CN201566714U - Caterpillar obstacle-surmounting mechanism - Google Patents

Caterpillar obstacle-surmounting mechanism Download PDF

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Publication number
CN201566714U
CN201566714U CN2009203517245U CN200920351724U CN201566714U CN 201566714 U CN201566714 U CN 201566714U CN 2009203517245 U CN2009203517245 U CN 2009203517245U CN 200920351724 U CN200920351724 U CN 200920351724U CN 201566714 U CN201566714 U CN 201566714U
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CN
China
Prior art keywords
resilient support
support arms
wheels
crawler belt
sleeve
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
CN2009203517245U
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Chinese (zh)
Inventor
王挺
姚辰
李小凡
王�忠
罗宇
智迪
徐梁
刘敏杰
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Priority to CN2009203517245U priority Critical patent/CN201566714U/en
Application granted granted Critical
Publication of CN201566714U publication Critical patent/CN201566714U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

The utility model relates to a ground-moving robot walking mechanism, specifically to a caterpillar obstacle-surmounting mechanism. The mechanism is composed of two parts with the same structure, each part including a set of driving wheels, three sets of driven wheels and two resilient support arms, wherein two ends of a first resilient support arm are respectively connected with the driving wheel set and the driven wheel set; two ends of a second resilient support arm are respectively connected with the driven wheel set; the second resilient support arm is swingingly connected with the first resilient support arm; the other end of a main wheel shaft is respectively connected with two resilient support arms in another part; a connecting rack is disposed between first resilient support arms in two parts; a traveling motor and a swing mechanism are respectively arranged on the connecting rack; the traveling motor is connected with the driving wheel set; and the driving wheel set and the driven wheel set are connected by a crawler belt. The ground-moving robot walking mechanism walks on the ground by wheels so as to increase the moving efficiency and walks on obstacles by the crawler belt so as to guarantee the stability and safety in the obstacle-surmounting process; and two walking modes are automatically switched.

