CN203078622U - All-round moving track and platform thereof - Google Patents
All-round moving track and platform thereof Download PDFInfo
- Publication number
- CN203078622U CN203078622U CN 201320057326 CN201320057326U CN203078622U CN 203078622 U CN203078622 U CN 203078622U CN 201320057326 CN201320057326 CN 201320057326 CN 201320057326 U CN201320057326 U CN 201320057326U CN 203078622 U CN203078622 U CN 203078622U
- Authority
- CN
- China
- Prior art keywords
- crawler belt
- comprehensive mobile
- roller
- comprehensive
- platform
- Prior art date
- 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
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 239000000725 suspension Substances 0.000 claims description 23
- 239000000411 inducer Substances 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 230000001939 inductive effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 17
- 230000009194 climbing Effects 0.000 description 9
- 230000003044 adaptive effect Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000002950 deficient Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Landscapes
- Handcart (AREA)
Abstract
The utility model discloses an all-round moving track which comprises a drive wheel (1), a track plate (2), a roller (3), a bearing wheel (4), a track carry wheel (5), an inducing wheel (6) and an equilibrium elbow (7). The track plate (2) is formed by splicing multiple track sub-plates. Multiple rows of roller supporting frames (13) are arranged on each track sub-plate. Axes of each row of roller supporting frames (13) are parallel. The track plate (2) is assembled in a specific manner so that the cross section of the whole track is in the shape of a reversed trapezoid. Plate bodies of the vertical part of the track plate (2) form grounding angles with plate bodies of the grounding part of the track plate (2). The utility model further discloses an all-round moving platform using multiple all-round moving tracks as a moving mechanism.
Description
Technical field
The invention belongs to mechanically moving device technique field, be specifically related to a kind of mobile crawler belt and platform thereof that is used for travel mechanism with omnibearing movable characteristic.
Background technology
For travel mechanism, omnibearing movable is meant that under space coordinates XYZ object has three degrees of freedom of movement simultaneously on the XY plane, promptly along the translation of X-axis, Y-axis with around the rotation of Z axle.It can move towards any direction on the plane and not need to change the flat-bed attitude, also can realize the divertical motion a bit to be center, any radius arbitrarily.At present, comprehensive mobile platform mainly can be divided into wheeled and crawler type two classes by its travel mechanism.Wheeled comprehensive mobile platform has multiple structure, wherein be typically the wheeled comprehensive mobile platform of Mecanum the most, it has obtained in fields such as military security, aerospace, storage transportation and social orientations using widely, and for example warship ammunition carrying platform, aero-engine carrying platform, comprehensive mobile fork truck and the wounded change to transhipment platform etc.Yet wheeled comprehensive mobile platform is some engineering problems of ubiquity still, are example with comprehensive mobile fork truck, and is mainly as follows: (1) body oscillating is big, and is particularly evident when running at high speed; (2) load carrying ability of comprehensive mobile fork truck contacts for point greatly and with ground, so the pressure of road pavement is very big, easily causes the wearing and tearing of directional wheel and the destruction of road pavement; (3) obstacle climbing ability of comprehensive mobile fork truck is relatively poor, is difficult to overcome obstacles such as step, groove; (4) comprehensive mobile fork truck road pavement conditional request height must be flat road surface, otherwise will be difficult to finish the actv. omnibearing movable.
At the above-mentioned defective of directional wheel structure, scientific and technical personnel begin one's study the comprehensive mobile platform of crawler type so that solve the problem that at present wheeled comprehensive platform exists by the advantage in conjunction with traditional caterpillar belt structure.
