CN201800804U - Wheel-track combined transformable mobile robot - Google Patents

Wheel-track combined transformable mobile robot Download PDF

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Publication number
CN201800804U
CN201800804U CN201020250384XU CN201020250384U CN201800804U CN 201800804 U CN201800804 U CN 201800804U CN 201020250384X U CN201020250384X U CN 201020250384XU CN 201020250384 U CN201020250384 U CN 201020250384U CN 201800804 U CN201800804 U CN 201800804U
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China
Prior art keywords
wheel
bar
spindle
gear
tail
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CN201020250384XU
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Chinese (zh)
Inventor
马书根
李斌
李智卿
王明辉
王聪
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Shenyang Institute of Automation of CAS
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Shenyang Institute of Automation of CAS
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Abstract

The utility model relates to a wheel-track combined transformable mobile robot, which belongs to the technical field of robot study and engineering and comprises a control case, two wheel-track combined moving modules mounted on the two sides of the control case (1) respectively and a tail wheel device mounted at the tail end of the control case. The wheel-track combined moving module comprises a track moving device and a traveling wheel device arranged on the outer side of the track moving device, track driving devices are symmetrically arranged inside the control case, the output shafts of the track driving devices are extended out of the control case, and first gears are arranged on the output shafts and matched and connected with second gears arranged on the track moving device. The wheel-track combined transformable mobile robot can move on flat hard road surface in a wheel traveling mode and travel on coarse, steep, rough and complex terrain in a track traveling mode, and can efficiently move on complex terrain with a reasonable traveling mode. The geometric shape of the track can be automatically adjusted according to the shape and size of an obstacle in front of robot, so that the robot has strong adaptability to complex terrain.

Description

A kind of wheel-shoe composite deformation mobile robot with adaptive ability
Technical field
The utility model relates to robot research and engineering field, specifically is a kind of complicated ground to be had novel wheel adaptive ability, multi-locomotion mode and the attitude of doing more physical exercises-carry out composite deformation mobile robot.
Background technology
Existing mobile robot is with regard to its mechanism configuration, and wheeled mobile robot has characteristics such as speed is fast, maneuverability is good, is very suitable for the level land motion.It is good that common caterpillar mobile robot has an off-road capability, climbing, obstacle detouring, strides characteristics such as abilities such as ditch are stronger, can walk on various coarse, precipitous, rugged complex-terrains, but the alerting ability of its turning is relatively poor, energy consumption is bigger.Present existing wheel the-crawler belt compound type mobile robot, almost all adopted crawler type composite moving mechanism wheeled and that geometric configuration is fixing, has multiple mode of motion, the road environment that can adapt to more complicated with higher efficient, and this robot is to be difficult to cross the obstacle that is higher than oneself height in complex environment.
Existing mobile robot is with regard to its drive system, combined mobile robot athletic posture and pattern polytropy must have more degree of freedom, the overwhelming majority has adopted the type of drive of ACTIVE CONTROL in them, and each degree of freedom is by a special motor-driven.When robot when complex road surface moves, it constantly obtains environmental information with institute's observation by sensor and passes to control system, information in view of the above, each electrical motor will drive corresponding degree of freedom makes travel mechanism change mode of motion or athletic posture adapts to complex road surface with this.On the one hand, the variation of this mode of motion or attitude depends on sensor institute feedack to a large extent, so generally higher to the accuracy requirement of sensor; On the other hand, this type of drive not only requires the quantity of motor and sensor more, and control algorithm is comparatively complicated, and it also has certain hysteresis quality simultaneously.So this type of drive has directly had influence on the adaptivity of robot to complex road surface.
The utility model content
At the technical matters of above-mentioned existence, the utility model provides a kind of complex road surface is had wheel adaptive ability, the crawler belt variable geometry-shoe composite deformation mobile robot.
The technical solution of the utility model is as follows:
The utility model comprises that control box, two are installed in the wheel of control box 1 both sides-carry out compound mobile module respectively, are installed in the tail wheel mechanism of control box tail end, the compound mobile module of described wheel the-carry out comprises the crawler belt mobile device and places the moving wheel device in the crawler belt mobile device outside, be symmetrically arranged with caterpillar drive in the described control box, its output shaft stretches out outside the control box, and which is provided with first gear, be connected with second gear matched on the crawler belt mobile device.
Caterpillar drive described in the utility model comprises battery, battery carrier, actuator, first flange, motor and retarder and two circuit cards and circuit board rack, battery is fixed in the control casing by battery carrier, the actuator that is fixed on the control casing end plate is connected with battery, two circuit cards are fixed on the battery carrier two ends by two circuit board racks respectively, motor is connected with actuator, stretch out outside the casing by first flange with the output shaft of motor bonded assembly retarder, first gear is installed on it, be arranged at the external tail end of control box with motor bonded assembly master cock, be connected with actuator.