Description

Wheel shoe formula barrier getting over mechanism
Technical field
The utility model relates to the ground mobile robot traveling gear, specifically a kind of shoe formula barrier getting over mechanism of taking turns.
Background technology
Because pedrail mechanism is adapted at stair (slope, obstacle) and goes up application, wheel is adapted at using on the level land, will help to improve robot mobile efficient and the obstacle climbing ability in stair (slope, obstacle) environment on the ground in the switching that realizes crawler belt and wheel under obstacle and the level land environment.Robot need have certain deformation ability toward contact in stair activity, slope and leaping over obstacles process, to be reduced in the center of gravity on the stair (slope, obstacle), increase area of contact etc.At present, existing mobile robot's traveling gear often adopts many motors in order to satisfy these index requests, rolls over crawler belt and supplemental support wheeled construction more, and the traveling gear of this structure is too heavy, and the stability on obstacle is also relatively poor.
The utility model content
The purpose of this utility model is to provide the high wheel of steady, the mobile efficient of a kind of obstacle detouring to carry out the formula barrier getting over mechanism.
The purpose of this utility model is achieved through the following technical solutions:
The utility model is made up of the identical two parts of structure, every part comprises that one group drives wheels, three groups of driven wheels and two resilient support arms, wherein the two ends of first resilient support arms connect the driving wheels and the second driven wheels respectively, the two ends of second resilient support arms connect first and third driven wheels respectively, the end that second resilient support arms can relatively swingingly be passed through main axle links to each other with first resilient support arms, and the other end of main axle connects two resilient support arms in another part respectively; Be provided with the connection support between described two-part first resilient support arms, connecting the swinging gear that is respectively equipped with movable motor on the support and drives the second resilient mounting arm swing, movable motor links to each other with the driving wheels; Be connected by crawler belt between the described driving wheels and the first~three driven wheels.
Wherein: described first resilient support arms comprises sleeve, axle core and spring, the two ends of its axis core are inserted with respectively and drive the sleeve that the wheels and the second driven wheels are connected, medicament is equipped with spring, and the two ends of spring are connected to respectively on a core and the sleeve interior surface; Described axle core is connected with an end of main axle by bearing; Described second resilient support arms comprises sleeve, axle core and spring, and the two ends of its axis core are inserted with the sleeve that is connected with first and third driven wheels respectively, and medicament is equipped with spring, and the two ends of spring are connected to respectively on a core and the sleeve interior surface; One end of described axle core and main axle is affixed; Sleeve is semi-enclosed cylinder, and the radial section of described axle core be semicircle, and spool core of first and second resilient support arms by separately is connected and is in the same plane; Described driving wheels comprise crawler belt propelling sheave, support, wheel shaft and two drive wheels, and its medium-height trestle links to each other with first resilient support arms, and on support, wherein an end is passed, is connected with the output shaft of movable motor by support by bearing installation at the two ends of wheel shaft; Key is connected with crawler belt propelling sheave and two drive wheels on the described wheel shaft, and the crawler belt propelling sheave is between two drive wheels, be connected with crawler belt; Described the first~three driven wheel group structure is identical, comprises crawler belt propelling sheave, support, wheel shaft and two flower wheels, and its medium-height trestle links to each other with first resilient support arms or second resilient support arms, the two ends of wheel shaft by bearing installation on support; Described two flower wheels on wheel shaft, are provided with and take turns axle key bonded assembly crawler belt propelling sheave by bearing installation between two flower wheels, this crawler belt propelling sheave is connected with crawler belt; The thickness sum of the radius of crawler belt propelling sheave and crawler belt is less than the radius of drive wheel or flower wheel; Described pendulous device comprises swing motor, worm screw and worm gear, wherein swings motor and is installed on the connection support, is connected with worm screw on the output shaft of swing motor, and key is connected with the worm gear that is meshed with worm screw on main axle.
Advantage of the present utility model and good effect are:
1. the utility model adopts the mode that drive wheel, flower wheel combine with crawler belt, makes carrier utilize wheel to walk between the level land, improves mobile efficient; Use the crawler belt mode to walk between obstacle, guaranteed stability and safety in the obstacle detouring process, two kinds of walking manners automatically switch.
The utility model can guarantee carrier the level land and domatic on can both keep horizontality, increased the ground contact area on obstacle simultaneously.
3. the utility model has bigger bearing surface in climbing building or obstacle detouring process, thereby has guaranteed the safety of carrier.
4. the utility model is simple in structure, is suitable for crossing obstacles such as step, stair, slope, and is applied widely.
Description of drawings
Fig. 1 is a front view of the present utility model;
Fig. 2 drives the structural representation of wheels or driven wheels for the utility model;
Fig. 3 is the structural representation of the utility model resilient support arms;
Fig. 4 is the connection diagram of the utility model two resilient support arms;
Fig. 5 is a perspective view of the present utility model;
Fig. 6 is the utility model first resilient support arms (fixed arm) and the connection diagram that is connected support;
Fig. 7 is the structure principle chart of the utility model second resilient support arms (swing arm) and pendulous device;
Fig. 8 is the distortion scheme drawing of the utility model on stair;
Wherein: 1 is first resilient support arms, and 2 is second resilient support arms, and 3 for driving wheels, and 4 is the first driven wheels, 5 is the second driven wheels, and 6 is the 3rd driven wheels, and 7 is crawler belt, and 8 is drive wheel, 9 is flower wheel, and 10 is the crawler belt propelling sheave, and 11 is support, and 12 is wheel shaft, 13 is sleeve, and 14 is spring, 15 cores, 16 is movable motor, and 17 for connecting support, and 18 is main axle, 19 are the swing motor, and 20 is worm screw, and 21 is worm gear.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