Patent of invention " a kind of omnirange moves the crawler belt " (application number: 201210230232.7) disclose a kind of omnirange and moved crawler belt of Agricultural University Of Hunan's application, as shown in Figure 1, it comprises the crawler belt body, described crawler belt body drives running by motor-driven driving wheel, described crawler belt body constitutes by being hinged before and after the polylith caterpillar block, the left and right sides of described caterpillar block is equipped with the road wheel that can freely rotate around axle, this invention is because road wheel can freely rotate with ground-surface friction little, therefore the crawler belt consumption of power is also little, improves the stability of walking.And can be poor by control left and right sides track speed, rotate the side travel of implementation platform in conjunction with road wheel, but also can follow the center to turn to simultaneously, thereby cause the flat-bed attitude to change.This crawler belt is characterised in that each caterpillar block left and right sides is equipped with the road wheel that line of centers is parallel to each other, and the central axis of road wheel and crawler belt body central axis angle are the 0-90 degree.But this mobile platform is not comprehensive mobile platform, and it can not satisfy on the plane three-degree-of-freedom motion completely, and on kinematic principle, the Jacobian matrix of this flat-bed inverse kinematics equation is listed as not full rank, so the necessary condition of its discontented feet all direction motion.Though this platform can improve the big problem of traditional crawler belt platform steering power consumption, platform can only be realized independently longitudinal movement, and can not realize that independently cross motion or center turn to, so its path of motion is difficult to control, can not finish accurate location.
Patent of invention " comprehensive mobile crawler belt " (application number is 201210347201.X) and " the comprehensive mobile platform of crawler type " (application number: 201210347188.8) disclose the comprehensive mobile platform of a kind of new crawler type.This comprehensive mobile crawler belt mainly is made up of six parts such as driving wheel, caterpillar block, roller, bearing wheed, moping pulley and inducers, and its structural representation as shown in Figure 2.Roller center axis and driving wheel central axis form certain offset angle, and offset angle scope (90 °, 0 °) or (0 °, 90 °) are preferred ± 45 °.The travel mechanism of the comprehensive mobile platform of this crawler type is made of many comprehensive mobile crawler belts.Want the omnibearing movable of implementation platform, generally need the comprehensive mobile crawler belt more than three or three.It is vertical symmetrical structure that the comprehensive mobile platform of crawler type adopts four comprehensive mobile crawler belts and crawler belt group layout usually, and its structural representation as shown in Figure 3.The medium and small rectangle frame of Fig. 3 is represented comprehensive mobile crawler belt, and a series of oblique line is then represented the axis direction of a succession of ground connection roller on the crawler belt in the frame, and four dotted lines are then represented the axis direction of driving wheel.Because the special construction of " comprehensive mobile crawler belt ", the crawler belt on the platform need be taked positive and negative two kinds of mounting meanss, so the roller offset angle on the platform has two kinds, is generally ± 45 °.1 is identical with the roller offset angle of No. 3 crawler belts among Fig. 3, and 2 and No. 4 roller offset angle is then just opposite.
But, still there is following defective in above-mentioned comprehensive tracked mobile platform: (1) obstacle climbing ability is limited, the obstacle climbing ability of the comprehensive mobile platform of crawler type is limited, owing to do not design the ground connection angle on the comprehensive mobile crawler belt, so its obstacle climbing ability can be subjected to the restriction of driving wheel radius size.(2) adaptive capacity of uneven road surface is limited.Owing to do not design suspension gear on the comprehensive mobile platform of crawler type, when the uneven road surface motion causes high vibration, cause the disengaging of bearing wheed and caterpillar block easily, thereby certain bar or many phenomenons that crawler belt is unsettled appear, this will influence flat-bed path of motion, be difficult to finish effectively omnibearing movable, so the comprehensive mobile platform of crawler type is still limited to the adaptive capacity of uneven road surface.
Summary of the invention
In order to solve the existing existing above-mentioned defective of crawler type mobile platform, further improve the stability of motion of the comprehensive mobile platform of crawler type, to the adaptive capacity and the obstacle climbing ability of uneven road surface, the invention provides a kind of comprehensive mobile crawler belts that on the crawler belt ring, have many row's rollers.