Described crawler belt mobile device comprises supporting mechanism, transmission device, crawler belt, Athey wheel, described supporting mechanism comprises the wheel carrier by two groups of symmetries, preceding adjust bar, regulate the back bar and regulate the four-bar linkage that quarter butt is formed, the two wheel carriers wheel carrier base plate both sides that are placed in, adjust bar one end connects by front wheel spindle before two, the other end is connected with adjusting back bar one end, regulate bar the other end, back and connect hind axle, regulate the back bar with wheel carrier between be connected by the adjusting quarter butt, before two, also be connected with center shaft between adjust bar, the center shaft two ends are connected with wheel carrier respectively, connect by the center turntable, before, interaxle two track wheel shafts of trailing wheel place between two wheel carriers, be connected on two wheel carriers by turntable respectively, on each wheel shaft, be separately installed with Athey wheel, crawler belt is enclosed on the Athey wheel, the planet wheel spindle two ends of adjust bar before two spacing flanges are set in and stretch out, and be fixed on the preceding adjust bar, and place in the groove of wheel carrier, limiting stopper is fixed on the wheel carrier base plate, the upper limit position of adjust bar before being positioned at, first spring is by the upper spring bar, the lower spring bar respectively with preceding adjust bar, wheel carrier links to each other; Described transmission device comprises center shaft, planet wheel spindle, first is with synchronously, the intermeshing the 3rd, the 4th gear and second gear 74, center shaft and planet wheel spindle are connected between two preceding adjusts bar, articulate by second flange and spacing flange respectively, first of the first synchronous band, second belt wheel is installed in respectively before two on the front wheel spindle and planet wheel spindle between adjusts bar, the 3rd, the 4th gear is installed in respectively before two on the planet wheel spindle and center shaft between adjusts bar, second gear is installed in the center axle head in the wheel carrier outside, with first meshed transmission gear of caterpillar drive.
Have adjustable first slotted eye and a plurality of cooperation mounting hole that is used to place the upper spring bar on the adjust bar before described, be provided with a plurality of bayonet sockets that are used to place the upper spring bar in described first slotted eye.Described wheel carrier comprises side plate and is installed in the wheel plate at side plate two ends respectively, has groove that cooperates with spacing flange and adjustable second slotted eye that is used to install the lower spring bar and a plurality of cooperation mounting holes on the described side plate; Be provided with a plurality of bayonet sockets that are used to place the lower spring bar in described second slotted eye.Described center turntable is to be provided with hollow stepped shaft in flange one side, and the endoporus of the little axle head of this stepped shaft matches with screw.On the adjust bar, the one side had first sleeve pipe of external diameter and wheel carrier groove fit before described spacing flange was fixed on, and its endoporus matches with the planet wheel spindle end.
Described moving wheel device comprises that moving wheel, motion wheel carrier and second be with synchronously, moving wheel passes through its moving wheel axle mounting on the motion wheel carrier, the motion wheel carrier is captiveed joint with preceding adjust bar with fixed link by fixed mount respectively, and be connected with planet wheel spindle and center turntable respectively, second band synchronously is set between motion wheel carrier and preceding adjust bar, described second synchronously band the 3rd, four-tape wheel is installed in respectively on planet wheel spindle and the motion wheel shaft.
Described tail wheel mechanism comprises link span, position-limited lever, L bar, second spring, the tail wheel of tail-gear spindle, spring hack lever and two groups of symmetries, two L bars, one end is connected with tail-gear spindle, the other end is connected with link span respectively, be fixed with the spring hack lever near between two L bars of tail-gear spindle, two second springs are connected with link span with the spring hack lever respectively, be provided with position-limited lever on the link span between the L bar and second spring, tail wheel is installed on the tail-gear spindle two ends.Described link span is the trench structure that has semi arch, and the semi arch end has a plurality of spacing holes that are used to install position-limited lever.
The beneficial effects of the utility model are:
(1) the utility model can move in smooth hard pavement with wheeled mode of motion, also can walk on coarse, precipitous, rugged complex-terrain with the crawler type mode of motion, can move efficiently at different complicated grounds with rational mode of motion.
When (2) the utility model is walked in complex-terrain, the crawler belt geometric configuration can automatically adjust according to the shape and the size of chance obstacle, make the robot can be with only athletic posture clear an obstacle, its obstacle climbing ability is strong, and be good to the comformability of complex-terrain.
(3) of the present utility model in the complex road surface motion process, each takes turns-carries out exchange between the moving of compound mobile module, wheeled mode of motion and the crawler type mode of motion and motor service efficiency height is finished in the actions such as adjustment of crawler belt geometric configuration by a motor-driven.
(4) the utility model is when complex road surface is walked, each is taken turns-carries out, and the adjustment that compound mobile module passes through self mechanism according to change of topography realizes moving, wheeled-crawler type is exchanged, the adjustment of crawler belt geometric configuration, and do not need extra motor and special sensor to control, so the utility model has stronger adaptivity to complicated ground, and control is also very convenient.
Description of drawings
Fig. 1 is the utility model perspective view.
Fig. 2 is a control box structural representation among Fig. 1.
Fig. 3 is a box inner structure scheme drawing among Fig. 2.
Fig. 3 (a) is a battery carrier structural representation among Fig. 3.
