CN1261037A - Tetrahedral caterpillar belt type snake-like running mechanism - Google Patents
Tetrahedral caterpillar belt type snake-like running mechanism Download PDFInfo
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- CN1261037A CN1261037A CN 99112038 CN99112038A CN1261037A CN 1261037 A CN1261037 A CN 1261037A CN 99112038 CN99112038 CN 99112038 CN 99112038 A CN99112038 A CN 99112038A CN 1261037 A CN1261037 A CN 1261037A
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- crawler belt
- car body
- assembly
- track adjusting
- wheel
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Abstract
A four-side caterpillar belt type snake-like running mechanism is composed of several vehicle bodies. Each vehicle body has the running assemblies at its four sides and universal coupler at both ends for linking between adjacent vehicle bodies. It can be used for survey and emergency rescure in the area where people is difficult to come. It features that when vehicle body is turned over or skew seriously it can still run forward and when one of the vehicle bodies can not run, others can help it to run.
Description
The present invention relates to a kind of snake-like running mechanism of 4-caterpillar, particularly relate to the traveling gear that can be used under each complex environment situation.
In some practical matter, on-the-spot as the landslide of mine worked-out section, mine, building collapsing is on-the-spot, the detection in not clear area or cave etc., and the obstacle climbing ability of traveling gear, anti-roll ability and anti-tilt capability etc. are put forward higher requirement invariably.And at present, at home and abroad in Yan Zhi the various snake-like running mechanisms, mostly be some common crawler types, wheeled or creeping motion type structure, because they have only the bottom surface to have traveling gear, so their off-road capability all has some tangible weak points to the conformability of complicated landforms and the travelling performance again after crooked of rolling etc.And the single-unit crawler type walking mechanism often more can not satisfy the needs under the above-mentioned condition.No matter be snakelike more piece mechanism or bicycle mechanism, tumble, turn on one's side or the extruded state of serious crooked trailing flank that they all will lose the mobile ability that continues once in walking, run into.
The purpose of this invention is to provide a kind of four sides all has crawler belt, have more flexibly get into the cave, obstacle detouring, anti-roll, anti-tilt capability be as snakelike multi-node traveling gear.No matter which type of situation its pose is in can both be leaned on the locomotive function of itself to extricate oneself from a plight, and when it carries some necessary detecting instruments, instrument, just can finish the monitoring task to the somewhere specific environment.
Implementation of the present invention about frame, left-right symmetric is equipped with the walking assembly, assembly and side walking assembly promptly walks up and down; Have the jointed coupling assembly at two of car body, can realize being coupled to each other of more piece car body by it.
Walk up and down assembly mainly by motor, coupler, train, drive wheel, roller, track adjusting wheel, crawler belt and form.Each member is combined by mechanical attachment.Under the driving of motor, can drive crawler belt by drive wheel and rotate, realize walking.
Side walking assembly mainly is made up of motor, side stand, coupler, train, drive wheel, bogie wheel, support roller, track adjusting wheel, crawler belt.Each member is combined by mechanical attachment.Under the driving of motor, can drive crawler belt by drive wheel and rotate, realize walking.
The jointed coupling assembly by two in the space 90 ° of staggered revolute pairs form.Realize that by them two save the connection between car bodies.The coupled motions of two revolute pairs can make between joining two joint car bodies and realize reversing of any direction
All component all is installed on the frame by the mechanical attachment mode.Can also carry other various detecting instruments or instrument on the frame.
Excellent characteristics of the present invention are:
1. car body adopts the 4-caterpillar mode can make the adhesive ability of car body big, and through performance is good, and is strong to ground-surface various situation comformabilitys, can also make car body no matter under which kind of attitude situation, can both keep the ability that moves, but and then obstacle negotiation, extricate oneself from a predicament, change normal operation over to.And common traveling gear is when tumbling, generally all can losing locomotivity when rollover or side and bottom surface land serious crooked under the situation simultaneously.
