CN113415348B - Crawler-type mobile device - Google Patents
Crawler-type mobile device Download PDFInfo
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- CN113415348B CN113415348B CN202110701175.5A CN202110701175A CN113415348B CN 113415348 B CN113415348 B CN 113415348B CN 202110701175 A CN202110701175 A CN 202110701175A CN 113415348 B CN113415348 B CN 113415348B
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- swing arm
- arm assembly
- crawler
- driving mechanism
- suspension
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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
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a crawler-type moving device, which relates to the technical field of mechanical engineering and comprises a vehicle body, wherein two opposite sides of the vehicle body are respectively provided with a travelling mechanism, and each travelling mechanism comprises a deformation driving mechanism, a crawler and a first swing arm assembly and a second swing arm assembly which are arranged at intervals; the first swing arm assembly and the second swing arm assembly are hinged with the lateral side of the vehicle body respectively; the crawler belt is sequentially wound on the first swing arm assembly and the second swing arm assembly; the deformation driving mechanism is respectively connected with the first swing arm assembly and the second swing arm assembly and used for adjusting the rotating angle of the first swing arm assembly and the second swing arm assembly relative to the vehicle body, so that the shape of the traveling mechanism is changed into a straight configuration, a parallelogram configuration or a trapezoid configuration, the gravity center of the crawler-type moving device is changed, and the stability and the obstacle crossing capability of the crawler-type moving device in the moving process are improved by using a relatively simple structure.
Description
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a crawler-type moving device.
Background
At present, in order to improve the passing ability of the crawler type mobile robot in an unstructured environment, many researchers have studied the suspension mechanism, the variable configuration vehicle body, and the deformation wheel structure of the crawler type mobile robot. Existing track-type mobile machines include single-link double track, double-link double track, and multi-link multi-track structures, but they all have their own limitations. Most of single-section double-crawler type mobile robots are tank-like structures, the gravity center is low, the stability is excellent, but the maneuvering capability and the obstacle crossing capability of the single-section double-crawler type mobile robots are insufficient. The double-section double-crawler type and multi-section multi-crawler type mobile robot has good obstacle crossing capability, stable movement and stronger maneuverability, but has more freedom and more complex control.
Disclosure of Invention
The invention aims to provide a crawler-type moving device, which solves the technical problems that in the prior art, a single-section double-crawler-type moving robot has insufficient maneuverability and obstacle-crossing capability, and a double-section double-crawler-type moving robot and a multi-section multi-crawler-type moving robot are relatively complex to control due to more degrees of freedom.
The invention provides a crawler-type moving device which comprises a vehicle body, wherein two opposite sides of the vehicle body are respectively provided with a travelling mechanism, and each travelling mechanism comprises a deformation driving mechanism, a crawler and a first swing arm assembly and a second swing arm assembly which are arranged at intervals;
the first swing arm assembly and the second swing arm assembly are hinged with the lateral side of the vehicle body respectively; the crawler belt is sequentially wound on the first swing arm assembly and the second swing arm assembly;
the deformation driving mechanism is respectively connected with the first swing arm assembly and the second swing arm assembly and is used for adjusting the rotation angle of the first swing arm assembly and the second swing arm assembly relative to the vehicle body.
Further, the deformation driving mechanism is arranged between the first swing arm assembly and the second swing arm assembly, and the deformation driving mechanism comprises a first driving mechanism and a second driving mechanism;
one end of the first driving mechanism is hinged with the vehicle body, and the other end of the first driving mechanism is hinged with the first swing arm component;
one end of the second driving mechanism is hinged to the vehicle body, and the other end of the second driving mechanism is hinged to the second swing arm assembly.
Further, the first driving mechanism and/or the second driving mechanism is/are a telescopic cylinder.
Further, the first swing arm assembly comprises a first supporting piece, a guide wheel, a first damping structure and a first rotating shaft; one end of the first rotating shaft is fixedly connected with the vehicle body, the first supporting piece is rotatably connected to the first rotating shaft, the guide wheel is rotatably connected to one end of the first supporting piece, and the first damping structure is connected to the other end of the first supporting piece;
the second swing arm assembly comprises a second supporting piece, a driving wheel, a walking driving mechanism, a second damping structure and a second rotating shaft; the driving end of the walking driving mechanism is connected with the driving wheel and is used for driving the driving wheel to rotate; one end of the second rotating shaft is fixedly connected with the vehicle body, the second supporting piece is rotatably connected to the second rotating shaft, the driving wheel is rotatably connected to one end of the second supporting piece, and the second damping structure is connected to the other end of the second supporting piece.