Fig. 3 (b) is a circuit board rack structural representation among Fig. 3.
Fig. 3 (c) is the first flange arrangement scheme drawing among Fig. 3.
Fig. 4 is the compound mobile module structural representation one of wheel-shoe among Fig. 1.
Fig. 5 is the compound mobile module structural representation two of wheel-shoe among Fig. 1.
Fig. 5 (a) is a preceding adjust bar structural representation among Fig. 5.
Fig. 6 is a wheel carrier part decomposing schematic representation among Fig. 5.
Fig. 7 is the limiting stopper structural representation one among Fig. 6.
Fig. 8 is the limiting stopper structural representation two among Fig. 6.
Fig. 9 is the structural representation of the wheel carrier base plate among Fig. 6.
Figure 10 is a wheel carrier structure scheme drawing among Fig. 6.
Figure 11 is Figure 10 latus inframedium structural representation.
Figure 12 is a wheel carrier structure scheme drawing among Figure 10.
Figure 13 is an I part solution structure scheme drawing among Fig. 5.
Figure 14 is a front wheel spindle structural representation among Figure 13.
Figure 15 is an II part solution structure scheme drawing among Fig. 5.
Figure 16 is the center turntable structural representation among Figure 15.
Figure 17 is the axle sleeve structure scheme drawing among Figure 15.
Figure 18 is the planet wheel spindle structural representation among Figure 15.
Figure 19 is the center spindle structure scheme drawing among Figure 15.
Figure 20 is the spacing flange arrangement scheme drawing among Figure 15.
Figure 21 is the second flange arrangement scheme drawing among Figure 15.
Figure 22 is an III part solution structure scheme drawing among Figure 15.
Figure 23 regulates the quarter butt structural representation among Figure 22.
Figure 24 is Figure 22 China and foreign countries screw collar structural representations.
Figure 25 is a turntable structural representation among Figure 22.
Figure 26 is an adapter shaft structural representation among Figure 22.
Figure 27 is that preceding adjust bar is connected the decomposition texture scheme drawing with adjusting back bar among Fig. 5.
Figure 28 is a moving wheel device decomposition texture scheme drawing among Fig. 5.
Figure 29 is a fixed rack structure scheme drawing one among Figure 28.
Figure 30 is a fixed rack structure scheme drawing two among Figure 28.
Figure 31 is the 3rd a flange structural representation among Figure 28.
Figure 32 is a moving wheel shelf structure scheme drawing among Figure 28.
Figure 33 is a moving wheel axle construction scheme drawing among Figure 28.
Figure 34 is a tail wheel structural scheme of mechanism among Fig. 1.
Figure 35 is the compound mobile module structural representation three of wheel-shoe among Fig. 1.
Figure 36 is the utility model upper limit demonstration graph.
Figure 37 is the utility model lower limit demonstration graph.
Figure 38 is the utility model crawler type mode of motion scheme drawing.
Figure 39 is the wheeled mode of motion scheme drawing of the utility model.
Figure 40 is the critical conditions scheme drawing between the motion of the utility model is in wheeled motion and crawler type.
Figure 41 is the utility model first spring reset scheme drawing.
Figure 42 is the utility model first spring buffer scheme drawing.
Among the figure: 1. control box, 101. casings, 102. case lids;
2. take turns-carry out compound mobile module,
3. caterpillar drive, 301. output shafts, 302. first gears, 303. batteries, 304. battery carriers, 305. actuator, 306. motors and retarder, 307. circuit cards, 308. circuit board racks, 309. first flange, 310. master cocies, 311. holes with the level, 312. through holes;
4. crawler belt mobile device, 401. wheel carriers, 402. wheel carrier base plates, adjusts bar before 403., 404. regulate the back bar, 405. regulate quarter butt, 406. Athey wheels, 407. crawler belts, 408. center shaft, 409. planet wheel spindles, 410. fronts wheel spindle, 411. upper spring bars, 412. spacing flange, 413. center turntables, 414. turntables, 415. hind axles, 416. first is with 417. second gears, 418. the 3rd gears, 419. the 4th gears synchronously, 420. the lower spring bar, 421. track wheel shafts, 422. limiting stoppers, 423. first spring, 424. grooves, 425. second flanges, 426. adapter shaft, 427. negative thread circles, 428. outside thread circles, 429. back-up ring, 430. side plates, 431. wheel plates, 432. first belt wheel, 433. axle sleeves, 434. pads, 435. first connecting bore, 436. second connecting bores, 437. first sleeve pipes, 438. the ladder axle sleeve, 439. fixed covers, 440. second sleeve pipes, 441. the ladder sleeve pipe, 442. first slotted eyes, 443. second slotted eyes, 444. second belt wheel, 445. the 3rd belt wheels, 446 four-tapes wheel;
5. tail wheel mechanism, 501. link spans, 502. position-limited levers, 503.L bar, 504. second springs, 505. spring hack levers, 506. tail wheels, 507. tail-gear spindles;
6. moving wheel device, 601. fixed mounts, 602. motion wheel carriers, 603. fixed links, 604. second bands synchronously, 605. moving wheels, 606. motion wheel shafts, 607. inner sleeve plates, 608. flags, 609. the 3rd flanges;
7. screw, 8. bearing.
