CN1277714C - Deformable crawler running machinery - Google Patents
Deformable crawler running machinery Download PDFInfo
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- CN1277714C CN1277714C CN 03127184 CN03127184A CN1277714C CN 1277714 C CN1277714 C CN 1277714C CN 03127184 CN03127184 CN 03127184 CN 03127184 A CN03127184 A CN 03127184A CN 1277714 C CN1277714 C CN 1277714C
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- arm
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- caterpillar
- crawler belt
- principal arm
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Abstract
The present invention relates to a caterpillar tread type walking machine. The changeable caterpillar tread type walking machine of the present invention is composed of a vehicle body and two caterpillar treads 21 winding on the main bodies of the caterpillar treads and guiding wheels and driving wheels at both ends of each of the main bodies of the caterpillar treads. The present invention is characterized in that the main body of each caterpillar tread is composed of a middle main arm and a guiding arm and a driving arm which are respectively hinged at both ends, wherein the main arm is hinged with the vehicle body, and pivot shafts are respectively connected with a step motor in a driving way. Compared with the existing caterpillar tread type vehicle, since the main bodies of the caterpillar treads have a plurality of hinges, the changeable caterpillar tread type walking machine has favorable adaptability to the ground, and simultaneously, an approach angle can be adjusted as required for ascending an obstacle; the main bodies of the caterpillar treads are hinged with the vehicle body, the positions of the two caterpillar treads relative to the vehicle body can be singly adjusted, and the present invention has the capability of adapting to various kinds of road surface environment and high capability of passing the obstacle and has the advantages of high stability and low energy consumption.
Description
Technical field the present invention relates to Vehicle Engineering, intelligent robot walking technology, particularly crawler type traveling machine.
Background technology
When the deformable crawler vehicle of form Autonomous Control is human development seabed, space, subterranean resource, a kind of intelligent full landform running gear especially under can't coming personally condition, the people is provided, it can discern terrain environment automatically, from main regulation crawler belt gabarit with realize clear an obstacle, ladder, by soft terrain etc.
Traditional crawler-type traveling system has following advantage: 1. grounding pressure is little, can exercise on soft road surface; 2. the angle of attach that utilizes crawler belt to form can be climbed precipitous ladder; 3. the large contact surface between utilization and ground obtains high stability; 4. can in the space of minimum, rotate.But its shortcoming is also clearly, energy consumption height when it turns to, and the landform comformability is relatively poor.Increasing crawler belt bar number can make the better adaptation to the ground of crawler vehicle and reduce energy consumption when turning to.But so just increased deadweight and made complex structure, made manipulation complicated.Deacclimatize different landform if the profile of crawler belt is changed at any time, two crawler vehicles also can improve negotiation capability.
The Japan scholar closely rises the rich deformable creeper undercarriage with track adjusting wheel, drive wheel, satellite gear that proposes and made.Wherein guide wheel shaft and live axle are fixed, and the crawler belt gabarit depends on the position of satellite gear.Because track adjusting wheel and drive wheel are fixed, the crawler belt gabarit rangeability of this structure is limited, and mechanism's complexity, and left and right sides track frame rigid connection in addition is restricted the adaptive capacity of landform.
Summary of the invention
The present invention seeks to propose a kind of improved deformable crawler travel machinery, it is had the stronger adaptive capacity of various complex-terrain environment.
The present invention seeks to realize as follows.
Referring to figs. 1 through 3, deformable crawler travel machinery of the present invention is made up of around track adjusting wheel 14 that overlays on crawler belt main body and crawler belt main body two ends and the crawler belt 21 on the drive wheel 8 car body 5 and two; It is characterized in that, every crawler belt main body by the principal arm 2 in the middle of being positioned at, two hinges, 12,10 pivotally attached guide arms 1 by being arranged on described principal arm 2 two ends and actuating arm 4 totally three sections arms form; Described principal arm 2 is hinged by main hinged shaft 6 and car body 5, and described principal arm 2 is fixed with a main joint frame 3 by screw, and described main hinged shaft 6 is arranged on the described main joint frame 3 by bearing, also is installed with flap wheel support 18 on described main joint frame 3; Described each hinge 12,10,6 drives with a stepping motor 15,19,17 respectively and is connected; On the hinge 12,10 of hinged guide arm 1 and actuating arm 4, also be provided with big caterpillar wheel 9; Be provided with the flap wheel 16 of tensioned tracks by being installed in flap wheel support 18 on the main joint frame 3 above the described crawler belt 21.
