CN205022726U - Moving platform who carries out compound suspension of wheel and have it warp - Google Patents
Moving platform who carries out compound suspension of wheel and have it warp Download PDFInfo
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- CN205022726U CN205022726U CN201520668899.4U CN201520668899U CN205022726U CN 205022726 U CN205022726 U CN 205022726U CN 201520668899 U CN201520668899 U CN 201520668899U CN 205022726 U CN205022726 U CN 205022726U
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Abstract
The utility model discloses a warping and carrying out the compound suspension of wheel, it includes middle hitch, deformation track unit, warp drive group and wheel unit, warp track unit and wheel unit and be two, all link to each other with middle hitch, and be symmetrical arrangement, the deformation track frame that warp the track unit be four -bar linkage, and four are no less than to the athey wheel, and continuous with four -bar linkage's revolute pair and member, the track envelope in outside the athey wheel, warp drive assembly with it links to each other and drives its deformation to warp the track frame. When warping the track unit with the ground contact, the wheel does not contact with ground, when warping track unit anagenesis deformation and breaking away from ground, the wheel can contact and support ground, the conversion of track with wheel walking mode has been realized like this. The utility model discloses still provide one kind and have the moving platform who warp the compound suspension of shoe wheel, warp the compound suspension of shoe wheel because of having used, improved its topography adaptability and trafficability characteristic, also improved its motion stability.
Description
Technical field
The utility model relates to mobile technology field, particularly relates to a kind of mobile platform being out of shape shoe wheel compound suspension frame and having it, can be used for mobile robot.
Background technology
Crawler travel suspension is widely used in moving platform device especially mobile robot field, scout in the rescue disaster relief, detection, industry, agricultural and military etc. in occupy critical role, there is good application prospect, especially in complicated, difficult environment, possess the incomparable comformability of wheeled mobile robot and crossing ability, crawler travel suspension is the field of research of current hot topic.China Mining University have developed a kind of tracked mobile platform W shape track suspension (application number: CN201320552131.1), before and after it, track unit is trapezoid, crawler travel portion assembly is W shape, has four sections of domatic segment track, is conducive to climbing barrier; Horizontal segment bottom crawler belt adds the ground contact area of crawler belt, is conducive to overcoming soft, muddy terrain environment.But this W shape track suspension shape is unadjustable, cannot overcome more complicated terrain environment, limit its terrain trafficability and adaptive capacity to environment to a certain extent, and the current report to deformable crawler travel suspension be relatively less.If track suspension according to landform deforming initiatively, can improve landform comformability and the terrain trafficability of crawler-type mobile platform; The center-of-gravity position of mobile platform and the ground connection size of crawler belt can be changed by the distortion of track suspension and then the stability of motion of mobile platform can be improved.In addition, the efficiency of track unit is lower, and power consumption is large, is weaker than running gear system in its advantage of some subdued topographys.Under the operating mode that some are special, the advantage of running gear system is more obvious, as higher in have employed running gear system efficiency in orbit.For this reason, in order to better landform comformability, design a kind of deformable shoe wheel compound suspension frame and use the mobile platform of this suspension very necessary.
In state natural sciences fund youth fund (approval number: under support 51205391), the present inventor team is studied further, for overcoming above-mentioned problem, exploring a kind of distortion and carrying out wheel compound suspension frame and there is the mobile platform that wheel compound suspension frame is carried out in this distortion.
Utility model content
An object of the present utility model is intended to solve the technical matters existed in prior art, propose a kind of distortion to carry out wheel compound suspension frame and there is the mobile platform that wheel compound suspension frame is carried out in this distortion, this distortion carry out wheel compound suspension frame can according to landform need carry out deformation adjustment, form difform creeper undercarriage, improve the landform comformability of creeper undercarriage, terrain trafficability and stability of motion; Also can carry out the conversion of crawler type and running on wheels pattern, improve comformability of the present utility model further.