The specific embodiment
Below in conjunction with drawings and Examples the utility model is described in further detail.
Embodiment: as shown in Figure 1, the utility model comprises that control box 1, two are installed in the compound mobile module 2 of wheel-shoe of control box 1 both sides respectively, are installed in the tail wheel mechanism 3 of control box 1 tail end, the compound mobile module 2 of described wheel the-carry out comprises crawler belt mobile device 5 and places the moving wheel device 6 in crawler belt mobile device 5 outsides, be symmetrically arranged with caterpillar drive 4 in the described control box 1, its output shaft 301 stretches out outside the control box 1, and which is provided with first gear 302, be connected with second gear matched on the crawler belt mobile device 5.Can realize on complex road surface, moving, also can change mode of motion (i.e. " exchange of wheel-shoe ") and adjusting motion attitude (promptly changing the crawler belt geometric configuration) according to the ground constrained force with wheeled and two kinds of mode of motioies of crawler type.
As shown in Figure 2, control box described in the utility model 1 comprises control casing 101 and case lid 102, case lid 102 is connected with casing 101, on casing 101, have a plurality of mounting holes, as shown in Figure 3, symmetrically arranged caterpillar drive 3 in control box 1, include battery 303, battery carrier 304, actuator 305, first flange 309, motor and retarder 306 and two circuit cards 307 and circuit board rack 308, battery 303 is fixed in the control casing 101 by battery carrier 304, the actuator 305 that is fixed on control casing 101 end plates is connected with battery 303, two circuit cards 307 are fixed on battery carrier 304 two ends by two circuit board racks 308 respectively, motor is connected with actuator, stretch out outside the casing 101 by first flange 309 with the output shaft 301 of motor bonded assembly retarder, output shaft 301 ends place in the hole of wheel carrier side plate 430, first gear 302 is installed on it, is arranged at control casing 101 outer tail ends, be connected with actuator 305 with motor bonded assembly master cock 310.
Described battery carrier 304 is shown in Fig. 3 (a), circuit board rack 308 is shown in Fig. 3 (b), first flange 309 is shown in Fig. 3 (c), all have a plurality of mounting holes on it, have the hole of matching with output shaft 301 and center shaft 408 respectively on first flange 309, match with the hole of casing mounting center axle 408 in the hole 311 that wherein has step, through hole 312 not with the level is connected with output shaft 301.
As Fig. 4~shown in Figure 33, crawler belt mobile device 4 described in the utility model comprises supporting mechanism, transmission device, crawler belt 407, Athey wheel 406, spacing flange 412 and limiting stopper 422, described supporting mechanism comprises by the wheel carrier 401 of two groups of symmetries, preceding adjust bar 403, regulates back bar 404 and regulate the four-bar linkage that quarter butt 405 is formed, as shown in Figure 6, two wheel carriers 401 wheel carrier base plate 402 both sides that are placed in connect by tightening screw 7; As Figure 13, shown in Figure 27, adjust bar 403 1 ends connect by front wheel spindle 410 before two, the other end with regulate back bar 404 1 ends and be connected, on bar after the adjusting 404, be provided with adapter shaft 426 by bearing 8 installations, link to each other by tightening screw 7 with 403 of preceding adjusts bar; As shown in Figure 4, the other end of regulating back bar 404 connects hind axle 415, as Fig. 5, shown in Figure 22, regulating 401 of back bar 404 and wheel carriers is connected by adjusting quarter butt 405, turntable 414 and negative thread circle 427 are by being bolted to wheel carrier 401 both sides, as shown in figure 23, regulate on the quarter butt 405 and have two connecting bores, its first connecting bore, 435 built-in bearings 8 are connected with the turntable 414 that stretches out negative thread circle 427, and by outside thread circle 428,7 pairs of bearings of screw 8 carry out axial restraint, second connecting bore 436 is installed on by bearing 8 on the axle 426 of regulating back bar 404, and is fastening by screw 7; As Fig. 5, shown in Figure 15,403 of adjusts bar also are connected with center shaft 408 before two, center shaft 408 two ends are connected with wheel carrier 401 respectively, connect by center turntable 413, are specially: be equipped with and center turntable 413 bonded assemblys second flange 425 by bearing 8 respectively at center shaft 408 two ends; As shown in Figure 6, two track wheel shafts 421 that forward and backward wheel shaft is 410,415 place 401 of two wheel carriers, be connected on the wheel plate 431 of two wheel carriers 401 by turntable 414 respectively, turntable 414 is captiveed joint with outside thread circle 428 with the negative thread circle 427 of Athey wheel 406 both sides, on each wheel shaft, by bearing 8 Athey wheel 406 is installed respectively, shown in Fig. 5,15, crawler belt 407 is enclosed on the Athey wheel 406, planet wheel spindle 409 two ends of adjust bar 403 before two spacing flanges 412 are set in and stretch out, and be fixed on the preceding adjust bar 403, and place in the groove 424 of wheel carrier 401; First spring 423 links to each other with preceding adjust bar 403, wheel carrier 401 respectively by upper spring bar 411, lower spring bar 420; As Fig. 6, shown in Figure 35, limiting stopper 422 is fixed on wheel carrier base plate 402 mounting holes shown in Figure 9, the upper limit position of adjust bar 403 before being positioned at.As Fig. 7, shown in Figure 8, limiting stopper 422 has arcwall face, match the effect of limiting stopper 422 with the cambered surface of preceding adjust bar 403 and bar 404 junctions, adjusting back: adjust bar 403 moves within the specific limits before guaranteeing in the utility model, and its rotation amplitude scope is 30 °.Its motion principle is as follows: (1) upper limit position: as shown in figure 36, when the groove of spacing flange 412 and frame 401 disengaged, limiting stopper 422 contacted with adjusting back bar 404.Adjust bar 403 is in upper limit position before this moment, and preceding adjust bar 403 can not rotate again.(2) lower position: as shown in figure 37, when spacing flange 412 contacted with the groove 424 of wheel carrier 401, limiting stopper 422 disengaged with back adjust bar 404.Adjust bar 403 is in the lower position before this moment.