The invention provides a kind of comprehensive mobile crawler belt, it comprises driving wheel 1, caterpillar block 2, roller 3, bearing wheed 4, moping pulley 5, inducer 6 and balance arm 7, described caterpillar block 2 is spliced by a plurality of crawler belt daughter boards, it is characterized in that, on described each crawler belt daughter board, have many row's roller brackets 13, the support axis 12 of the described roller bracket 13 of every row is parallel to each other, described roller 3 is installed on the described roller bracket 13, and described roller can freely rotate around the support axis 12 of described roller bracket 13.
The axis of the pivot center of described roller 3 and the driving wheel of described comprehensive mobile crawler belt 1 is arranged to certain included angle, forms the offset angle of described roller 3.Have on the described crawler belt daughter board double, three row or four row described roller bracket 13, described roller 3 is installed on the described roller bracket 13.
Described caterpillar block 2 fitted to be and makes crawler belt single-piece lateral cross section is inverted trapezoidal structure, and the vertical part plate body of described caterpillar block 2 and the grounded part plate body of described caterpillar block 2 form a ground connection angle.
Described crawler belt daughter board is made of plate body 8, guiding tooth 9, engagement shaft 11, pin-and-hole 10 and roller bracket 13, gear ring on wherein said engagement shaft 11 and the described driving wheel 1 is meshing with each other to realize the conversion of power, and described pin-and-hole 10 is used for a plurality of crawler belt daughter boards are spliced into a complete crawler belt.
The offset angle scope of described roller 3 is between (0 °, 90 °) or (90 °, 0 °).The offset angle of described roller 3 is preferably ± and 45 °.
The present invention also provides a kind of crawler type comprehensive mobile platform, it comprises travel mechanism, suspension, control subsystem, driver sub-system and power subsystem, wherein said travel mechanism is made of a plurality of above-mentioned comprehensive mobile crawler belts, it is characterized in that, described a plurality of comprehensive mobile crawler belt is arranged with the vertical symmetrical structure of four-wheel wheels of similar automobile, in the vertical symmetrical structure that constitutes by described a plurality of comprehensive mobile crawler belts, the offset angle that is in two comprehensive mobile crawler belts on the diagonal line is identical, and the offset angle that is positioned at two comprehensive mobile crawler belts on another diagonal line that intersects with it is opposite with aforementioned offset angle.
Described suspension is used for mobile platform main body and bearing wheed are coupled together, and described suspension comprises elastic element, damping element, killer, guide piece.The balance arm 7 of described comprehensive mobile crawler belt is connected the bearing wheed 4 of described comprehensive mobile crawler belt with the mobile platform main body.
Comprehensive mobile crawler belt of the present invention is compared with the mobile crawler belt of aforementioned prior art, has following advantage: (1) has further promoted the stability of comprehensive mobile platform motion.The present invention program with the roller on the caterpillar block by single increase to double, three rows, four row even more rows can increase the ground contact area of crawler belt like this, thereby the further stability of lifting platform motion.(2) further promoted the adaptive capacity of comprehensive mobile platform to uneven road surface.The present invention program has added suspension gear in the flat-bed overall structure.Suspension gear can relax or absorb jolting of bearing wheed and impact, thereby reduces the flat-bed vibration, improves the stability that platform moves on uneven road surface.Simultaneously, utilizing suspension gear can also make four crawler belts and uneven road surface form coupling, prevent the unsettled phenomenon of crawler belt, is in order to guarantee the accuracy and the adaptive capacity of platform omnibearing movable on uneven road surface like this.(3) further promoted the obstacle climbing ability of comprehensive mobile platform.The present invention program has designed the ground connection angle on caterpillar belt structure, thereby further promotes the obstacle climbing ability of comprehensive mobile platform and no longer be subjected to the restriction of driving wheel radius.