Further, the first damping structure comprises a first elastic piece, a first connecting piece and a first damping wheel;
one end of the first connecting piece is hinged with the first supporting piece, the other end of the first connecting piece is hinged with one end of the first elastic piece, and the first damping wheel is rotatably connected to the first connecting piece;
the second damping structure comprises a second elastic piece, a second connecting piece and a second damping wheel;
one end of the second connecting piece is hinged to the second supporting piece, the other end of the second connecting piece is hinged to one end of the second elastic piece, and the second damping wheel is rotatably connected to the second connecting piece.
Further, the first elastic member and/or the second elastic member is a damping spring.
Further, the vehicle body comprises a top beam assembly and two first cross beams which extend along the transverse direction and are arranged at intervals along the longitudinal direction; the top beam assembly is positioned above the two first cross beams, and the first end of the top beam assembly is connected with the first ends of the two first cross beams through a suspension structure; the second end of the top beam assembly is respectively connected with the second ends of the two first cross beams through a suspension structure;
the first swing arm assembly and the second swing arm assembly are hinged to the lateral side of the first cross beam respectively.
Furthermore, each suspension structure comprises a first suspension mounting part, two suspension springs and two second suspension mounting parts; the bottom end of the first suspension mounting part is hinged with the second suspension mounting parts respectively, and the two suspension springs are connected between the second suspension mounting parts and the first suspension mounting parts respectively;
the first end and the second end of the top beam assembly are respectively connected with the first suspension mounting pieces of the two suspension structures, the first ends of the two first cross beams are respectively connected with the second suspension mounting pieces of the one suspension structure, and the second ends of the two first cross beams are respectively connected with the second suspension mounting pieces of the other suspension structure.
Further, the top beam assembly comprises a mounting plate, a chassis and a second cross beam;
the case is connected to the second cross beam through the mounting plate, and the bottoms of the two ends of the second cross beam are respectively connected with the first suspension mounting pieces of the two suspension structures.
Further, the second cross beam is an arched beam.
The invention provides a crawler-type moving device which comprises a vehicle body, wherein two opposite sides of the vehicle body are respectively provided with a travelling mechanism, and each travelling mechanism comprises a deformation driving mechanism, a crawler and a first swing arm assembly and a second swing arm assembly which are arranged at intervals; the first swing arm assembly and the second swing arm assembly are hinged with the lateral side of the vehicle body respectively; the track is sequentially wound on the first swing arm assembly and the second swing arm assembly; the deformation driving mechanism is respectively connected with the first swing arm assembly and the second swing arm assembly and is used for adjusting the rotation angle of the first swing arm assembly and the second swing arm assembly relative to the vehicle body. Compared with the prior art, the crawler-type moving device provided by the invention has the beneficial effects that:
according to the invention, the first swing arm assembly and the second swing arm assembly connected with the deformation driving mechanism are driven to rotate relative to the vehicle body through the deformation driving mechanism, so that the shape of the travelling mechanism is changed, for example, the shape of the travelling mechanism can be changed into a straight line shape, a parallelogram shape or a trapezoid shape, the gravity center of the crawler-type moving device is changed, and the stability and the obstacle crossing capability of the crawler-type moving device in the movement process are improved by utilizing a relatively simple structure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is an isometric view of a crawler travel unit provided by an embodiment of the present invention;
FIG. 2 is a block diagram of a body of a track-type mobile device according to an embodiment of the invention;
FIG. 3 is a block diagram of a first swing arm assembly of a track-type mobile device provided in accordance with an embodiment of the present invention;
FIG. 4 is a block diagram of a first swing arm assembly of a track-type mobile device provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of a first shock absorbing structure of a crawler attachment provided in accordance with an embodiment of the present invention;
FIG. 6 is a block diagram of a modified drive mechanism for a track-type mobile unit in accordance with an embodiment of the present invention;
FIG. 7 is a block diagram of a first configuration of a travel mechanism of a track-type mobile unit provided in accordance with an embodiment of the present invention;
fig. 8 is a structural view of a second configuration of a running mechanism of a crawler type traveling apparatus according to an embodiment of the present invention.
