CN115339533A - Crawler and wheel type composite driving device - Google Patents
Crawler and wheel type composite driving device Download PDFInfo
- Publication number
- CN115339533A CN115339533A CN202211152111.5A CN202211152111A CN115339533A CN 115339533 A CN115339533 A CN 115339533A CN 202211152111 A CN202211152111 A CN 202211152111A CN 115339533 A CN115339533 A CN 115339533A
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- China
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- wheel
- running
- driving
- track
- 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
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention relates to a crawler and wheel type composite driving device, and belongs to the technical field of tunnel robots. The device comprises a control platform at one end far away from the ground, and a power supply, a driving and braking assembly, a retainer, two crawler traveling mechanisms, two wheel type traveling mechanisms and two actuators at one end close to the ground; the control platform is connected with the power supply and the driving and braking assembly through signal lines; the power supply is connected with the control platform and the driving and braking assembly; the driving and braking assembly is arranged in the retainer and is arranged below the device, the left side and the right side of the driving and braking assembly are provided with crawler traveling mechanisms, the front side and the rear side of the driving and braking assembly are provided with actuators, one end of each actuator is provided with a wheel type traveling mechanism, and the two sides of the other end of each wheel type traveling mechanism are provided with driving wheels; the drive and brake assembly swings the actuator to switch between the three travel modes. The wheel type traveling mechanism and the crawler traveling mechanism are arranged on one traveling device, and the three modes are switched through the actuator to adapt to the traveling terrain of the device.
Description
Technical Field
The invention belongs to the technical field of tunnel robots, and relates to a track and wheel type composite driving device.
Background
By combining the topographic features and the topographic features of the underground coal mine roadway and the production requirements, the robot is adopted to execute tasks on the basis of referring to the structure of the moving platform of the existing drilling machine and the existing shotcrete machine, and the problems can be solved to a great extent. In recent years, many robots have been developed and applied, but there is still much room for improvement in the development and design of moving devices under robots.
At present, the moving modes of the robot are mainly divided into a wheel type moving mode and a crawler type moving mode, and the robot has wide application prospects in dangerous and severe environments such as reconnaissance, patrol, warning, danger elimination and the like. The wheel type movement has the advantages of simple mechanism, relative convenience in driving and controlling, flexibility in walking, high working efficiency and the like, but the obstacle crossing capability and the terrain adaptability are poor, and the wheel type movement is commonly used for a flat road surface. The crawler movement has the advantages of large supporting area, good traction and adhesion performance, strong terrain adaptability and the like, has higher obstacle crossing capability and good environmental adaptability under steep terrain and complex environment, but has relatively lower speed, and has very high energy consumption in the process of long-distance and high-speed movement or turning. Therefore, it is necessary to provide a combined track and wheel type driving system.
Disclosure of Invention
In view of the above, the present invention provides a track and wheel type composite traveling device.
In order to achieve the purpose, the invention provides the following technical scheme:
a caterpillar track and wheel type composite driving device comprises a control platform at one end of the device far away from the ground, and a power supply, a driving and braking assembly, a retainer, two caterpillar track traveling mechanisms, two wheel type traveling mechanisms and two actuators at one end of the device near the ground; the control platform is connected with the power supply and the driving and braking assembly through signal lines so as to control the power supply, wheel-track conversion and driving of the platform; the power supply is connected with the control platform and the driving and braking assembly to supply power; the driving and braking assembly is arranged in the retainer and is arranged at one end of the device close to the ground, the left side and the right side of the retainer are provided with the crawler travelling mechanisms, the front side and the rear side of the retainer are provided with the actuators, the end of the actuator far away from the retainer is provided with the wheel travelling mechanism, and the two sides of the wheel travelling mechanism far away from the end of the actuator are provided with the driving wheels so as to control the transmission of driving force and braking force to the crawler travelling mechanisms, the actuators and the wheel travelling mechanisms and enable the travelling device to travel; the driving and braking assembly swings the actuator to enable the running device to switch three running modes: crawler running, wheel running and wheel-track composite running.
The control platform further comprises a power module, a direction control module and a wheel-track conversion module;
the power module outputs a power signal to the power supply after inputting the designated power so as to adjust the output voltage and the output frequency of the power supply to control the output power of the driving and braking assembly;
after the direction control module inputs the appointed direction, the direction control module outputs a direction control signal to the driving and braking assembly to adjust the power transmitted to each walking mechanism so as to execute the direction control of the running device;
after the wheel-track conversion module inputs a specified driving state, wheel-track conversion signals are output to the driving and braking assembly so as to control the swinging of the actuator to enable the driving device to switch three driving modes: track running, wheel running and wheel-track composite running.