2. car body adopts multi-node snakelike mechanism, the obstacle climbing ability of traveling gear is further improved, when having only a joint car body, when running into some steeper gradient or big hollow, may be difficult to by, and the more piece form can make a few joint car bodies push away mutually, draw, assistance is advanced, to overcome difficulties; Or when a certain joint car body was absorbed in muddy ground and other predicament that is difficult to extricate oneself, other a few joint car bodies also can push away mutually, draw, and help it to overcome difficulties.
3. on the frame of this walking mechanism, can carry various detecting instruments and instrument, assist to finish monitoring some dangerous and not clear situation area.
4. of the present invention respectively saving adopts jointed coupling to connect between the car body, each saves the reversing than wide-angle that can realize any direction between the car body.
5. the present invention has potential application prospect, to finish especially that manpower is difficult for or unapproachable area in detection mission, the present invention has good ample scope for abilities.
With reference to Fig. 1-4 explanation embodiments of the invention.
Description of drawings:
Fig. 1 is the birds-eye view that one of a kind of tetrahedral caterpillar belt type snake-like robot saves the theory of machines scheme drawing of car body.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the birds-eye view of the transmission principle scheme drawing of Fig. 1, has wherein conveniently removed the parts 20-24,29 among Fig. 4 for diagram.
Fig. 4 is the front view of Fig. 3, has wherein conveniently removed the parts 1,2,10,11,12,25 among Fig. 3 for diagram.
The 1-revolute pair; The 2-revolute pair; The 3-drive wheel; The 4-train; The 5-drive wheel; The 6-transmission; The 7-side stand; The 8-coupler; The 9-motor; The 10-bolt; The 11-support roller; The 12-bogie wheel; The 13-transmission; The 14-track adjusting wheel; The 15-track adjusting wheel; The 16-crawler belt; 17-transmission bearing; 18-transmission bearing; 19-transmission bearing; The 20-train; The 21-transmission; The 22-coupler; The 23-motor; The 24-roller; The 25-transmission; 26-transmission bearing; The 27-crawler belt; The 28-rigid backbone; The 29-revolute pair.
Present embodiment mainly is by the assembly I that walks up and down, side walking assembly II, and frame III, jointed coupling assembly IV forms by mechanical attachment.Its structure is a kind of about reaching the symmetrical structure in the left and right sides up and down basically.Wherein:
The assembly I that walks up and down is made up of by mechanical connection drive wheel 3, train 4, coupler 8, motor 9, track adjusting wheel 15, crawler belt 16, roller 24.
Side walking assembly II is made up of by mechanical connection drive wheel 5, side stand 7, support roller 11, bogie wheel 12, track adjusting wheel 14, train 20, coupler 22, motor 23, crawler belt 27.Have revolute pair 6, revolute pair 13, revolute pair 21, revolute pair 25 on the side stand 7.
Frame III is rigid backbone 28, has revolute pair bearing 17, revolute pair bearing 18, revolute pair bearing 19 and revolute pair bearing 26 on it.
Jointed coupling assembly IV is made up of by mechanical connection revolute pair 1 and revolute pair 2.
In the assembly I that walks up and down: motor 9 links by coupler 8 and train 4; Train 4 links with revolute pair bearing 17, revolute pair bearing 18, the revolute pair bearing 19 of frame III; Train 4 by the revolute pair bearing on the frame III 17 with link with drive wheel 3; Drive wheel 3 can drive crawler belt 16 and realize rotating, and is led by track adjusting wheel 15; Roller 24 links by revolute pair 29 and rigid backbone 28, can finish supporting body and the dual role that holds up crawler belt 16.Track adjusting wheel 15 is joined with frame III by the revolute pair bearing on the rigid backbone 28 (that is: frame III) 26.