Wherein: shown in Fig. 5 (a), be preceding adjust bar 403, have adjustable first slotted eye 442 that is used to place upper spring bar 411 on it, the mounting hole with front wheel spindle 410, center shaft 408, planet wheel spindle 409 and adjusting back bar 404 are connected also has a plurality of fixed installations hole on it.Wheel carrier 401 shown in Figure 10 comprises side plate 430 and is installed in the wheel plate 431 at side plate 430 two ends respectively; As shown in figure 11, have on the described side plate 430 and center shaft 408, turntable 414, the hole of placing motor output shaft 301,, be used to install adjustable second slotted eye 443 of lower spring bar 420, reach a plurality of mounting holes with the groove 424 that spacing flange 412 cooperates; Be equipped with a plurality of bayonet sockets 444 of placing upper spring bar 411 and lower spring bar 420 that are respectively applied in described first slotted eye 442 and second slotted eye 443, to regulate its placement location, be provided with in first slotted eye 442 in 5 bayonet sockets, 444, the second slotted eyes 443 in this example 3 bayonet sockets 444 are set.Have the hole and and the side plate 430 bonded assembly holes that are connected with track wheel shaft 421 on the wheel plate 431 as shown in figure 12.Have axle sleeve on the front wheel spindle 410 shown in Figure 14, its two end section is the D type.
The effect of first spring 423 is as follows in this example:
(1) as shown in figure 41, reset response: guarantee robot when the bigger environment of surface constraints enters the less environment of constraint, robot changes mode of motion 2 into by mode of motion 1 under the tension of first spring 423.
(2) as shown in figure 42; pooling feature is in the robot operational process; may run into some accidents; for example work as the car body leading portion and crash into the gully suddenly; the distortion Bringing-back mechanism just can play buffer action; thereby weaken the impact effect of outer bound pair robot greatly, it is impaired to protect robot to avoid with this.
As Fig. 4, Fig. 5, shown in Figure 15, described transmission device comprises center shaft 408, planet wheel spindle 409, first is with 416 synchronously, the intermeshing the 3rd, the 4th gear 418,419 and second gear 417, adjust bar was 403 before center shaft 408 and planet wheel spindle 409 were connected to two, install by bearing 8 respectively at center shaft 408 two ends, be fixed on the two preceding adjusts bar 403 by second flange 425, install by bearing 8 respectively at planet wheel spindle 409 two ends, be fixed on the two preceding adjusts bar 403 by spacing flange 412, center shaft 408 and planet wheel spindle 409 are all free to rotate, first synchronously with 416 first, second belt wheel cooperates on the front wheel spindle 410 and planet wheel spindle 409 that is installed in 403 of two preceding adjusts bar by the D shaped hole shaft respectively, the 3rd, the 4th gear 418,419 are installed in respectively on the planet wheel spindle 409 and center shaft 408 of 403 of two preceding adjusts bar, second gear 417 is installed in center shaft 408 1 ends in wheel carrier 401 outsides by screw 7, with first gear, 302 engagements of caterpillar drive 3.