Description of drawings
Fig. 1: the omnirange of prior art moves the caterpillar belt structure scheme drawing;
Fig. 2: the comprehensive mobile caterpillar belt structure scheme drawing of prior art;
Fig. 3: the comprehensive mobile platform structural representation of the crawler type of prior art;
Fig. 4: the comprehensive mobile caterpillar belt structure scheme drawing with double roller structure of the present invention;
Fig. 5: the comprehensive mobile caterpillar belt structure scheme drawing with many row's roller structures of the present invention;
Fig. 6: the driving wheel structural representation of comprehensive mobile crawler belt of the present invention;
Fig. 7: the crawler belt daughter board structural representation of comprehensive mobile crawler belt of the present invention;
Fig. 8: the roller group structural representation of comprehensive mobile crawler belt of the present invention;
Fig. 9: the bearing wheed structural representation of comprehensive mobile crawler belt of the present invention;
Figure 10: the balance arm structural representation of comprehensive mobile crawler belt of the present invention;
Figure 11: comprehensive mobile crawler belt ground connection of the present invention angle scheme drawing;
Figure 12: travel mechanism's scheme drawing of comprehensive mobile platform of the present invention;
Figure 13: comprehensive mobile platform crawler belt group layout structure scheme drawing of the present invention;
Figure 14: the overall construction drawing of comprehensive mobile platform of the present invention.
The specific embodiment
The present invention program's caterpillar belt structure is a kind of improvement project to existing " comprehensive mobile crawler belt ", it is a kind of comprehensive mobile crawler belt that has many row's rollers on the crawler belt ring, row's number of rod can by original single can be increased to double, three rows, four row even more rows.Fig. 4 and Fig. 5 show caterpillar belt structures double and four row's rollers respectively, and their structure is basic identical.Below be that example describes mainly with the comprehensive mobile crawler belts of four row's rollers.The present invention program's caterpillar belt structure mainly is made up of seven parts such as driving wheel 1, caterpillar block 2, roller 3, bearing wheed 4, balance arm 7, carrier wheel 5 and inducers 6.
(1) driving wheel
Driving wheel adopts the double rows of teeth coil structures, as shown in Figure 6, and the axis 17 of driving wheel.Its function is that by the engagement of gear ring and caterpillar block, the driving torque that motor is exported converts the tractive force of crawler belt to, thereby drives whole caterpillar drive.
(2) caterpillar block
Caterpillar block is made of a plurality of crawler belt daughter boards, adopts single pin formula to connect between the crawler belt daughter board.Each crawler belt daughter board is divided into following components: plate body, guiding tooth, pin-and-hole, engagement shaft and roller bracket, as shown in Figure 7.Plate body is used for supports bogie wheels and carrier wheel, is equivalent to the track of their motions; The guiding tooth has then played directional tagging, has guaranteed that bearing wheed and moping pulley do not depart from the plate body track; Gear ring on engagement shaft and the driving wheel is meshing with each other, and has realized the conversion of power, because driving wheel is the bidentate coil structures, so have the pair of meshing axle on a crawler belt daughter board; Pin-and-hole is used for the connection between the caterpillar block, forms a complete crawler belt at last; Roller bracket is positioned at the plate body below, is used for fixing roller, has many row's roller brackets on each crawler belt daughter board, and the axis of every row's support is parallel to each other, and they constitute identical angle with the driving wheel axis, are preferably designed for ± 45 °.
(3) roller
Roller is the grounded part of crawler belt, mainly realizes omnibearing movable by it and ground-surface mutual action, and its outline is a cylinder.A plurality of rollers are one group, and are installed on the roller bracket, and they can freely rotate around the support axis, as shown in Figure 8.Because the axis and the driving wheel axis of roller bracket have a certain degree, so roller also has certain offset angle, its scope is (0 a °, 90 °) or (90 °, 0 °), is preferably ± 45 °.
(4) bearing wheed
The function of bearing wheed is to support car body and roll on crawler belt ground connection section, and flat-bed gravity is uniformly distributed on the whole crawler belt ground connection section.Usually, have a plurality of bearing wheeds on the crawler belt, increase the quantity of bearing wheed, can make the distribution of pressure on the crawler belt bearing surface even, this mechanism is improved at the ground crossing ability of load-carrying capacity difference, reduced ground-surface degree of tortuosity, its structural representation as shown in Figure 9.