Icon: 1-a vehicle body; 2-a first swing arm assembly; 3-a second swing arm assembly; 4-a deformation driving mechanism; 5, a crawler belt; 11-a mounting plate; 12-a second beam; 13-a chassis; 14-a suspension spring; 15-suspension mounting member one; 16-suspension mount two; 17-a first beam; 21-a first support; 22-a guide wheel; 23-a first shock-absorbing structure; 231-damping springs; 232-a first connector; 233-a first shock absorbing wheel; 24-a first shaft; 31-a second support; 32-a drive wheel; 33-a second shock-absorbing structure; 34-a second rotating shaft; 35-a travel driving mechanism; 41-electric push rod; 42-mounting a base; 43-connecting plate.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
As shown in fig. 1 to 8, the crawler type mobile device provided by this embodiment includes a vehicle body 1, where two opposite sides of the vehicle body 1 are respectively provided with a traveling mechanism, where the traveling mechanism includes a deformation driving mechanism 4, a crawler 5, and a first swing arm assembly 2 and a second swing arm assembly 3 arranged at an interval;
the first swing arm assembly 2 and the second swing arm assembly 3 are respectively hinged with the lateral side of the vehicle body 1; the crawler 5 is sequentially wound on the first swing arm assembly 2 and the second swing arm assembly 3;
the deformation driving mechanism 4 is respectively connected with the first swing arm assembly 2 and the second swing arm assembly 3, and the deformation driving mechanism 4 is used for adjusting the rotation angle of the first swing arm assembly 2 and the second swing arm assembly 3 relative to the vehicle body 1.
According to the crawler-type mobile device, the first swing arm assembly 2 and the second swing arm assembly 3 connected with the deformation driving mechanism 4 are driven to rotate relative to the vehicle body 1 through the deformation driving mechanism 4, so that the shape of the walking mechanism is changed, for example, the shape of the walking mechanism can be changed into a straight line shape, a parallelogram shape or a trapezoid shape, the gravity center of the crawler-type mobile device is changed, and the stability and the obstacle surmounting capability of the crawler-type mobile device in the motion process are improved through a relatively simple structure.
Specifically, in the present embodiment, two traveling mechanisms are arranged symmetrically with respect to the vehicle body 1, that is, one traveling mechanism is provided on one side of the vehicle body 1 of the crawler type traveling apparatus, and the other traveling mechanism is provided on the opposite side of the vehicle body 1, wherein each traveling mechanism includes one first swing arm assembly 2, one second swing arm assembly 3, and one deformation driving mechanism 4.
The deformation driving mechanism 4 is arranged between the first swing arm assembly 2 and the second swing arm assembly 3, and the deformation driving mechanism 4 is positioned between the travelling mechanism and the vehicle body 1, wherein the deformation driving mechanism 4 comprises a first driving mechanism and a second driving mechanism; one end of the first driving mechanism is hinged with the vehicle body 1, and the other end of the first driving mechanism is hinged with the first swing arm component 2; specifically, a mounting base 42 is arranged on the vehicle body 1, one end of the first driving mechanism is hinged with the vehicle body 1 through the mounting base 42, and the other end of the first driving mechanism is hinged with the first swing arm assembly 2 through a connecting plate 43; one end of the second driving mechanism is hinged to the vehicle body 1, and the other end of the second driving mechanism is hinged to the second swing arm assembly 3, specifically, one end of the second driving mechanism is hinged to the vehicle body 1 through a mounting base 42, and the other end of the second driving mechanism is hinged to the second swing arm assembly 3 through another connecting plate 43.
Preferably, the first driving mechanism and/or the second driving mechanism is an expansion rod or an expansion cylinder. In this embodiment, the first driving mechanism and the second driving mechanism may have the same structure, and preferably, the first driving mechanism and the second driving mechanism may be telescopic rods, or telescopic cylinders, and the rotation angles of the first swing arm assembly 2 and the second swing arm assembly 3 are changed by the telescopic rods or telescopic cylinders, so that the winding crawler belt 5 has different shapes, and different walking road conditions are met. It should be noted that, when the first driving mechanism and the second driving mechanism are telescopic rods, the telescopic rods may be electric push rods 41, and the telescopic cylinders may be air cylinders, hydraulic cylinders or electric cylinders, and of course, the first driving mechanism and the second driving mechanism may also be other structures capable of realizing linear movement.
