front end of the vehicle body (1);
the swing arm mechanism (3) comprises a mounting panel (31), a swing arm driving device, a U-shaped bracket (32), a Z-shaped bracket (33) and a traveling mechanism (34), the mounting panel (31) is fixed at the front end of the vehicle body (1), a swing arm shaft (35) is rotatably arranged on the mounting panel (31) in a penetrating way, one end of the swing arm shaft (35) is connected with the swing arm driving device, the number of the Z-shaped supports (33) is two, one end of each of the two Z-shaped supports (33) is fixed on the swing arm shaft (35), the two Z-shaped supports (33) are arranged in parallel, the other ends of the two Z-shaped supports (33) are provided with the travelling mechanisms (34), the middle part of the Z-shaped support (33) is provided with the U-shaped support (32), and the two Z-shaped supports (33) are respectively fixed on two inner side walls of the U-shaped support (32).
2. A crawler-type walking obstacle avoidance mechanism according to claim 1, wherein the swing arm driving device comprises a motor and a gearbox (83), an output end of the motor is connected with the gearbox (83), and an output end of the gearbox (83) is connected with one end of the swing arm shaft (35).
3. The crawler-type walking obstacle avoidance mechanism according to claim 2, wherein the gearbox (83) comprises a first shaft (84) and a second shaft (85), the first shaft (84) and the second shaft (85) are rotatably arranged in the gearbox (83) through bearings, the first shaft (84) and the second shaft (85) are arranged in parallel, one end of the first shaft (84) is connected with an output shaft of the motor through a coupler, a first coupling sliding gear (87) is arranged on the first shaft (84), the first coupling sliding gear (87) can move along the axial direction of the first shaft (84), a first gear (88) and a second gear (89) are sequentially fixed on the second shaft (85) from left to right, the number of teeth of the first gear (88) is greater than that of the second gear (89), and the second coupling sliding gear (87) consists of a left gear and a right gear, the left gear is meshed with the first gear (88), the right gear is meshed with the second gear (89), when the left gear is meshed with the first gear (88), the right gear is separated from the second gear (89), when the right gear is meshed with the second gear (89), the left gear is separated from the first gear (88), one end of the second shaft (85) is fixedly provided with a third gear (90), one end of the swing arm shaft (35) is fixedly provided with a fourth gear (91), the third gear (90) is meshed with the fourth gear (91), the first shaft (84) is provided with shifting teeth, and the shifting teeth are used for enabling the dual sliding gear (87) to axially move on the first shaft (84).
4. A crawler-type walking obstacle avoidance mechanism according to claim 1, wherein the walking mechanism (34) comprises a mounting plate (36), an axle (37) and wheels (38), the mounting plate (36) is fixed on the outer side of one end of the Z-shaped bracket, the axle (37) is rotatably arranged on the mounting plate (36) in a penetrating manner, and the wheels (38) are arranged at one end of the axle (37) far away from the mounting plate (36).
5. The crawler-type walking obstacle avoidance mechanism according to claim 1, wherein the crawler-type mechanism (2) comprises a steering engine (21), a main driving shaft (22) and a driven shaft (23), the main driving shaft (22) is rotatably arranged at the rear end of one side of the vehicle body (1), the steering engine (21) is arranged on the main driving shaft (22), the driven shaft (23) is rotatably arranged at the front end of one side of the vehicle body (1), chain wheels (24) are arranged at the ends, far away from the vehicle body (1), of the main driving shaft (22) and the driven shaft (23), and a crawler belt (25) is arranged on the chain wheels (24).
6. A crawler-type walking obstacle avoidance mechanism according to claim 1, wherein both sides of the top of the front end of the vehicle body (1) are provided with anti-collision guide wheel mechanisms, each anti-collision guide wheel mechanism comprises a connecting rod (26) and a guide wheel (27), one end of the connecting rod (26) is fixed on the vehicle body (1), and the other end of the connecting rod (26) is rotatably provided with the guide wheel (27).
7. A crawler-type walking obstacle avoidance mechanism according to claim 6, wherein the connecting rod (26) is an L-shaped rod, one end of the connecting rod (26) provided with a guide wheel (27) extends out of the vehicle body (1), and the guide wheel (27) is arranged in parallel with the vehicle body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010672315.6A CN111874113A (en) | 2020-07-14 | 2020-07-14 | Crawler-type walking obstacle avoidance mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010672315.6A CN111874113A (en) | 2020-07-14 | 2020-07-14 | Crawler-type walking obstacle avoidance mechanism |
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| Publication Number | Publication Date |
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| CN111874113A true CN111874113A (en) | 2020-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010672315.6A Pending CN111874113A (en) | 2020-07-14 | 2020-07-14 | Crawler-type walking obstacle avoidance mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113513657A (en) * | 2021-05-10 | 2021-10-19 | 北京化工大学 | A track type robot hinders running gear more for metal pipeline |
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| CN108202775A (en) * | 2018-03-12 | 2018-06-26 | 湖南中矿金禾机器人研究院有限公司 | A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis |
| CN108556938A (en) * | 2018-06-27 | 2018-09-21 | 北京航空航天大学 | Full ground anthropomorphic robot |
| CN110262498A (en) * | 2019-06-27 | 2019-09-20 | 宁德师范学院 | A kind of intelligence obstacle detouring trolley |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101112154A (en) * | 2006-07-29 | 2008-01-30 | 李传良 | Straw returning machine for different crops |
| CN101143604A (en) * | 2007-10-31 | 2008-03-19 | 东华大学 | Joint track type walking mechanism |
| CN102582706A (en) * | 2012-02-27 | 2012-07-18 | 太原理工大学 | Coal mine underground search-and-rescue detection robot moving device |
| CN107399376A (en) * | 2017-07-21 | 2017-11-28 | 钦州学院 | Suitable for the robot running gear of full landform |
| CN108202775A (en) * | 2018-03-12 | 2018-06-26 | 湖南中矿金禾机器人研究院有限公司 | A kind of double drive both arms, the small-sized mining robot crawler-type mobile platform of concentric four axis |
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| CN113513657A (en) * | 2021-05-10 | 2021-10-19 | 北京化工大学 | A track type robot hinders running gear more for metal pipeline |
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Application publication date: 20201103 |