(5) balance arm
Balance arm is the parts that connect bearing wheed and main platform body.If also have suspension gear in the main platform body, balance arm also is the parts that play the guiding role in suspension gear so.It has determined the path of motion of bearing wheed with respect to main platform body; And will pass to suspension gear from the component of force that crawler belt acts on bearing wheed, for example elastic element, shock absorber etc. perhaps are directly passed to main platform body.Therefore the present invention program has designed balance arm in order to add suspension gear in platform on caterpillar belt structure, its structural representation as shown in figure 10.
(6) moping pulley
Moping pulley and bearing wheed structural similitude, but size is less relatively.It is played a supporting role to last crawler belt section, can reduce to go up the swing of a crawler belt section like this, thereby reduces the loss in efficiency of caterpillar block hinged place.Also have a plurality of moping pulleys on the general crawler belt, concrete quantity can be determined according to the length of last crawler belt section.
(7) inducer
Usually, the function of inducer is to be used for supporting the crawler belt section and to change the sense of motion of going up a crawler belt section, the structural similitude of it and moping pulley, but size is bigger.Yet though the inducer shown in Fig. 4,5 is identical with the driving wheel structure, it does not have the active drive ability.Yet, if when wanting to increase the propulsive effort of crawler belt, this inducer directly can be transformed to driving wheel, the whole piece crawler belt is driven by two driving wheels, and this can come to determine according to the actual requirements.
Comprehensive mobile crawler belt of the present invention also adopts the design of ground connection angle, so-called ground connection angle, be that described caterpillar block (2) fitted to be that to make crawler belt single-piece lateral cross section be inverted trapezoidal structure, as shown in figure 11, grounded part plate body (16) shape of the vertical part plate body (15) of described caterpillar block (2) and described caterpillar block (2) in an angle, this angle is the ground connection angle.
Resolve according to kinematics, constitute the pedrail mechanism that a comprehensive mobile station needs the present invention program more than three or three at least, therefore, flat-bed travel mechanism is made of the comprehensive mobile crawler belt of row's roller more than four among the present invention program, as shown in figure 11.
The layout structure of platform crawler belt group adopts the four-wheel wheels layout structure of similar automobile, i.e. vertical symmetrical structure, as shown in figure 12.Each little rectangle frame is represented a crawler belt among the figure, and many row's oblique lines are then represented the axis direction of many row's ground connection rollers on the crawler belt in the frame, and four dotted lines are then represented the axis direction of driving wheel.Because the special construction of " comprehensive mobile crawler belt ", the crawler belt on the platform need be taked positive and negative two kinds of mounting meanss, so the roller offset angle on the platform has two kinds, is generally ± 45 °.1 is identical with the roller offset angle of No. 3 crawler belts among Figure 12, and 2 and No. 4 roller offset angle is then just opposite.
Except travel mechanism, platform also comprises control subsystem, driver sub-system, power subsystem and four parts of suspension gear, and the flat-bed overall structure as shown in figure 13.
(2) control subsystem
The flat-bed control subsystem is made up of joystick, general controller and four electric machine controllers.The workflow of control subsystem is as follows: at first general controller utilizes the AD modular converter that the analog signal conversion of joystick is digital signal, and calculates each rotating speed of motor and turn to; Then, general controller sends cooresponding electric machine controller by the CAN bus with each rotating speed of motor and steering order; At last, electric machine controller is regulated each rotating speed of motor according to the instruction that receives and is turned to, and also can feed back to the actual speed of each motor current time of general controller simultaneously.
(3) driver sub-system
The flat-bed driver sub-system is made up of four groups of motors and retarder.Motor links to each other with travel mechanism by retarder, receives the rotating speed and the steering order of electric machine controller, realizes omnibearing movable thereby drive travel mechanism.In addition, because the inducer on " arranging the comprehensive mobile crawler belt of roller " also can be used as driving wheel more, so under the situation of needs, also can adopt eight groups of motors and retarder, then every crawler belt will be driven simultaneously by two groups of motors and retarder.
(4) power subsystem
Power subsystem adopts direct supply as the flat-bed electrical source of power for flat-bed control, driving etc. provide power supply usually.Here select power battery pack for use.