Further, the first swing arm assembly 2 comprises a first support 21, a guide wheel 22, a first shock absorption structure 23 and a first rotating shaft 24; one end of the first rotating shaft 24 is fixedly connected with the vehicle body 1, the first supporting member 21 is rotatably connected to the first rotating shaft 24, the guide wheel 22 is rotatably connected to one end of the first supporting member 21, and the first damping structure 23 is connected to the other end of the first supporting member 21;
the second swing arm assembly 3 comprises a second supporting piece 31, a driving wheel 32, a walking driving mechanism 35, a second damping structure 33 and a second rotating shaft 34; the driving end of the walking driving mechanism 35 is connected with the driving wheel 32 and is used for driving the driving wheel 32 to rotate; one end of the second rotating shaft 34 is fixedly connected with the vehicle body 1, the second supporting member 31 is rotatably connected to the second rotating shaft 34, the driving wheel 32 is rotatably connected to one end of the second supporting member 31, and the second damping structure 33 is connected to the other end of the second supporting member 31.
The first and second shock-absorbing structures 23 and 33 can absorb impacts in multiple directions during walking, thereby improving the quick passing capability of the crawler-type moving device.
In this embodiment, the first damping structure 23 includes a first elastic member, a first connecting member 232, and a first damping wheel 233; one end of the first connecting member 232 is hinged to the first supporting member 21, the other end of the first connecting member 232 is hinged to one end of the first elastic member, and the first damping wheel 233 is rotatably connected to the first connecting member 232;
the second damping structure 33 comprises a second elastic member, a second connecting member and a second damping wheel; one end of the second connecting piece is hinged with the second supporting piece 31, the other end of the second connecting piece is hinged with one end of the second elastic piece, and the second damping wheel is rotatably connected to the second connecting piece.
Specifically, the first shock-absorbing structure 23 provided by this embodiment, the first connecting member 232 is substantially "L" shaped, one end of the first connecting member is hinged to the first supporting member 21, the other end of the first connecting member is hinged to the first elastic member, the other end of the first elastic member is hinged to the first supporting member 21, the first shock-absorbing wheel 233 is rotatably connected to the transition position of the first connecting member 232, the overall structure adopts a link design, the impact of the traveling mechanism in multiple directions in the movement process can be effectively absorbed, and the suspension structure of the vehicle body 1 is combined, so that the overall shock-absorbing capacity is enhanced, and the overall stability of the crawler-type moving device is improved. In addition to the above functions, the first damping structure 23 can drive the first damping wheel 233 to swing through the first elastic member, so as to achieve a certain function of tensioning the crawler belt 5. The second damper structure 33 has the same function as the first damper structure 23, and will not be described again.
It should be noted that, in the present embodiment, the first shock absorbing structure 23 is disposed at an end of the first supporting member 21 away from the guide wheel 22, and the second shock absorbing structure 33 is disposed at an end of the second supporting member 31 away from the driving wheel 32. The crawler belt 5 is wound on the driving wheel 32, the guide wheel 22, the first damping wheel 233 and the second damping wheel in sequence to form a closed ring shape, and the driving wheel 32 connected with the second swing arm assembly 3 is driven by the traveling driving mechanism 35 arranged on the second swing arm assembly 3 to provide power for the crawler belt 5, so that the traveling of the crawler belt type moving device is met.
The first elastic member and/or the second elastic member is a damping spring 231. In this embodiment, the first elastic member and the second elastic member have the same structure and may be both damping springs 231, and it should be noted that one of the first elastic member and the second elastic member may be a damping spring 231, and the other one may be an elastic structure in the prior art that can achieve the same function.
Further, the vehicle body 1 comprises a top beam assembly and two first cross beams 17 which extend along the transverse direction and are arranged at intervals along the longitudinal direction; the top beam assembly is positioned above the two first cross beams 17, and a first end of the top beam assembly is respectively connected with first ends of the two first cross beams 17 through a suspension structure; the second end of the top beam assembly is connected with the second ends of the two first cross beams 17 through a suspension structure; the first swing arm assembly 2 and the second swing arm assembly 3 are respectively hinged with the lateral direction of the first cross beam 17.