Wherein: as shown in figure 16, being center turntable structural representation, is to be provided with hollow stepped shaft in flange one side, and the endoporus of the little axle head of this stepped shaft matches with screw 7, is used for mounting screw 7; As shown in figure 17, be axle sleeve 433 structural representations, be used for spacing the 3rd belt wheel 445, its inside and outside aperture cooperates with planet wheel spindle 409 and spacing flange 412 respectively.Planet wheel spindle 409 structural representations as shown in figure 18, its end cross-sectional is the hollow shaft of D type, has fixed cover 439 on it, plays position-limiting action.Center shaft 408 structural representations as shown in figure 19, its end cross-sectional is the hollow shaft of D type, has ladder axle sleeve 438 on it, is used for spacing.Spacing flange 412 shown in Figure 20, one side have first sleeve pipe 437 that external diameter cooperates with wheel carrier groove 424, and its endoporus matches with planet wheel spindle 409 ends.Second flange 425 shown in Figure 21 has second sleeve pipe 440 that matches with center shaft 408 ends on it.Shown in Figure 24 is outside thread circle 428 structural representations, and outer ring is for being threaded and connected part internal thread hole matches on it, and its inner ring has step, cooperates connected bearing.Turntable 414 shown in Figure 25 has and regulates the ladder sleeve pipe 441 that quarter butt 405 cooperates.As Figure 26, shown in Figure 27, adapter shaft 426 two ends are the stepped shaft structure of symmetry, and axle head cooperates with second connecting bore 436 of regulating quarter butt 405.
As shown in figure 28, described moving wheel device comprises moving wheel 605, motion wheel carrier 602 and second is with 604 synchronously, moving wheel 605 is installed on the motion wheel carrier 602 by its motion wheel shaft 606, wherein moving wheel 605 both sides are fixed with inner sleeve plate 607 and flag 608 by screw 7 respectively, have the hole of matching on the flag 608 with motion wheel shaft 606, be installed on the motion wheel shaft 606 by flag 608 cooperations, motion wheel shaft 606 is fixed on the motion wheel carrier 602 by the 3rd flange 609, its end bearing set 8 passes in the mounting hole of motion wheel carrier 602, be connected with four-tape wheel 446, motion wheel carrier 602 is captiveed joint with preceding adjust bar 403 with fixed link 603 by fixed mount 601 respectively, and be connected with center turntable 412, wherein center turntable 412 is connected with motion wheel carrier 602 by bearing 8, and carries out axial restraint by tightening screw 7; Be provided with second at motion wheel carrier 602 and 403 of preceding adjusts bar and be with 604 synchronously, described second is installed in respectively on planet wheel spindle 409 and the motion wheel shaft 606 with 604 two belt wheels synchronously, planet wheel spindle 409 ends are installed on the motion wheel carrier 602 by the bearing on it 8, by the internal thread hole axial restraint of holding screw 7 with planet wheel spindle 409 ends.
Wherein: Figure 29, shown in Figure 30 be fixed mount 601, be used to connect motion wheel carrier 602 and preceding adjust bar 403.Shown in Figure 31 is the 3rd flange 609, is set in motion wheel shaft 606 and is connected on the motion wheel carrier 602, is used for fixing connection.Shown in Figure 32 is motion wheel carrier 602, has the hole that is used for mounted movable wheel shaft 606, center turntable 413, planet wheel spindle 409 on it, and a plurality of fixed installations hole.Shown in Figure 33 is that motion wheel shaft 606 is a hollow shaft, has fixed cover 439 on it, and the two axial ends cross section is the D type.
As shown in figure 34, described tail wheel mechanism 5 comprises link span 501, position-limited lever 502, L bar 503, second spring 504, the tail wheel 506 of tail-gear spindle 507, spring hack lever 505 and two groups of symmetries, two L bars, 503 1 ends are connected with tail-gear spindle 507, the other end is connected with link span 501 respectively, be fixed with spring hack lever 505 at 503 on two L bars near tail-gear spindle 507, two second springs 504 are connected with link span 501 with spring hack lever 505 respectively, be provided with position-limited lever 502 on the link span 501 of 504 on L bar 503 and second spring, tail wheel 506 is installed on tail-gear spindle 507 two ends.Link span 501 is for having the trench structure of semi arch, the semi arch end has a plurality of spacing holes 508 that are used to install position-limited lever 502, tail wheel mechanism 5 can be rotated in 65 degree scopes around position-limited lever 502, and the range of movement of tail wheel mechanism 5 can be regulated by the position of regulating position-limited lever 502 according to actual needs.
Working process of the present utility model:
The utility model robot can move with wheeled and two kinds of mode of motioies of crawler type motion under a motor-driven effect, also can adjusting motion pattern and attitude process.As shown in figure 39, wheeled mode of motion: the Athey wheel mobile device contacts by line with ground, can be with it as virtual a wheel.As shown in figure 39, when the utility model robot when the less environment of constrained force (as flat road surface) moves, this virtual wheel with the moving wheel device is supported the robot motion, this mode of motion can be used as wheeled mode of motion.The moving wheel 605 of robot contacts with ground, crawler belt 407 is tangent with ground, and this moment, robot was done wheeled motion.Motor and retarder 306 drive 302 motions of first gear, second gear 417 and first gear 302 mesh and rotate, the 3rd gear 418 and second gear, 417 coaxial rotation, the 4th gear 419 and the 3rd gear 418 mesh and rotate, first belt wheel 432, the 3rd belt wheel 445 and the 4th gear 419 are installed on planet wheel spindle 409 jointly and carry out coaxial rotation, first belt wheel 432 is with 416 to drive 444 rotations of second belt wheel through first synchronously, Athey wheel 406 on the front wheel spindle 410 is with second belt wheel, 444 coaxial rotation, thereby drive crawler belt 407 motions, the 3rd belt wheel 445 is with 604 to drive four-tapes wheel 446 and rotate through second synchronously, and moving wheel 605 is taken turns 446 coaxial rotation with the four-tape.When robot when the bigger environment of constrained force (as rugged road surface) moves, moving wheel 605 built on stilts, crawler belt 407 bottoms contact with ground, this moment, robot was done crawler type motion, at this moment, robot motion's internal work principle is identical with wheeled motion.