(5) suspension gear
The flat-bed suspension gear is meant the general name of all parts that main platform body and bearing wheed are coupled together, and it comprises elastic element, damping element, killer, guide piece and other auxiliary components.The function of suspension gear is that main platform body and bearing wheed are flexibly coupled together, and transfer function passes to the impulsive force of main platform body in bearing wheed and intersubjective shear force of platform and moment through bearing wheed when the mitigation platform travels.
Technical scheme of the present invention is compared with existing comprehensive crawler belt, has following significant technique effect:
(1) further promoted the stability that comprehensive mobile platform moves
The present invention program with the roller on the caterpillar block by single increase to double, three rows, four row even more rows can increase the ground contact area of crawler belt like this, thereby the further stability of lifting platform motion.
(2) further promoted the adaptive capacity of comprehensive mobile platform to uneven road surface
The present invention program has added suspension gear in the flat-bed overall structure.When comprehensive mobile platform moves on uneven road surface, bearing wheed is along the uneven road surface up-and-down movement, and bearing wheed will bear big bump and impact, if bearing wheed and main platform body are rigidly connected, will cause the flat-bed high vibration, thereby influence flat-bed stability.At this moment utilize suspension gear can relax or absorb jolting and impact of bearing wheed, thereby reduce the flat-bed vibration, improve the stability that platform moves on uneven road surface.Simultaneously, utilizing suspension gear can also make four crawler belts and uneven road surface form coupling, prevent the unsettled phenomenon of crawler belt, is in order to guarantee the accuracy of platform omnibearing movable on uneven road surface like this.In a word, utilize suspension gear further to promote the adaptive capacity of comprehensive mobile platform to uneven road surface.
(3) further promoted the obstacle climbing ability of comprehensive mobile platform
The present invention program has designed the ground connection angle on caterpillar belt structure, as shown in figure 11, thereby further promote the obstacle climbing ability of comprehensive mobile platform and no longer be subjected to the restriction of driving wheel radius.In addition, suffered impulsive force when utilizing suspension gear to alleviate or to absorb the platform obstacle detouring, thereby the stability of lifting platform obstacle detouring.
Though the present invention is described with reference to a plurality of embodiment; but the present invention is not limited to the foregoing description; be to be understood that those skilled in the art can carry out the suitable new embodiment that is combined to form to the parts that relate in the foregoing description, the various tangible modifications and variations of carrying out on the basis that does not break away from the principle of the invention all should fall within protection scope of the present invention.
Claims (10)
1. comprehensive mobile crawler belt, it comprises driving wheel (1), caterpillar block (2), roller (3), bearing wheed (4), moping pulley (5), inducer (6) and balance arm (7), described caterpillar block (2) is spliced by a plurality of crawler belt daughter boards, it is characterized in that, on described each crawler belt daughter board, have many row's roller brackets (13), the support axis (12) of the described roller bracket of every row (13) is parallel to each other, described roller (3) is installed on the described roller bracket (13), and described roller can freely rotate around the support axis (12) of described roller bracket (13).
2. comprehensive mobile crawler belt as claimed in claim 1 is characterized in that, the axis of the driving wheel (1) of the pivot center of described roller (3) and described comprehensive mobile crawler belt is arranged to certain included angle, forms the offset angle of described roller (3).
3. comprehensive mobile crawler belt as claimed in claim 1 is characterized in that, have on the described crawler belt daughter board double, three row or four row described roller brackets (13), described roller (3) is installed on the described roller bracket (13).
4. comprehensive mobile crawler belt as claimed in claim 1, it is characterized in that, described caterpillar block (2) fitted to be and makes crawler belt single-piece lateral cross section is inverted trapezoidal structure, and the vertical part plate body of described caterpillar block (2) and the grounded part plate body of described caterpillar block (2) form a ground connection angle.