In the present embodiment, in order to more conveniently describe the structure of the vehicle body 1 and the connection relationship of the components, as shown in fig. 2, the right side in the drawing is defined as the first end direction of the roof rail and the first cross member 17, and the left side in the drawing is defined as the second end direction.
Specifically, each suspension structure comprises a first suspension mounting part 15, two suspension springs 14 and two second suspension mounting parts 16; the bottom end of the suspension mounting piece I15 is hinged with the two suspension mounting pieces II 16 respectively, and the two suspension springs 14 are connected between the two suspension mounting pieces II 16 and the suspension mounting piece I15 respectively;
the first end and the second end of the top beam assembly are respectively connected with the first suspension mounting pieces 15 of the two suspension structures, the first ends of the two first cross beams 17 are respectively connected with the second suspension mounting pieces 16 of one suspension structure, and the second ends of the two first cross beams 17 are respectively connected with the second suspension mounting pieces 16 of the other suspension structure.
Specifically, in this embodiment, the top beam assembly and the two first cross beams 17 both extend in the transverse direction, that is, extend in the traveling direction of the vehicle body 1, the end portion of each first cross beam 17 is fixedly connected with a second suspension mounting part 16, the bottoms of the two ends of the top beam assembly are fixedly connected with a first suspension mounting part 15, in the transverse direction, the second suspension mounting parts 16 on the two first cross beams 17 at the same end are hinged to the first suspension mounting parts 15, and the first suspension mounting parts 15 and the second suspension mounting parts 16 are connected through the suspension springs 14 arranged between the two suspension mounting parts. Therefore, the vehicle body 1 in this embodiment adopts a flexible suspension design, that is, the suspension structures are respectively arranged between the first cross beams 17 and the two ends of the top beam assembly, so that the rotational freedom degree between the two first cross beams 17 is increased, and the traveling mechanisms on the left and right sides of the crawler-type moving device can slightly swing relative to the hinged part between the first suspension mounting part 15 and the second suspension mounting part 16, thereby better improving the obstacle crossing capability of the mobile robot.
Meanwhile, the shock resistance of the device can be improved, and when the crawler-type moving device moves in an unstructured environment, the crawler 5 of the walking mechanism is in good contact with the ground, so that the continuous output of power is ensured.
The first supporting piece 21 and the second supporting piece 31 of the traveling mechanisms on the left side and the right side of the crawler-type moving device are hinged to the first rotating shaft 24 and the second rotating shaft 34 respectively, wherein the first rotating shaft 24 and the second rotating shaft 34 are fixedly connected with the second suspension mounting piece 16 in the corresponding positions respectively, and the second suspension mounting piece 16 is fixedly connected with the first cross beam 17, so that the first swing arm assembly 2, the second swing arm assembly 3 and the crawler 5 are always kept in the same plane in the operation process, the tooth form on the crawler 5 can be guaranteed to be well meshed with the tooth form on the driving wheel 32 all the time, and the situations such as tooth disengagement are avoided.
Further, the top beam assembly comprises a mounting plate 11, a chassis 13 and a second cross beam 12; the chassis 13 is connected to the second beam 12 through the mounting plate 11, and bottoms of two ends of the second beam 12 are respectively connected to the first suspension mounting parts 15 of the two suspension structures.
Specifically, the two second beams 12 extend in the transverse direction and are arranged at intervals in the longitudinal direction, the same ends of the two second beams 12 are connected with a first suspension mounting piece 15, the mounting plate 11 is mounted on the second beams 12, and the chassis 13 is fixed on the mounting plate 11. Preferably, in this embodiment, the second beam 12 is a bow-shaped beam, and the bow-shaped beam is bent in a direction away from the first beam 17, so as to improve the load bearing capacity and facilitate the installation of the chassis 13 below the bow-shaped beam.
Referring to fig. 3, 4, 7 and 8, the first swing arm assembly 2 and the second swing arm assembly 3 can rotate around the first rotating shaft 24 and the second rotating shaft 34 respectively by different angles through the driving of the deformation driving mechanism 4, so that the walking mechanism can be changed into different configurations, such as a 'one' configuration, a trapezoid configuration and a parallelogram configuration. The straight-line configuration can be used for road conditions such as climbing, stair climbing and trench crossing, the trapezoidal configuration is used for falling and scenes with large impact load, and the parallelogram configuration is used for obstacle crossing and plane-time traveling.