Carry out wheel compound suspension frame according to the distortion of the utility model embodiment, comprising: middle hitch, deformed caterpillar unit, distortion driven unit and wheel unit.Described deformed caterpillar unit is two, and comprises the first deformed caterpillar unit and the second deformed caterpillar unit; Two described deformed caterpillar unit are all connected with described middle hitch, and are arranged symmetrically.Described deformed caterpillar unit comprises deformed caterpillar frame, Athey wheel, crawler belt and track propulsion assembly; Described deformed caterpillar frame is connected with described middle hitch, and described deformed caterpillar frame comprises a four-bar mechanism, and described four-bar mechanism comprises four rod members, is respectively: frame, and described frame is connected with described middle hitch; First side link, described first side link is connected with described frame, forms the first revolute pair; Second side link, described second side link is connected with described frame, forms the 4th revolute pair; Connecting rod, one end of described connecting rod is connected with described first side link, forms the second revolute pair, and the other end of described connecting rod is connected with described second side link, forms the 3rd revolute pair.Described Athey wheel is no less than four, and described Athey wheel is connected with described four-bar mechanism, and described Athey wheel comprises drive wheel and bend wheel; Wherein four described Athey wheels are connected with four described revolute pair coaxial lines of described four-bar mechanism respectively, and the diameter of four described Athey wheels is identical.Described crawler belt envelope is outside described Athey wheel, and described crawler belt and the transmission of described drive wheel phase; Described track propulsion assembly is connected with described drive wheel and drives described drive wheel.No more than two of described distortion driven unit, described distortion driven unit is connected with the described deformed caterpillar frame of described deformed caterpillar unit and drives described deformed caterpillar frame to be out of shape.Described wheel unit is two, and described wheel unit is connected with middle hitch, and is arranged symmetrically, and described wheel unit comprises wheel and wheel actuator; When described deformed caterpillar unit and earth surface, described wheel not with earth surface; When described deformed caterpillar unit upwards deforms, described deformed caterpillar unit departs from ground, and described wheel can contact and support ground.
As optionally, described Athey wheel is four, described Athey wheel comprises the first Athey wheel, the second Athey wheel, the 3rd Athey wheel and the 4th Athey wheel, and the equal diameters of described first Athey wheel, described second Athey wheel, described 3rd Athey wheel and described 4th Athey wheel, described first Athey wheel, described second Athey wheel, described 3rd Athey wheel and described 4th Athey wheel are connected with described first revolute pair of described four-bar mechanism, described second revolute pair, described 3rd revolute pair, described 4th revolute pair coaxial line respectively.When the quantity of described Athey wheel is more than four, described Athey wheel also can be connected with the first side link of described four-bar mechanism, described second side link, described connecting rod, and described Athey wheel plays crawler belt and supports changed course effect.
As further alternative, described Athey wheel is five, and described Athey wheel also comprises the 5th Athey wheel, described 5th Athey wheel is connected with described first side link of described four-bar mechanism, and described 5th Athey wheel center is in the outside of the described first side link two ends revolute pair line of centres; Described crawler belt envelope, outside five described Athey wheels, forms deformable pentagon crawler belt.
According to embodiment of the present utility model, when described distortion driven unit is two, comprise the first distortion driven unit and the second distortion driven unit, be connected with the described deformed caterpillar frame of described second deformed caterpillar unit with the described deformed caterpillar frame of described first deformed caterpillar unit respectively, and drive described deformed caterpillar frame to be out of shape.When described distortion driven unit is one, described distortion driven unit is connected with described middle hitch, and described distortion driven unit is all connected with described second deformed caterpillar unit with described first deformed caterpillar unit, and drives described deformed caterpillar frame to be out of shape.
As optionally, according to an embodiment of the present utility model, described distortion driven unit is one, and described distortion driven unit is gear type distortion driven unit, and comprises gear system, gear drive assembly.Described gear system is all connected with the described four-bar mechanism of the described deformed caterpillar frame of two described deformed caterpillar unit, and described gear system comprises: the first gear, described first gear is connected with a side link of the described four-bar mechanism of the described deformed caterpillar frame of described first deformed caterpillar unit, and the revolute pair that described first gear is formed with described side link and described frame is for center of gyration; Second gear, described second gear is connected to the corresponding side link of the described four-bar mechanism of the described deformed caterpillar frame of described second deformed caterpillar unit, and the revolute pair that described second gear is formed with described side link and described frame is for center of gyration, and described second gear is meshed with described first gear.Described gear drive assembly is connected with described gear system, and drives described gear system engagement rotation.As optional further, described side link can select described first side link, also can select described second side link.