Deformable crawler travel machinery of the present invention, crawler belt can rotate with respect to car body around main hinged shaft 6, also can produce relative rotation around hinge 12,10 between the crawler belt joint arm, rotatablely moves and is realized by CPU control step motor.This machine has 6 distortion degree of freedom, and wherein two main hinged shafts 6 provide the rotational freedom of every crawler belt 21 with respect to car body 5; Two guiding hinges 12 provide the rotational freedom of every crawler belt guide arm 1 with respect to principal arm; Two drive hinge 12, the rotational freedom of every track propulsion arm 4 with respect to principal arm 2 are provided.According to said structure, deformable crawler travel machinery can be realized following single degree of freedom distortion and combination thereof:
1) one-sided guide arm lifts; 2) landing of one-sided guide arm; 3) one-sided actuating arm lifts; 4) landing of one-sided actuating arm; 5) outward turning of one-sided crawler belt; 6) inward turning of one-sided crawler belt.
The form of distortion of deformable crawler travel machinery can be chosen according to the road surface situation.Ccd video camera and ultrasonic ranging sensor and pressure sensor etc. that utilization is arranged on the car body combine, obtain ground condition information, adjust deformation angle and the crawler belt gabarit shape of crawler belt by central controller CPU control with respect to car body, with realize improving clear an obstacle, ladder, by adaptive capacitys such as soft terrains.As shown in Figure 4, be that crawler belt is adaptation to the ground and the rotation carried out with respect to car body around main hinged shaft 6: (a) is the distortion that crawler vehicle is undertaken during by the ladder road surface among the figure; (b) be the distortion that crawler vehicle carries out when advance in the spike road surface; (c) be that crawler vehicle is along the lowest point or the distortion carried out when advancing of bottom of trench.
As shown in Figure 5, be that crawler belt is an adaptation to the ground and rotate the distortion of carrying out around its hinge 12,10: among the figure (a) be crawler belt by the stepped appearance obstacle time, the prosthomere crawler belt lifts, purpose is to increase angle of attach, improves crossing ability; (b), (c) be the distortion that crawler belt carries out when crossing zanjon and obstacle peak, the stability of car load when purpose is to improve across obstacle; (d) be to climb the distortion that crawler belt carries out when jumping the abrupt slope at car load.This mode of texturing more helps the soft surface crossing ability of crawler vehicle, makes crawler vehicle have the ability that climbs out of voluntarily from the depression state.
In addition, length of track on ground can change, to reach the purpose of regulating grounding pressure.The distortion of deformable crawler vehicle comprises that the institute of above-mentioned each mode of texturing might array mode.
When landform perception of deformable creeper undercarriage and the technical study of form Autonomous Control are intended to for human development seabed, space, subterranean resource, a kind of intelligent full landform running gear especially under can't coming personally condition, the people is provided, it can discern terrain environment automatically, from main regulation crawler belt gabarit with realize clear an obstacle, ladder, by soft terrain etc.Wheeled, crawler type, legged and hybrid that the existing robots running gear has, they respectively have merits and faults, and running gear system can be walked by at high speed, but lacks the ability of across obstacle, and soft road surface crossing ability is poor.Walking mechanism is easy to the adaptation to the ground variation but handles complicated.Energy consumption height when crawler type walking mechanism turns to, the landform comformability is relatively poor.Increase crawler belt bar number and can make the creeper undercarriage adaptation to the ground and reduce energy consumption when turning to, but increased deadweight and made complex structure, make manipulation complicated.Compare with existing crawler vehicle, this deformable crawler travel machinery, there is good comformability on multi-joint and ground that the crawler belt main body has imitative reptile body, can adjust angle of attach as required, the obstacle of ascending simultaneously.Crawler belt main body and car body be connected connecting of imitative double feet walking animal foot and health, the position of two relative car bodies of crawler belt can independently be adjusted.The road environment that can adapt to is more, negotiation capability is stronger, higher, the energy that consumes when breaking the barriers of the stability of complete machine is still less when breaking the barriers; Landform perception of deformable creeper undercarriage and form Autonomous Control technology, make it can discern terrain environment automatically, from main regulation crawler belt gabarit with realize clear an obstacle, ladder, by soft terrain etc., can improve the human ability of exploring unknown space and developing dangerous resource.Application in each engineering field has great economy value to the utility model deformable crawler travel machinery as automatic driving vehicle.