The driving and braking assembly swings the actuator according to three driving modes, and controls and transmits power to the wheel type travelling mechanism and the crawler travelling mechanism respectively;
when the running device runs in a wheel mode, the actuator swings to the lowest point, so that the front wheel running mechanism and the rear wheel running mechanism support the whole running device to run, and all power is transmitted to the wheel running mechanisms;
when the running device runs by adopting the crawler belt, the actuator swings to the highest point, so that the left crawler belt running mechanism and the right crawler belt running mechanism support the whole running device to run, and all power is transmitted to the crawler belt running mechanisms;
when the running device runs by adopting wheel-track combination, the actuator swings the wheel-type running mechanism to enable the wheel-type running mechanism to contact the ground, the left and right crawler running mechanisms are matched to support the whole running device to run, and all power is transmitted to the wheel-type running mechanism and the crawler running mechanisms;
the crawler belt walking mechanism further comprises a crawler belt, a tensioning wheel, at least one supporting belt wheel, an inducer and at least one loading wheel;
a tension wheel, at least one supporting wheel, an inducer and at least one loading wheel are arranged on two sides of the retainer;
each crawler belt is internally surrounded by a tension wheel at the upper part of the rear part, at least one supporting wheel at the upper part of the middle part, an inducer at the upper part of the front part and at least one loading wheel at the bottom part so as to drive the crawler belt to run and turn;
the power from the driving and braking assembly is transmitted to the tension wheel to rotate so as to drive the track to run.
The direction control of the crawler running and the wheel type running is realized by the moving differential of the left side and the right side, or the double-flow transmission is utilized, so that the rotating directions of the crawler running mechanisms on the left side and the right side are different, the central steering is caused, and the steering is completed.
The invention simultaneously sets a wheel type running mode and a track running mode on one running device, and realizes the switching among the three modes through the wheel-track switching mechanism so as to adapt to the running terrain and environment of the device.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For a better understanding of the objects, aspects and advantages of the present invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a flow chart of an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a track in an embodiment of the present invention.
Detailed Description
The following embodiments of the present invention are provided by way of specific examples, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and embodiments may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; for a better explanation of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the drawings, it is only for convenience of description and simplicity of description, but does not indicate or imply that the device or component referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limiting the present invention, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Referring to fig. 1, a caterpillar and wheel type composite driving device is disclosed, wherein one end of the device away from the ground comprises a control platform, and one end of the device close to the ground comprises a power supply, a driving and braking assembly, a retainer, two caterpillar running mechanisms, two wheel type running mechanisms and two actuators; the control platform is connected with the power supply and the driving and braking assembly through signal lines so as to control the power supply, wheel-track conversion and driving of the platform; the power supply is connected with the control platform and the driving and braking assembly to supply power; the driving and braking assembly is arranged in the retainer and is arranged at one end of the device close to the ground, the left side and the right side of the retainer are provided with the crawler travelling mechanisms, the front side and the rear side of the retainer are provided with the actuators, the end of the actuator far away from the retainer is provided with the wheel travelling mechanism, and the two sides of the wheel travelling mechanism far away from the end of the actuator are provided with the driving wheels so as to control the driving force and the braking force to be transmitted to the crawler travelling mechanisms, the actuators and the wheel travelling mechanisms to drive the travelling device; the driving and braking assembly swings the actuator to enable the running device to switch three running modes: track running, wheel running and wheel-track composite running.
The control platform further comprises a power module, a direction control module and a wheel-track conversion module;
after the power module inputs the designated power, a power signal is output to the power supply so as to adjust the output voltage and the output frequency of the power supply to control the output power of the driving and braking assembly;
after the direction control module inputs the appointed direction, the direction control module outputs a direction control signal to the driving and braking assembly to adjust the power transmitted to each walking mechanism so as to execute the direction control of the running device;
after the wheel-track conversion module inputs a specified driving state, wheel-track conversion signals are output to the driving and braking assembly so as to control the swinging of the actuator to enable the driving device to switch three driving modes: track running, wheel running and wheel-track composite running.