Shown in Fig. 1~7, the utility model is made up of the identical two parts of structure, every part comprises that a crawler belt 7, one group drive wheels 3, the first~three driven wheels 4~6 and first and second resilient support arms 1,2, wherein the two ends of first resilient support arms 1 connect the driving wheels 3 and the second driven wheels 5 respectively, the two ends of second resilient support arms 2 connect first and third driven wheels 4,6 respectively, drive between the wheels 3 and the first~three driven wheels 4~6 to be connected by crawler belt 7; First resilient support arms 1 comprises sleeve 13, axle core 15 and spring 14, and the two ends of its axis core 15 are inserted with sleeve 13 respectively, are equipped with spring 14 in the sleeve 13, and the two ends of spring 14 are connected to respectively on a core 15 and the sleeve interior surface; Sleeve 13 is semi-enclosed cylinder, and the radial section of axle core 15 is semicircle.The structure proximate of the structure of second resilient support arms 2 and first resilient support arms 1, difference is that a core 15 of axle core 15 and first resilient support arms 1 of second resilient support arms 2 is respectively the two halves of a circle, the circular diameter that the diaxon core is combined into is slightly less than the internal diameter of sleeve 13, moves vertically with respect to sleeve 13 to guarantee axle core 15.Second resilient support arms 2 in two parts is connected by main axle 18, main axle 18 respectively with two parts in the axle core 15 of second resilient support arms 2 axle core 15 affixed and that pass second resilient support arms 2 link to each other with the axle core of first resilient support arms 1 by bearing, make second resilient support arms 2 can swing and first and second resilient support arms 1,2 is in the same plane with respect to first resilient support arms 1.Also be connected with two connection supports 17 between the axle core 15 of first resilient support arms 1 in two parts, lay respectively at the both sides of main axle 18; Connect the swinging gear that is respectively equipped with movable motor 16 on the support 17 and drives 2 swings of second resilient support arms, wherein movable motor 16 is fixed near on the connection support that drives wheels; Pendulous device comprises swing motor 19, worm screw 20 and worm gear 21, swing motor 19 is installed near on the connection support of the second driven wheels 5, be connected with worm screw 20 on the output shaft of swing motor 19, key is connected with the worm gear 21 that is meshed with worm screw 20 on main axle 18.Drive wheels 3 and comprise crawler belt propelling sheave 10, support 11, wheel shaft 12 and two drive wheels 8, its medium-height trestle 11 is connected with the sleeve 13 of first resilient support arms, 1 one ends (being arranged in Fig. 1 lower-left side), on support 11, wherein an end is passed, is connected with the output shaft of movable motor 16 by support 11 by bearing installation at the two ends of wheel shaft 12; Key is connected with crawler belt propelling sheave 10 and two drive wheels 8 on the described wheel shaft 12, and crawler belt propelling sheave 10 is between two drive wheels 8, be connected with crawler belt 7.The first~three driven wheels 4~6 structures are identical, comprise crawler belt propelling sheave 10, support 11, wheel shaft 12 and two flower wheels 9, wherein the support 11 in the first driven wheels 4 is connected with the sleeve 13 of second resilient support arms, 2 one ends (being arranged in Fig. 1 upper left side), support 11 in the second driven wheels 5 is connected with the sleeve 13 of first resilient support arms, 1 other end (being arranged in Fig. 1 upper right side), support 11 in the 3rd driven wheels 6 is connected with the sleeve 13 of second resilient support arms, 2 other ends (being arranged in Fig. 1 lower right side), the two ends of wheel shaft 12 by bearing installation on support 11; Described two flower wheels 9, are provided with between two flower wheels 9 and wheel shaft 12 key bonded assembly crawler belt propelling sheaves 10 on wheel shaft 12 by bearing installation, and this crawler belt propelling sheave 10 is connected with crawler belt 7.The thickness sum of the radius of crawler belt propelling sheave 10 and crawler belt 7 is less than the radius of drive wheel 8 or flower wheel 9.
Principle of work of the present utility model is:
First resilient support arms 1 that the utility model is connected with the driving wheels 3 and the second driven wheels 5 is " fixed arm ", and second resilient support arms 2 that is connected with first and third driven wheels 4,6 is " swing arm ", and carrier is fixed on and connects on the support 17; Because crawler belt propelling sheave radius and crawler belt thickness sum are slightly less than the radius of drive wheel 8 and flower wheel 9, therefore, when the utility model obstacle detouring machinery is carrying carrier and is walking on the level land, drive in two parts and amount to that four flower wheels 9 that amount in the 3rd driven wheels 6 contact with ground in four drive wheels 8 and two parts in the wheels 3, movable motor 16 synchronous workings in two parts, drive four drive wheels 8 and rotate, utilize the wheel walking; When needs stair climbing or obstacle detouring, as shown in Figure 8, because the strategy effect of carrier automatically switches to the track-type mode; In climbing building or obstacle detouring process, 19 work of swing motor, driving worm screw 20 rotates, by engagement drive imput shaft 18 swings of worm screw 20 with worm gear 21, because the axle core 15 of the imput shaft 18 and second resilient support arms 2 is affixed, be connected by bearing with the axle core 15 of first resilient support arms 1, therefore, second resilient support arms 2 is along with main axle 18 is swung with respect to first resilient support arms 1 together, swing by second resilient support arms (swing arm) drives crawler belt 7 distortion, thereby when increasing the carrier ground contact area, reduced the center of gravity of carrier, strengthened stability and safety in the obstacle detouring process; Simultaneously, movable motor 16 synchronous workings in two parts drive crawler belts by crawler belt propelling sheave 10 and rotate, and make the utility model barrier getting over mechanism that is loaded with carrier climb the building or obstacle detouring hinders; Because the action of the spring in first and second resilient support arms 1,2 two ends sleeves is no matter make where second resilient support arms swings to, and crawler belt can both keep tensioning under the situation that is not subjected to the external force effect.