Description of drawings
Fig. 1 is a deformable crawler travel mechanical structures scheme drawing;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the lateral plan of Fig. 1;
Fig. 4 is that crawler belt is around the view of main hinged shaft with respect to the car body rotational deformation;
Fig. 5 is a crawler belt around the view of self hinge rotational deformation;
Fig. 6 is the front view of deformable crawler vehicle;
Fig. 7 is the birds-eye view of Fig. 6;
Fig. 8 is that the A-A of Fig. 6 is to part sectional view;
Fig. 9 is crawler belt principal arm and guide arm articulated section part sectional view;
Figure 10 is the birds-eye view of Fig. 9.
The specific embodiment
The embodiment that provides below in conjunction with accompanying drawing is described in further detail structure of the present invention.
With reference to Fig. 6 to 8, a kind of deformable crawler vehicle is made up of two crawler belts and car body 5.The crawler belt main body by middle principal arm 2, guide arm 1 and actuating arm 4 totally three sections arms form, an end of guide arm 1 is equipped with track adjusting wheel 14, the other end is hinged with an end of principal arm 2 by guiding hinge 12; One end of actuating arm 4 is equipped with drive wheel 8, and the other end is hinged with the other end of principal arm 2 by driving hinge 10.Principal arm 2 is hinged by main hinged shaft 6 and car body 5; Some little caterpillar wheels 11 are housed on three sections arms, are used to support complete machine weight.On guiding hinge 12 and the driving hinge 10 big caterpillar wheel 9 is housed also, it plays caterpillar wheel and carrier wheel simultaneously.The top of crawler belt is provided with the flap wheel 16 of tensioned tracks 21 by being installed in flap wheel support 18 on the main joint frame 3 in addition, it together guarantees when crawler belt is out of shape with big caterpillar wheel, caterpillar block is out of shape together in company with the crawler belt main body, and guarantees when distortion, and required track length is constant or change little.
The two ends of principal arm 2 are provided with stepping motor 15,19, rotate with respect to principal arm 2 through one-level worm couple deceleration rear drive hinge 12,10, thereby drive guide arm 1 or actuating arm 4 rotate with respect to principal arm 2.
Stepping motor 20 also is housed on the actuating arm 4, after the one-level worm couple slows down, drives drive wheel 8, the driving dynamics of crawler vehicle is provided.
Main hinged shaft 6 is arranged on the main joint frame 3 by bearing, and main joint frame 3 and principal arm 2 are solidly fixed by screw, and main hinged shaft 6 is connected by key and car body joint arm 7; On main joint frame 3, set firmly stepping motor 17, and drive connection main hinged shaft 6 by worm screw, worm gear pair.Can drive main hinged shaft 6 and rotate, therefore form the main joint frame and be the rotation of principal arm or crawler belt with respect to car body with respect to main joint frame 3.
With reference to Fig. 9,10 (with principal arm and the hinged example that is illustrated as of guide arm), hinge 12,10 is arranged on the two ends of principal arm 2 by bearing 13 respectively, be connected with guide arm 1, actuating arm 4 by key 30 and nut 29, stepping motor 15,19 is installed on the principal arm 2, and be connected with hinge 12,10 drivings by worm screw 23, worm gear 22 respectively, be that worm screw 23 is installed on the step motor shaft by pin 26, worm gear 22 is installed on the hinge 12,10 by key 27 and nut 28.The rotation of motor 15,19 is rotated by worm and gear deceleration rear drive hinge 12,10, thereby drives guide arm 1, actuating arm 4 with respect to principal arm 2 rotations.