As Fig. 5, shown in Figure 38, the crawler type mode of motion: when robot during at the bigger environmental movement of surface constraints power, when promptly running into obstacle, the Athey wheel mobile device of robot is that face contacts with ground, and moving wheel device and ground disengage.The artificial crawler type mode of motion of machine this moment.Crawler belt 407 and moving wheel 605 motions are obstructed and stop motion, cause the 4th gear 419, first belt wheel 432, second belt wheel 444, the 3rd belt wheel 445,446 motions of four-tape wheel to stop, yet motor and retarder 306 drive first gear 302 continues motion, thereby second gear 417 and 302 engagements of first gear also are rotated further, thereby make the 3rd gear 418 circumferentially rotate, thereby adjust bar 403 rotate before driving around center shaft 408 around the 4th gear 419.Thus, the shape of the crawler belt 407 of robot begins to change, simultaneously, robot motion's pattern by wheeled motion to the crawler type conversion of motion.
When the robot clear an obstacle entered flat road surface, crawler belt 407 shapes of robot adjust bar 403 robot under the tension of spring 423 before inner were adjusted gradually, and the mode of motion of robot also is transformed into wheeled motion by the crawler type motion gradually.And in this process, each transmission gear of robot motion is all identical with wheeled motion with the motion of drive pulley.
As Figure 38 → Figure 40 → shown in Figure 39, mode of motion transforms and the attitude adjustment, each takes turns-carry out compound mobile module 2 all can be according to the restraint condition of ground environment, make preceding adjust bar 403 around center shaft 408 rotations by caterpillar drive 3 effects, realize exchange between wheeled and two kinds of mode of motioies of crawler type with this, as Figure 38 → shown in Figure 40, also can realize adjustment simultaneously, as Figure 40 → shown in Figure 39 to robot motion's attitude.

Claims (10)

1. wheel-shoe composite deformation mobile robot with adaptive ability, it is characterized in that: comprise that control box, two are installed in the wheel of control box 1 both sides-carry out compound mobile module respectively, are installed in the tail wheel mechanism of control box tail end, the compound mobile module of described wheel the-carry out comprises the crawler belt mobile device and places the moving wheel device in the crawler belt mobile device outside, be symmetrically arranged with caterpillar drive in the described control box, its output shaft stretches out outside the control box, and which is provided with first gear, be connected with second gear matched on the crawler belt mobile device.
2. according to the described wheel-shoe composite deformation mobile robot of claim 1 with adaptive ability, it is characterized in that: described caterpillar drive comprises battery, battery carrier, actuator, first flange, motor and retarder and two circuit cards and circuit board rack, battery is fixed in the control casing by battery carrier, the actuator that is fixed on the control casing end plate is connected with battery, two circuit cards are fixed on the battery carrier two ends by two circuit board racks respectively, motor is connected with actuator, stretch out outside the casing by first flange with the output shaft of motor bonded assembly retarder, first gear is installed on it, be arranged at the external tail end of control box with motor bonded assembly master cock, be connected with actuator.
3. according to the described wheel-shoe composite deformation mobile robot of claim 1 with adaptive ability, it is characterized in that: described crawler belt mobile device comprises supporting mechanism, transmission device, crawler belt, Athey wheel, described supporting mechanism comprises the wheel carrier by two groups of symmetries, preceding adjust bar, regulate the back bar and regulate the four-bar linkage that quarter butt is formed, the two wheel carriers wheel carrier base plate both sides that are placed in, adjust bar one end connects by front wheel spindle before two, the other end is connected with adjusting back bar one end, regulate bar the other end, back and connect hind axle, regulate the back bar with wheel carrier between be connected by the adjusting quarter butt, before two, also be connected with center shaft between adjust bar, the center shaft two ends are connected with wheel carrier respectively, connect by the center turntable, before, interaxle two track wheel shafts of trailing wheel place between two wheel carriers, be connected on two wheel carriers by turntable respectively, on each wheel shaft, be separately installed with Athey wheel, crawler belt is enclosed on the Athey wheel, the planet wheel spindle two ends of adjust bar before two spacing flanges are set in and stretch out, and be fixed on the preceding adjust bar, and place in the groove of wheel carrier, limiting stopper is fixed on the wheel carrier base plate, the upper limit position of adjust bar before being positioned at, first spring is by the upper spring bar, the lower spring bar respectively with preceding adjust bar, wheel carrier links to each other;
Described transmission device comprises center shaft, planet wheel spindle, first is with synchronously, the intermeshing the 3rd, the 4th gear and second gear 74, center shaft and planet wheel spindle are connected between two preceding adjusts bar, articulate by second flange and spacing flange respectively, first of the first synchronous band, second belt wheel is installed in respectively before two on the front wheel spindle and planet wheel spindle between adjusts bar, the 3rd, the 4th gear is installed in respectively before two on the planet wheel spindle and center shaft between adjusts bar, second gear is installed in the center axle head in the wheel carrier outside, with first meshed transmission gear of caterpillar drive.