Claims (8)

1. take turns shoe formula barrier getting over mechanism for one kind, it is characterized in that: form by two parts that structure is identical, every part comprises that drives wheels, three groups of driven wheels and two resilient support arms, wherein the two ends of first resilient support arms (1) connect the driving wheels (3) and the second driven wheels (5) respectively, the two ends of second resilient support arms (2) connect first respectively, three driven wheels (4,6), the end that second resilient support arms (2) can relatively swingingly be passed through main axle (18) links to each other with first resilient support arms (1), and the other end of main axle (18) connects two resilient support arms in another part respectively; Be provided with between described two-part first resilient support arms (1) and connect support (17), connecting the swinging gear that is respectively equipped with movable motor (16) on the support (17) and drives second resilient support arms (2) swing, movable motor (16) links to each other with driving wheels (3); Be connected by crawler belt (7) between the described driving wheels (3) and the first~three driven wheels (4~6).
2. by the described shoe formula barrier getting over mechanism of taking turns of claim 1, it is characterized in that: described first resilient support arms (1) comprises sleeve (13), axle core (15) and spring (14), the two ends of its axis core (15) are inserted with respectively and drive the sleeve (13) that the wheels (3) and the second driven wheels (5) are connected, be equipped with spring (14) in the sleeve (13), the two ends of spring (14) are connected to respectively on a core (15) and the sleeve interior surface; Described axle core (15) is connected by the end of bearing with main axle (18).
3. by the described shoe formula barrier getting over mechanism of taking turns of claim 1, it is characterized in that: described second resilient support arms (2) comprises sleeve (13), axle core (15) and spring (14), the two ends of its axis core (15) are inserted with the sleeve (13) that is connected with first and third driven wheels (4,6) respectively, be equipped with spring (14) in the sleeve (13), the two ends of spring (14) are connected to respectively on a core (15) and the sleeve interior surface; Described axle core (15) is affixed with an end of main axle (18).
4. by claim 2 or the 3 described shoe formula barrier getting over mechanism of taking turns, it is characterized in that: described sleeve (13) is semi-enclosed cylinder, the radial section of described axle core (15) be semicircle, and spool core (15) of first and second resilient support arms (1,2) by separately is connected and is in the same plane.
5. by the described shoe formula barrier getting over mechanism of taking turns of claim 1, it is characterized in that: described driving wheels (3) comprise crawler belt propelling sheave (10), support (11), wheel shaft (12) and two drive wheels (8), its medium-height trestle (11) links to each other with first resilient support arms (1), on support (11), wherein an end is passed, is connected with the output shaft of movable motor (16) by support (11) by bearing installation at the two ends of wheel shaft (12); Described wheel shaft (12) is gone up key and is connected with crawler belt propelling sheave (10) and two drive wheels (8), and crawler belt propelling sheave (10) is positioned between two drive wheels (8), is connected with crawler belt (7).
6. by the described shoe formula barrier getting over mechanism of taking turns of claim 1, it is characterized in that: described the first~three driven wheels (4~6) structure is identical, comprise crawler belt propelling sheave (10), support (11), wheel shaft (12) and two flower wheels (9), its medium-height trestle (11) links to each other with first resilient support arms (1) or second resilient support arms (2), the two ends of wheel shaft (12) by bearing installation on support (11); Described two flower wheels (9), are provided with between two flower wheels (9) and wheel shaft (12) key bonded assembly crawler belt propelling sheave (10) on wheel shaft (12) by bearing installation, and this crawler belt propelling sheave (10) is connected with crawler belt (7).
7. by claim 5 or the 6 described shoe formula barrier getting over mechanism of taking turns, it is characterized in that: the thickness sum of the radius of described crawler belt propelling sheave (10) and crawler belt (7) is less than the radius of drive wheel (8) or flower wheel (9).
8. by the described shoe formula barrier getting over mechanism of taking turns of claim 1, it is characterized in that: described pendulous device comprises swing motor (19), worm screw (20) and worm gear (21), wherein swinging motor (19) is installed on the connection support (17), be connected with worm screw (20) on the output shaft of swing motor (19), go up key at main axle (18) and be connected with the worm gear (21) that is meshed with worm screw (20).
CN2009203517245U 2009-12-30 2009-12-30 Caterpillar obstacle-surmounting mechanism Expired - Lifetime CN201566714U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009203517245U CN201566714U (en) 2009-12-30 2009-12-30 Caterpillar obstacle-surmounting mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009203517245U CN201566714U (en) 2009-12-30 2009-12-30 Caterpillar obstacle-surmounting mechanism