Because stepping motor is the open loop function unit, correspondence is provided with magnet 24, Hall switch 25 on guide arm 1, actuating arm 4 and principal arm 2, to realize the zero-point positioning and the spacing control of hinge joint.
Claims (4)
1. a deformable crawler travel machinery is made up of car body (5) and two crawler belts (21) on track adjusting wheel (14) that overlays on crawler belt main body and crawler belt main body two ends and drive wheel (8); It is characterized in that, every crawler belt main body by the principal arm (2) in the middle of being positioned at, two hinges (12,10) pivotally attached guide arms (1) by being arranged on described principal arm (2) two ends and actuating arm (4) totally three sections arms form; Described principal arm (2) is hinged by main hinged shaft (6) and car body (5), described principal arm (2) is fixed with a main joint frame (3) by screw, described main hinged shaft (6) is arranged on the described main joint frame (3) by bearing, also is installed with flap wheel support (18) on described main joint frame (3); Described each hinge (12,10,6) drives with a stepping motor (15,19,17) respectively and is connected; On the hinge (12,10) of hinged guide arm (1) and actuating arm (4), also be provided with big caterpillar wheel (9); Be provided with the flap wheel (16) of tensioned tracks in the top of described crawler belt (21) by being installed in flap wheel support (18) on the main joint frame (3).
2. deformable crawler travel machinery according to claim 1 is characterized in that, by key and described main hinged shaft (6) the car body joint arm (7) that is connected; Described and main hinged shaft (6) drives bonded assembly stepping motor (17) and is installed on the main joint frame (3), and drives connection main hinged shaft (6) by worm screw, worm gear pair.
3. deformable crawler travel machinery according to claim 1 is characterized in that, is arranged on the hinge (12,10) on described principal arm (2) two ends, is connected with described guide arm (1) and actuating arm (4) by key (30) and nut (29); Be installed on the described principal arm (2) with the hinge driving described stepping motor of bonded assembly (15,19) that is arranged on described principal arm (2) two ends, and be connected with hinge (12,10) driving by worm screw (23), worm gear (22) respectively.
4. deformable crawler travel machinery according to claim 1 is characterized in that, also is provided with little caterpillar wheel (11) on described guide arm (1), principal arm (2) and the actuating arm (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03127184 CN1277714C (en) | 2003-09-26 | 2003-09-26 | Deformable crawler running machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03127184 CN1277714C (en) | 2003-09-26 | 2003-09-26 | Deformable crawler running machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1528633A CN1528633A (en) | 2004-09-15 |
| CN1277714C true CN1277714C (en) | 2006-10-04 |
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ID=34286004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03127184 Expired - Fee Related CN1277714C (en) | 2003-09-26 | 2003-09-26 | Deformable crawler running machinery |
Country Status (1)
| Country | Link |
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| CN (1) | CN1277714C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1298578C (en) * | 2004-11-01 | 2007-02-07 | 大连大学 | Deformed crawler belt system |
| CN100553900C (en) * | 2006-06-14 | 2009-10-28 | 中国科学院沈阳自动化研究所 | A kind of crawler type walking mechanism of several walking modes |
| CN100396534C (en) * | 2006-11-24 | 2008-06-25 | 湖南农业大学 | Crawler type automatic deformation wheels for multiple highway conditions |
| CN103192894A (en) * | 2012-01-06 | 2013-07-10 | 徐州徐工基础工程机械有限公司 | Drag chain device of rotary drilling jig |
| CN111252153B (en) * | 2020-03-10 | 2021-02-26 | 杭州朗语科技有限公司 | Trolley for assisting old people in walking |
| CN113844562B (en) * | 2021-11-29 | 2022-03-25 | 中国海洋大学 | Crab-foot-imitating crawler belt suitable for seabed mining vehicle and use method thereof |
| CN114408040A (en) * | 2022-01-25 | 2022-04-29 | 山东科技大学 | Crawler robot moving in non-structural environment |
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2003
- 2003-09-26 CN CN 03127184 patent/CN1277714C/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN1528633A (en) | 2004-09-15 |
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