In summary, the crawler type moving device provided by the invention comprises a vehicle body 1, wherein a traveling mechanism is respectively arranged on two opposite sides of the vehicle body 1, and the traveling mechanism comprises a deformation driving mechanism 4, a crawler 5, and a first swing arm assembly 2 and a second swing arm assembly 3 which are arranged at intervals; the first swing arm assembly 2 and the second swing arm assembly 3 are respectively hinged with the lateral side of the vehicle body 1; the crawler 5 is sequentially wound on the first swing arm assembly 2 and the second swing arm assembly 3; the deformation driving mechanism 4 is respectively connected with the first swing arm assembly 2 and the second swing arm assembly 3, and the deformation driving mechanism 4 is used for adjusting the rotation angle of the first swing arm assembly 2 and the second swing arm assembly 3 relative to the vehicle body 1. Compared with the prior art, the first swing arm assembly 2 and the second swing arm assembly 3 connected with the deformation driving mechanism 4 are driven to rotate relative to the vehicle body 1 through the deformation driving mechanism 4, so that the shape of the walking mechanism is changed, for example, the walking mechanism can be changed into a straight line shape, a parallelogram shape or a trapezoid shape, the gravity center of the crawler-type moving device is changed, and the stability and the obstacle crossing capability of the crawler-type moving device in the moving process are improved by using a relatively simple structure.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A crawler-type moving device comprises a vehicle body (1), wherein two opposite sides of the vehicle body (1) are respectively provided with a travelling mechanism, and the crawler-type moving device is characterized in that the travelling mechanism comprises a deformation driving mechanism (4), a crawler (5), a first swing arm assembly (2) and a second swing arm assembly (3) which are arranged at intervals;
the first swing arm assembly (2) and the second swing arm assembly (3) are hinged with the lateral side of the vehicle body (1) respectively; the crawler belt (5) is sequentially wound on the first swing arm assembly (2) and the second swing arm assembly (3);
the deformation driving mechanism (4) is respectively connected with the first swing arm assembly (2) and the second swing arm assembly (3), and the deformation driving mechanism (4) is used for adjusting the rotating angle of the first swing arm assembly (2) and the second swing arm assembly (3) relative to the vehicle body (1);
the deformation driving mechanism (4) is arranged between the first swing arm assembly (2) and the second swing arm assembly (3), the deformation driving mechanism (4) comprises a first driving mechanism and a second driving mechanism, one end of the first driving mechanism is hinged with the vehicle body (1), the other end of the first driving mechanism is hinged with the first swing arm assembly (2), and the first driving mechanism is a telescopic cylinder; one end of the second driving mechanism is hinged with the vehicle body (1), the other end of the second driving mechanism is hinged with the second swing arm component (3), and the second driving mechanism is a telescopic cylinder;
the first swing arm assembly (2) comprises a first supporting piece (21) and a first rotating shaft (24), one end of the first rotating shaft (24) is fixedly connected with the vehicle body (1), and the first supporting piece (21) is rotatably connected onto the first rotating shaft (24).
2. The crawler-type moving device according to claim 1, characterized in that the first oscillating arm assembly (2) comprises a first support (21), a guide wheel (22) and a first shock-absorbing structure (23); the guide wheel (22) is rotatably connected to one end of the first support piece (21), and the first damping structure (23) is connected to the other end of the first support piece (21);
the second swing arm assembly (3) comprises a second supporting piece (31), a driving wheel (32), a walking driving mechanism (35), a second damping structure (33) and a second rotating shaft (34); the driving end of the walking driving mechanism (35) is connected with the driving wheel (32) and is used for driving the driving wheel (32) to rotate; one end of the second rotating shaft (34) is fixedly connected with the vehicle body (1), the second supporting piece (31) is rotatably connected onto the second rotating shaft (34), the driving wheel (32) is rotatably connected onto one end of the second supporting piece (31), and the second damping structure (33) is connected onto the other end of the second supporting piece (31).