The driving and braking assembly swings the actuator according to three driving modes, and controls and transmits power to the wheel type travelling mechanism and the crawler travelling mechanism respectively;
when the running device runs in a wheel mode, the actuator swings to the lowest point, so that the front wheel running mechanism and the rear wheel running mechanism support the whole running device to run, and all power is transmitted to the wheel running mechanisms;
when the running device runs by adopting the crawler belt, the actuator swings to the highest point, so that the left crawler belt running mechanism and the right crawler belt running mechanism support the whole running device to run, and all power is transmitted to the crawler belt running mechanisms;
when the running device runs by adopting wheel-track combination, the actuator swings the wheel-type running mechanism to enable the wheel-type running mechanism to contact the ground, the left and right crawler running mechanisms are matched to support the whole running device to run, and all power is transmitted to the wheel-type running mechanism and the crawler running mechanisms;
referring to fig. 3, the crawler travel mechanism further includes a crawler belt, a tensioning wheel, at least one riding wheel, an inducer, and at least one loading wheel;
a tension wheel, at least one supporting wheel, an inducer and at least one loading wheel are arranged on two sides of the retainer;
a tensioning wheel is arranged on the upper part of the rear part of each crawler belt in a surrounding manner, at least one supporting wheel is arranged on the upper part of the middle part of each crawler belt, an inducer is arranged on the upper part of the front part of each crawler belt, and at least one loading wheel is arranged on the bottom of each crawler belt so as to drive the crawler belts to run and turn;
power from the drive and brake assembly is transmitted to the tension wheel to rotate so as to drive the track to run.
The direction control of the crawler running and the wheel running is realized by the moving differential of the left side and the right side, or the double-flow transmission is utilized, so that the rotating directions of crawler running mechanisms on the left side and the right side are different, the center steering is caused, and the steering is completed.
Referring to fig. 2, the implementation of the present embodiment is as follows:
in the first situation, the driving device sends a power signal through the control platform, and the power supply outputs the specified output voltage and output frequency to the driving and braking assembly after receiving the power signal, so as to control the output power of the driving and braking assembly to drive the device.
And the driving device sends a direction control signal through the control platform, and the driving and braking assembly adjusts the power transmitted to each traveling mechanism after receiving the direction control signal so as to execute the direction control of the driving device.
And thirdly, the running device sends out a wheel-track conversion signal through the control platform, and after the driving and braking assembly receives the wheel-track conversion signal, the actuator is controlled to swing to enable the running device to switch three running modes: track running, wheel running and wheel-track composite running.
The invention has the advantages that the wheel type traveling mechanism and the crawler traveling mechanism are arranged on one traveling device, and the switching among the three modes is realized through the actuator so as to adapt to the terrain and environment of the traveling device.
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A track and wheel type composite driving device is characterized in that one end of the device, which is far away from the ground, comprises a control platform, and one end of the device, which is close to the ground, comprises a power supply, a driving and braking assembly, a retainer, two track traveling mechanisms, two wheel type traveling mechanisms and two actuators; the control platform is connected with the power supply and the driving and braking assembly through signal lines so as to control the power supply, wheel-track conversion and driving of the platform; the power supply is connected with the control platform and the driving and braking assembly to supply power; the driving and braking assembly is arranged in the retainer and is arranged at one end of the device close to the ground, the left side and the right side of the retainer are provided with the crawler travelling mechanisms, the front side and the rear side of the retainer are provided with the actuators, the end of the actuator far away from the retainer is provided with the wheel travelling mechanism, and the two sides of the wheel travelling mechanism far away from the end of the actuator are provided with the driving wheels so as to control the driving force and the braking force to be transmitted to the crawler travelling mechanisms, the actuators and the wheel travelling mechanisms to drive the travelling device; the driving and braking assembly swings the actuator to enable the running device to switch three running modes: track running, wheel running and wheel-track composite running.
2. The travel device of claim 1, wherein the control platform further comprises a power module, a direction control module, and a wheel-track conversion module;
the power module outputs a power signal to the power supply after inputting the designated power so as to adjust the output voltage and the output frequency of the power supply to control the output power of the driving and braking assembly;
after the direction control module inputs the appointed direction, the direction control module outputs a direction control signal to the driving and braking assembly to adjust the power transmitted to each walking mechanism so as to execute the direction control of the running device;
after the wheel-track conversion module inputs a specified driving state, wheel-track conversion signals are output to the driving and braking assembly so as to control the swinging of the actuator to enable the driving device to switch three driving modes: crawler running, wheel running and wheel-track composite running.