Publications (1)

Publication Number Publication Date
CN201566714U true CN201566714U (en) 2010-09-01

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Application Number Title Priority Date Filing Date
CN2009203517245U Expired - Lifetime CN201566714U (en) 2009-12-30 2009-12-30 Caterpillar obstacle-surmounting mechanism

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102114876B (en) * 2009-12-30 2012-08-01 中国科学院沈阳自动化研究所 Wheel-tracked obstacle crossing mechanism
CN102672707A (en) * 2012-05-16 2012-09-19 北京交通大学 Differential seven-connecting-rod robot traveling in rolling way
CN106741258A (en) * 2016-11-21 2017-05-31 国网山东省电力公司电力科学研究院 A kind of damping chassis and the wheel shoe formula barrier-surpassing robot of the transformer station with damping chassis
CN108032894A (en) * 2017-11-30 2018-05-15 定远县中林机械技术有限公司 A kind of square Athey wheel of cart for carrying out stair activity

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102114876B (en) * 2009-12-30 2012-08-01 中国科学院沈阳自动化研究所 Wheel-tracked obstacle crossing mechanism
CN102672707A (en) * 2012-05-16 2012-09-19 北京交通大学 Differential seven-connecting-rod robot traveling in rolling way
CN102672707B (en) * 2012-05-16 2014-12-24 北京交通大学 Differential seven-connecting-rod robot traveling in rolling way
CN106741258A (en) * 2016-11-21 2017-05-31 国网山东省电力公司电力科学研究院 A kind of damping chassis and the wheel shoe formula barrier-surpassing robot of the transformer station with damping chassis
CN108032894A (en) * 2017-11-30 2018-05-15 定远县中林机械技术有限公司 A kind of square Athey wheel of cart for carrying out stair activity

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GR01 Patent grant
C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20100901

Effective date of abandoning: 20091230

AV01 Patent right actively abandoned

Granted publication date: 20100901

Effective date of abandoning: 20091230