5. as the described comprehensive mobile crawler belt of one of claim 1 to 4, it is characterized in that, described crawler belt daughter board is made of plate body (8), guiding tooth (9), engagement shaft (11), pin-and-hole (10) and roller bracket (13), gear ring on wherein said engagement shaft (11) and the described driving wheel (1) is meshing with each other to realize the conversion of power, and described pin-and-hole (10) is used for a plurality of crawler belt daughter boards are spliced into a complete crawler belt.
6. comprehensive mobile crawler belt as claimed in claim 5 is characterized in that, the offset angle scope of described roller (3) is between (0 °, 90 °) or (90 °, 0 °).
7. comprehensive mobile crawler belt as claimed in claim 6 is characterized in that the offset angle of described roller (3) is ± 45 °.
8. comprehensive mobile platform of crawler type, it comprises travel mechanism, suspension, control subsystem, driver sub-system and power subsystem, wherein said travel mechanism is made of as the described comprehensive mobile crawler belt of one of claim 1-7 a plurality of, it is characterized in that, described a plurality of comprehensive mobile crawler belt is arranged with the vertical symmetrical structure of four-wheel wheels of similar automobile, in the vertical symmetrical structure that constitutes by described a plurality of comprehensive mobile crawler belts, the offset angle that is in two comprehensive mobile crawler belts on the diagonal line is identical, and the offset angle that is positioned at two comprehensive mobile crawler belts on another diagonal line that intersects with it is opposite with aforementioned offset angle.
9. the comprehensive mobile platform of crawler type as claimed in claim 8 is characterized in that described suspension is used for mobile platform main body and bearing wheed are coupled together, and described suspension comprises elastic element, damping element, killer, guide piece.
10. the comprehensive mobile platform of crawler type as claimed in claim 9 is characterized in that, the balance arm of described comprehensive mobile crawler belt (7) is connected the bearing wheed (4) of described comprehensive mobile crawler belt with the mobile platform main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320057326 CN203078622U (en) | 2013-02-01 | 2013-02-01 | All-round moving track and platform thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320057326 CN203078622U (en) | 2013-02-01 | 2013-02-01 | All-round moving track and platform thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203078622U true CN203078622U (en) | 2013-07-24 |
Family
ID=48824483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320057326 Expired - Lifetime CN203078622U (en) | 2013-02-01 | 2013-02-01 | All-round moving track and platform thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203078622U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104044653A (en) * | 2014-05-28 | 2014-09-17 | 苏州工业园区职业技术学院 | Multi-crawler wheel trapezoidal crawler belt used for wall-climbing robot |
| CN104859737A (en) * | 2015-05-20 | 2015-08-26 | 潘江如 | Universal caterpillar chassis |
| CN106515886A (en) * | 2016-12-06 | 2017-03-22 | 哈工大机器人集团上海有限公司 | Omni-directional moving transmission continuous track |
| CN108163072A (en) * | 2018-02-28 | 2018-06-15 | 刘宇菲 | A kind of combined-type omni-directional movement creeper undercarriage and its platform |
| CN110356483A (en) * | 2019-07-19 | 2019-10-22 | 华俊 | A kind of four axis driving Track-wheel type fork truck |
| CN112543740A (en) * | 2018-06-06 | 2021-03-23 | 自动存储科技股份有限公司 | Service vehicle for a storage system |
| US20220009567A1 (en) * | 2018-10-25 | 2022-01-13 | Gestion Inogec Inc. | Omniwheel track system and platform using the same |
-
2013
- 2013-02-01 CN CN 201320057326 patent/CN203078622U/en not_active Expired - Lifetime
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104044653A (en) * | 2014-05-28 | 2014-09-17 | 苏州工业园区职业技术学院 | Multi-crawler wheel trapezoidal crawler belt used for wall-climbing robot |
| CN104859737A (en) * | 2015-05-20 | 2015-08-26 | 潘江如 | Universal caterpillar chassis |