Optional as another, according to another embodiment of the present utility model, described distortion driven unit is one, and described distortion driven unit is connecting rod slider-type distortion driven unit, and comprises: drive link, slide block, slider-actuated part.Described drive link is two, be designated as the first drive link and the second drive link, described first drive link is connected pivotly with a side link of the described four-bar mechanism of the described deformed caterpillar frame of described first deformed caterpillar unit, described second drive link is connected pivotly to the corresponding side link of the described four-bar mechanism of the described deformed caterpillar frame of described second deformed caterpillar unit, and described side link is three accessory element components.Described slide block is connected pivotly with two described drive link, and described slide block is connected movably with described middle hitch, forms moving sets.Described slider-actuated part is connected with described slide block, and drives slide block to move along described middle hitch.
As optionally, according to an embodiment of the present utility model, two described deformed caterpillar unit are all using the first Athey wheel as drive wheel, and described track propulsion assembly is one, and described track propulsion assembly is all connected with two described drive wheels and drives two described drive wheels.Optional as other, according to other embodiments of the present utility model, two described deformed caterpillar unit are all using the 3rd Athey wheel as drive wheel, and described track propulsion assembly is two, and two described track propulsion assemblies are connected with two described drive wheels respectively and drive two described drive wheels.
As optional, described wheel unit also comprises wheel reel cage, and be connected pivotly with middle hitch in the middle part of described wheel reel cage, described wheel is connected with one end of wheel reel cage; The other end of described wheel reel cage is provided with roller, and described roller can contact with the rod member of the four-bar mechanism of described deformed caterpillar frame, and the rod member of described four-bar mechanism can drive described roller up-and-down movement, thus drives described wheel reel cage to swing.
As optional, the described wheel of described wheel unit can adopt common wheel, and described wheel can adopt wheel hub motor wheel, and described wheel can adopt rail wheel.
In addition, the utility model also proposed a kind of mobile platform, and it comprises main car body and wheel compound suspension frame is carried out in two above-mentioned distortion, and the left and right sides that wheel compound suspension frame is connected to described main car body is carried out in two distortion.
By technique scheme, described middle hitch, two described deformed caterpillar unit, two wheel unit and described distortion driven units are connected as one, and constitute described distortion and carry out wheel compound suspension frame; Described distortion driven unit drives two described deformed caterpillar unit to realize distortion, can change the shape that wheel compound suspension frame is carried out in described distortion, may be deformed to W shape, approximate trapezoid etc.Therefore, described distortion carry out wheel compound suspension frame can according to landform initiatively deforming to meet the needs by this landform, greatly can improve the landform comformability and the terrain trafficability that use described distortion to carry out the crawler-type mobile platform of wheel compound suspension frame like this; Because distortion changes the center-of-gravity position of mobile platform, and the length of ground connection crawler belt, the stability of mobile platform also can be improved; Also the conversion of crawler travel pattern and running on wheels pattern can be realized.
Specifically, described deformed caterpillar unit comprises deformed caterpillar frame, and described deformed caterpillar frame comprises a four-bar mechanism, and four described rotation vice division chiefs of described four-bar mechanism are all connected with described Athey wheel, the equal diameters of four described Athey wheels, described crawler belt envelope is outside described Athey wheel.Adopt this technical scheme, during described four-bar mechanism motion, the position of four described Athey wheels changes with four-bar mechanism distortion, therefore the shape of the described crawler belt of envelope outside described Athey wheel changes, and the pitch length of crawler belt does not need to change described in described deformed caterpillar frame change procedure.
According to the technical scheme of other embodiments, the quantity of described Athey wheel is greater than four, except the rotation vice division chief at described four-bar mechanism is connected with except Athey wheel, Athey wheel described in all the other also can be connected with the rod member of described four-bar mechanism, when described Athey wheel is connected to the outside of the revolute pair line of centres at described rod member two ends, described like this Athey wheel plays described crawler belt and supports changed course effect, and increase the limit number of described crawler belt, and when described deformed caterpillar frame deforms, the pitch length of described crawler belt does not need to change yet.Adopt this technical scheme, after increasing described Athey wheel, the shape of described crawler belt is more conducive to adaptation to the ground.