3. The travel device of claim 1, wherein the drive and brake assembly oscillates the actuator according to three travel modes and controls and transmits power to the wheel and track travel mechanisms, respectively;
when the running device runs in a wheel mode, the actuator swings to the lowest point, so that the front wheel running mechanism and the rear wheel running mechanism support the whole running device to run, and all power is transmitted to the wheel running mechanisms;
when the running device runs by adopting the crawler, the actuator swings to the highest point, so that the left and right crawler running mechanisms support the whole running device to run, and all power is transmitted to the crawler running mechanisms;
when the running device runs in a wheel-track composite mode, the actuator swings the wheel type running mechanism to enable the wheel type running mechanism to be in contact with the ground, the left and right crawler belt running mechanisms are matched to support the whole running device to run, and all power is transmitted to the wheel type running mechanism and the crawler belt running mechanisms.
4. The running gear of claim 1, wherein the crawler travel mechanism further comprises a crawler belt, a tension wheel, at least one idler wheel, an inducer wheel, at least one bogie wheel;
a tension wheel, at least one supporting wheel, an inducer and at least one loading wheel are arranged on two sides of the retainer;
each crawler belt is internally surrounded by a tension wheel at the upper part of the rear part, at least one supporting wheel at the upper part of the middle part, an inducer at the upper part of the front part and at least one loading wheel at the bottom part so as to drive the crawler belt to run and turn;
power from the drive and brake assembly is transmitted to the tension wheel to rotate so as to drive the track to run.
5. The running gear according to claim 1, wherein the direction control of the track running and the wheel running is realized by a moving differential of the left and right sides, or by a double-flow transmission, the rotating directions of the left and right track running mechanisms are different, and a center steering is caused to complete the steering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211152111.5A CN115339533A (en) | 2022-09-21 | 2022-09-21 | Crawler and wheel type composite driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211152111.5A CN115339533A (en) | 2022-09-21 | 2022-09-21 | Crawler and wheel type composite driving device |
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| Publication Number | Publication Date |
|---|---|
| CN115339533A true CN115339533A (en) | 2022-11-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211152111.5A Pending CN115339533A (en) | 2022-09-21 | 2022-09-21 | Crawler and wheel type composite driving device |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| US20060254833A1 (en) * | 2005-03-22 | 2006-11-16 | Hendrik Grobler | Motor vehicle with an additional crawler undercarriage |
| CN103359195A (en) * | 2012-04-09 | 2013-10-23 | 西北农林科技大学 | All-terrain hybrid power chassis |
| CN105882774A (en) * | 2016-05-05 | 2016-08-24 | 中国北方车辆研究所 | Crawler wheel capable of realizing interconversion between wheel type state and crawler type state |
| CN207078218U (en) * | 2017-06-30 | 2018-03-09 | 南京云之璟机电科技有限公司 | One kind wheel carries out compound unmanned mobile platform |
| CN113460178A (en) * | 2021-08-18 | 2021-10-01 | 中煤科工集团重庆研究院有限公司 | Wheel-track fast switching structure |
| CN113460179A (en) * | 2021-08-18 | 2021-10-01 | 中煤科工集团重庆研究院有限公司 | Agricultural general mobile platform capable of rapidly switching wheel and track |
-
2022
- 2022-09-21 CN CN202211152111.5A patent/CN115339533A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1502843A2 (en) * | 2003-07-31 | 2005-02-02 | Rheinmetall Landsysteme GmbH | Unmanned special offroad vehicle |
| US20060254833A1 (en) * | 2005-03-22 | 2006-11-16 | Hendrik Grobler | Motor vehicle with an additional crawler undercarriage |
| CN103359195A (en) * | 2012-04-09 | 2013-10-23 | 西北农林科技大学 | All-terrain hybrid power chassis |
| CN105882774A (en) * | 2016-05-05 | 2016-08-24 | 中国北方车辆研究所 | Crawler wheel capable of realizing interconversion between wheel type state and crawler type state |
| CN207078218U (en) * | 2017-06-30 | 2018-03-09 | 南京云之璟机电科技有限公司 | One kind wheel carries out compound unmanned mobile platform |
| CN113460178A (en) * | 2021-08-18 | 2021-10-01 | 中煤科工集团重庆研究院有限公司 | Wheel-track fast switching structure |
| CN113460179A (en) * | 2021-08-18 | 2021-10-01 | 中煤科工集团重庆研究院有限公司 | Agricultural general mobile platform capable of rapidly switching wheel and track |
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