3. The crawler-type movement apparatus according to claim 2, characterized in that said first shock-absorbing structure (23) comprises a first elastic member, a first connection member (232), a first shock-absorbing wheel (233);
one end of the first connecting piece (232) is hinged with the first supporting piece (21), the other end of the first connecting piece (232) is hinged with one end of the first elastic piece, and the first damping wheel (233) is rotatably connected to the first connecting piece (232);
the second damping structure (33) comprises a second elastic piece, a second connecting piece and a second damping wheel;
one end of the second connecting piece is hinged with the second supporting piece (31), the other end of the second connecting piece is hinged with one end of the second elastic piece, and the second damping wheel is rotatably connected onto the second connecting piece.
4. The crawler mobile device according to claim 3, wherein the first elastic member and/or the second elastic member is a shock absorbing spring (231).
5. The crawler-type mobile device according to claim 1, characterized in that the body (1) comprises a top beam assembly and two first cross beams (17) extending in a transverse direction and arranged at a distance in a longitudinal direction; the top beam assembly is positioned above the two first cross beams (17), and the first end of the top beam assembly is respectively connected with the first ends of the two first cross beams (17) through a suspension structure; the second end of the top beam assembly is respectively connected with the second ends of the two first cross beams (17) through a suspension structure;
the first swing arm assembly (2) and the second swing arm assembly (3) are hinged to the lateral side of the first cross beam (17) respectively.
6. The crawler-type movement apparatus according to claim 5, wherein each of the suspension structures comprises one suspension mount one (15), two suspension springs (14) and two suspension mounts two (16); the bottom end of the suspension mounting piece I (15) is hinged with the two suspension mounting pieces II (16) respectively, and the two suspension springs (14) are connected between the two suspension mounting pieces II (16) and the suspension mounting piece I (15) respectively;
the first end and the second end of the top beam assembly are respectively connected with the first suspension installation pieces (15) of the two suspension structures, the first ends of the two first cross beams (17) are respectively connected with the second suspension installation pieces (16) of the two suspension structures, and the second ends of the two first cross beams (17) are respectively connected with the second suspension installation pieces (16) of the other suspension structures.
7. The crawler-type traveling apparatus according to claim 6, wherein the top beam assembly includes a mounting plate (11), a chassis (13), and a second cross beam (12);
the chassis (13) is connected to the second cross beam (12) through the mounting plate (11), and bottoms of two ends of the second cross beam (12) are respectively connected to the first suspension mounting pieces (15) of the two suspension structures.
8. The crawler-type mobile device according to claim 7, characterized in that said second transverse beam (12) is an arched beam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110701175.5A CN113415348B (en) | 2021-06-23 | 2021-06-23 | Crawler-type mobile device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110701175.5A CN113415348B (en) | 2021-06-23 | 2021-06-23 | Crawler-type mobile device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113415348A CN113415348A (en) | 2021-09-21 |
| CN113415348B true CN113415348B (en) | 2022-07-01 |
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| CN114506390B (en) * | 2021-12-28 | 2023-08-11 | 高维智控机器人科技(苏州)有限公司 | Four-wheel carrying crawler type movable chassis structure |
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| JPH0631022B2 (en) * | 1988-11-10 | 1994-04-27 | 株式会社小松製作所 | Suspension device for tracked vehicle |
| JP2005053421A (en) * | 2003-08-07 | 2005-03-03 | Iseki & Co Ltd | Semi-crawler device for vehicle |
| US7493976B2 (en) * | 2005-08-04 | 2009-02-24 | Engineering Services, Inc. | Variable configuration articulated tracked vehicle |
| CN206107385U (en) * | 2016-09-30 | 2017-04-19 | 山东国兴智能科技有限公司 | Crawler -type removes chassis shock attenuation running gear |
| CN106826844B (en) * | 2016-12-29 | 2019-01-01 | 江苏和为警用器材制造有限公司 | A kind of crawler type explosive-removal robot |
| CN110787443B (en) * | 2019-11-22 | 2021-01-01 | 北京邮电大学 | Crawler-type scooter for single person |
| CN212235427U (en) * | 2020-09-17 | 2020-12-29 | 黑龙江方真科技有限公司 | Disinfection robot |
| CN112758202A (en) * | 2021-01-26 | 2021-05-07 | 西安黄河机电有限公司 | Crawler belt transmission system |
| CN112874735B (en) * | 2021-02-03 | 2022-07-29 | 华中科技大学鄂州工业技术研究院 | Underwater robot crawler walking chassis and underwater robot |
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