4. according to the described wheel-shoe composite deformation mobile robot of claim 3 with adaptive ability, it is characterized in that: have adjustable first slotted eye and a plurality of cooperation mounting hole that is used to place the upper spring bar on the adjust bar before described, be provided with a plurality of bayonet sockets that are used to place the upper spring bar in described first slotted eye.
5. according to the described wheel-shoe composite deformation mobile robot of claim 3 with adaptive ability, it is characterized in that: described wheel carrier comprises side plate and is installed in the wheel plate at side plate two ends respectively, have groove that cooperates with spacing flange and adjustable second slotted eye that is used to install the lower spring bar and a plurality of cooperation mounting holes on the described side plate; Be provided with a plurality of bayonet sockets that are used to place the lower spring bar in described second slotted eye.
6. according to the described wheel-shoe composite deformation mobile robot with adaptive ability of claim 3, it is characterized in that: described center turntable is to be provided with hollow stepped shaft in flange one side, and the endoporus of the little axle head of this stepped shaft matches with screw.
7. according to the described wheel-shoe composite deformation mobile robot of claim 3 with adaptive ability, it is characterized in that: described spacing flange is fixed on the preceding adjust bar, the one side has first sleeve pipe of external diameter and wheel carrier groove fit, and its endoporus matches with the planet wheel spindle end.
8. according to the described wheel-shoe composite deformation mobile robot of claim 1 with adaptive ability, it is characterized in that: described moving wheel device comprises that moving wheel, motion wheel carrier and second be with synchronously, moving wheel passes through its moving wheel axle mounting on the motion wheel carrier, the motion wheel carrier is captiveed joint with preceding adjust bar with fixed link by fixed mount respectively, and be connected with planet wheel spindle and center turntable respectively, second band synchronously is set between motion wheel carrier and preceding adjust bar, described second synchronously band the 3rd, four-tape wheel is installed in respectively on planet wheel spindle and the motion wheel shaft.
9. according to the described wheel-shoe composite deformation mobile robot of claim 8 with adaptive ability, it is characterized in that: described tail wheel mechanism comprises link span, position-limited lever, L bar, second spring, the tail wheel of tail-gear spindle, spring hack lever and two groups of symmetries, two L bars, one end is connected with tail-gear spindle, the other end is connected with link span respectively, be fixed with the spring hack lever near between two L bars of tail-gear spindle, two second springs are connected with link span with the spring hack lever respectively, be provided with position-limited lever on the link span between the L bar and second spring, tail wheel is installed on the tail-gear spindle two ends.
10. according to the described wheel-shoe composite deformation mobile robot with adaptive ability of claim 9, it is characterized in that: described link span is the trench structure that has semi arch, and the semi arch end has a plurality of spacing holes that are used to install position-limited lever.
CN201020250384XU 2010-07-07 2010-07-07 Wheel-track combined transformable mobile robot Expired - Lifetime CN201800804U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102310403A (en) * 2010-07-07 2012-01-11 中国科学院沈阳自动化研究所 Wheel-track composite deformation mobile robot with adaptive capability
CN104354774A (en) * 2014-11-07 2015-02-18 哈尔滨工业大学 Deformable crawler-type moving system
CN104690709A (en) * 2015-02-16 2015-06-10 溧阳市超强链条制造有限公司 Wheel-track composite moving detection robot
CN105035192A (en) * 2015-07-27 2015-11-11 山东科技大学 Traveling mechanism for wheel-track inspection robot and working method thereof
CN105971320A (en) * 2016-07-26 2016-09-28 河北宏康体育器材有限公司 Electric-stretchable-stand track driving mechanism

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102310403A (en) * 2010-07-07 2012-01-11 中国科学院沈阳自动化研究所 Wheel-track composite deformation mobile robot with adaptive capability
CN102310403B (en) * 2010-07-07 2013-10-16 中国科学院沈阳自动化研究所 Wheel-track composite deformation mobile robot with adaptive capability
CN104354774A (en) * 2014-11-07 2015-02-18 哈尔滨工业大学 Deformable crawler-type moving system
CN104354774B (en) * 2014-11-07 2016-11-23 哈尔滨工业大学 A kind of deformable crawler-type mobile system
CN104690709A (en) * 2015-02-16 2015-06-10 溧阳市超强链条制造有限公司 Wheel-track composite moving detection robot
CN105035192A (en) * 2015-07-27 2015-11-11 山东科技大学 Traveling mechanism for wheel-track inspection robot and working method thereof
CN105971320A (en) * 2016-07-26 2016-09-28 河北宏康体育器材有限公司 Electric-stretchable-stand track driving mechanism

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