In side walking assembly II, motor 23 links by coupler 22 and train 20; Train 20 links with side stand 7 by transmission 6, revolute pair 21; Side stand 7 links with frame III by bolt 10; Train 20 links by revolute pair 6 and drive wheel 5; Drive wheel 5 can drive crawler belt 27 and realize rotating, and is led by track adjusting wheel 14; Track adjusting wheel 14 links by revolute pair 13 and side stand 7; Bogie wheel 12 links by revolute pair 25 and side stand 7, and it can load-bearing when vehicle body side lands; Support roller 11 links by revolute pair 25 and side stand 7, and it can hold up sagging crawler belt 27 when car body is turned on one's side.
The revolute pair 1 among the jointed coupling assembly IV and the mechanical bond of revolute pair 2 can realize respectively saving being coupled to each other and the reversing of all directions between car body.
Claims (4)
1. tetrahedral caterpillar belt type snake-like running mechanism, be primarily characterized in that this traveling gear is made up of the more piece car body, connect with jointed coupling between every joint car body, and crawler belt all is equipped with at the four sides of every joint car body, every joint car body has walking assembly I and walking assembly II on frame III, the crawler belt of upper and lower is installed on the assembly I that walks up and down, and the crawler belt of two sides is installed on the side walking assembly II.
2. traveling gear as claimed in claim 1, the assembly I structure that it is characterized in that walking up and down are that drive wheel (3) is realized driving through coupler (8) and train (4) by motor (9), and drives crawler belt (16) rotation; The rotation of crawler belt (16) realizes transmission through roller (24) and track adjusting wheel (15), and is led by track adjusting wheel (15).
3. traveling gear according to claim 1 and 2 is characterized in that the structure of side walking assembly II is, drive wheel (5) is realized driving through coupler (22) and train (20) by motor (23), and drives crawler belt (27) rotation; The rotation of crawler belt (27) realizes transmission with track adjusting wheel (14), and is led by track adjusting wheel (14) through bogie wheel (12), support roller (11).
4. traveling gear according to claim 1, it is characterized in that the jointed coupling used between every joint car body by two in the space 90 ° of staggered revolute pairs form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB991120388A CN1136117C (en) | 1999-01-20 | 1999-01-20 | Tetrahedral caterpillar belt type snake-like running mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB991120388A CN1136117C (en) | 1999-01-20 | 1999-01-20 | Tetrahedral caterpillar belt type snake-like running mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1261037A true CN1261037A (en) | 2000-07-26 |
| CN1136117C CN1136117C (en) | 2004-01-28 |
Family
ID=5275381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB991120388A Expired - Fee Related CN1136117C (en) | 1999-01-20 | 1999-01-20 | Tetrahedral caterpillar belt type snake-like running mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1136117C (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100410128C (en) * | 2006-09-28 | 2008-08-13 | 哈尔滨工业大学 | Crawler type multiple joint hinged robot suitable for search and detection in coal mine |
| CN103754280A (en) * | 2014-01-24 | 2014-04-30 | 哈尔滨工业大学 | Track-surrounding type overturn-preventing travel mechanism |
| CN112975926A (en) * | 2021-03-19 | 2021-06-18 | 韶关市融德创新有限公司 | Snake-shaped robot |
-
1999
- 1999-01-20 CN CNB991120388A patent/CN1136117C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100410128C (en) * | 2006-09-28 | 2008-08-13 | 哈尔滨工业大学 | Crawler type multiple joint hinged robot suitable for search and detection in coal mine |
| CN103754280A (en) * | 2014-01-24 | 2014-04-30 | 哈尔滨工业大学 | Track-surrounding type overturn-preventing travel mechanism |
| CN103754280B (en) * | 2014-01-24 | 2016-03-02 | 哈尔滨工业大学 | Overturn-preventing surrounding crawler-type mobile mechanism |
| CN112975926A (en) * | 2021-03-19 | 2021-06-18 | 韶关市融德创新有限公司 | Snake-shaped robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1136117C (en) | 2004-01-28 |
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| CF01 | Termination of patent right due to non-payment of annual fee |