| CN106515886A (en) * | 2016-12-06 | 2017-03-22 | 哈工大机器人集团上海有限公司 | Omni-directional moving transmission continuous track |
| CN106515886B (en) * | 2016-12-06 | 2019-05-03 | 哈工大机器人集团上海有限公司 | A kind of driven pedrail of omnidirectional moving |
| CN108163072A (en) * | 2018-02-28 | 2018-06-15 | 刘宇菲 | A kind of combined-type omni-directional movement creeper undercarriage and its platform |
| CN112543740A (en) * | 2018-06-06 | 2021-03-23 | 自动存储科技股份有限公司 | Service vehicle for a storage system |
| CN112543740B (en) * | 2018-06-06 | 2022-10-18 | 自动存储科技股份有限公司 | Service vehicle for a storage system |
| US20220009567A1 (en) * | 2018-10-25 | 2022-01-13 | Gestion Inogec Inc. | Omniwheel track system and platform using the same |
| US11919583B2 (en) * | 2018-10-25 | 2024-03-05 | Gestion Inogec Inc. | Omniwheel track system and platform using the same |
| CN110356483A (en) * | 2019-07-19 | 2019-10-22 | 华俊 | A kind of four axis driving Track-wheel type fork truck |
| CN110356483B (en) * | 2019-07-19 | 2023-08-25 | 无锡华盛力通电驱动系统有限公司 | Four-axis driving crawler wheel type forklift |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203078622U (en) | All-round moving track and platform thereof | |
| CN106740899B (en) | Electric tunnel inspection robot walking structure, robot and its method | |
| CN106004312B (en) | The stabilization mobile platform of indoor service robot | |
| CN107521573A (en) | A kind of damping crawler-type unmanned mobile platform | |
| CN107140052A (en) | A kind of wheel leg type Hexapod Robot with suspension | |
| CN201760877U (en) | Deformable robot travelling mechanism suitable for all landforms | |
| CN103273977B (en) | Passive self-adaption deformable continuous track type mobile robot platform | |
| WO2014043841A1 (en) | Track type omnibearing moving platform | |
| CN201231791Y (en) | Multi-joint type crawler mobile robot | |
| CN103863423A (en) | Triangular crawler-type moving mechanism | |
| CN205768620U (en) | Homing guidance formula Handling device | |
| CN105128961A (en) | Composite suspension with deformable crawler wheels and moving platform provided with same | |
| CN110329375B (en) | Caterpillar type swing arm suspension type travelling mechanism and tracked vehicle | |
| CN105059408A (en) | Crawler-type mobile platform passively adaptive to terrain and robot having same | |
| CN103010325A (en) | Convertible walking mechanism of robot | |
| CN116443126A (en) | Mobile robot with omni-wheel-track composite self-adaptive switching function and working method | |
| CN108860340A (en) | Wheel-track combined omni-directional mobile robots | |
| CN104875802A (en) | Lightweight foldable tracked robot chassis | |
| CN102114876B (en) | Wheel-tracked obstacle crossing mechanism | |
| CN210555250U (en) | AGV is shock attenuation wheel subassembly and two wheel groups that drive for dolly | |
| CN205022726U (en) | Moving platform who carries out compound suspension of wheel and have it warp | |
| RU122354U1 (en) | TURNING MECHANISM OF THE MODULAR articulated VEHICLE MACHINE | |
| CN201566714U (en) | Caterpillar obstacle-surmounting mechanism | |
| CN103129636A (en) | Steerable crawler chassis of crawler engineering machinery and get-off walking system with steerable crawler chassis | |
| CN101654124B (en) | Curved surface all-position creeping-type mobile robot mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Zhang Yunan Document name: Notification to Pay the Fees |
|
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Zhang Yunan Document name: Notification of Termination of Patent Right |
|
| DD01 | Delivery of document by public notice | ||
| DD01 | Delivery of document by public notice |
Addressee: Zhang Yunan Document name: Notification of Decision on Request for Restoration of Right |
|
| DD01 | Delivery of document by public notice | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130724 |
|
| CX01 | Expiry of patent term | ||
| DD01 | Delivery of document by public notice |
Addressee: Zhang Yunan Document name: Notice of Termination of Patent Rights |
|
| DD01 | Delivery of document by public notice |