According to the technical scheme of other embodiments, described Athey wheel in described deformed caterpillar unit comprises drive wheel and bend wheel, described drive wheel and described crawler haulage, described bend wheel only plays crawler belt and supports changed course effect, described track propulsion assembly is connected with described drive wheel, and drives described crawler belt to rotate at described drive wheel and described bend wheel outward.The described Athey wheel of diverse location can be selected as drive wheel according to specific embodiment, if the first Athey wheel as described in can selecting is drive wheel, described 3rd Athey wheel also can be selected as drive wheel.
Described track propulsion assembly is connected with described drive wheel and drives described drive wheel.In some specific embodiment, two track propulsion assemblies can be used to drive two described deformed caterpillar unit respectively; Adopt this scheme can realize the independent deformation of described deformed caterpillar unit.In other specific embodiments, two described deformed caterpillar unit can share a described track propulsion assembly, the drive wheel of two described deformed caterpillar unit is connected by driving device, such as adopts flexible element transmission, can adopt Chain conveyer or toothed belt transmission in the specific implementation.
According to the technical scheme of some embodiments, when described distortion driven unit is two, each described distortion driven unit respectively deformed caterpillar unit described with is connected, and can deform by the described deformed caterpillar frame of deformed caterpillar unit described in individual drive.
According to the technical scheme of some specific embodiments, when described distortion driven unit is one, described distortion driven unit is all connected with the deformed caterpillar frame of two described deformed caterpillars, and described distortion driven unit can drive two described deformed caterpillar frame distortion simultaneously.According to some embodiments, described distortion driven unit adopts connecting rod slider-type distortion driven unit, and described slide block is connected pivotly with two described drive link, and described drive link connects the deformed caterpillar frame of described deformed caterpillar unit respectively; Described slider-actuated part drives described slide block straight-line motion, and drives two described drive link to drive the action of described deformed caterpillar frame.This scheme is adopted to achieve a described distortion driven unit to the driving of two described deformed caterpillar unit.
Adopt the scheme of above-mentioned employing gear type distortion driven unit, the side link of two pitch wheels of described gear system deformed caterpillar frame of deformed caterpillar unit described with two is respectively connected, described gear drive assembly is connected with described gear system, and two described deformed caterpillar unit can be driven to be out of shape simultaneously.
According to some embodiments, the wheel of described wheel unit can adopt common wheel, can adopt wheel hub motor wheel, can adopt rail wheel.When adopt wheel hub motor wheel time, wheel itself has power, without the need to by the transmission of power of deformed caterpillar unit to wheel.When adopting rail wheel, described distortion is carried out wheel compound suspension frame and can be run on rail under running on wheels pattern.
According to some optional embodiments, when described wheel is connected with described middle hitch by described wheel reel cage, described wheel reel cage swings can be with motor car wheel to swing up and down.When described distortion carries out wheel compound suspension frame when the lowest order of crawler travel pattern, described roller contacts with a rod member of the described four-bar mechanism of described deformed caterpillar frame, for the first side link, because the position that there is described first side link of described wheel reel cage defines the position of described wheel unit, when now described crawler belt is flat with earth surface, described wheel does not contact with ground.When described distortion shoe wheel compound suspension frame upwards deforms, described first side link upwards swings the described roller upward movement driving and be in contact with it, and described wheel reel cage is swung, drives described wheel to decline; After described wheel and earth surface, described crawler belt departs from ground, achieves the transformation of crawler travel pattern to running on wheels pattern that wheel compound suspension frame is carried out in described distortion.
According to the mobile platform of the utility model embodiment, due to the cause using above-mentioned distortion to carry out wheel compound suspension frame, the distortion of the crawler belt of mobile platform and the conversion of crawler travel pattern and running on wheels pattern can be realized, can improve landform comformability and the crossing ability of mobile platform, described mobile platform may be used for designing mobile robot.
Adopt the technical solution of the utility model will obtain following beneficial effect: the distortion of wheel compound suspension frame is carried out in (1) distortion, described distortion can be improved and carry out wheel compound suspension frame to the comformability of landform and crossing ability; (2) carry out by distortion the distortion taking turns compound suspension frame and can change robot moving platform center-of-gravity position, increase track ground contact length, thus improve stability of motion; (3) distortion can be realized and carry out the wheel crawler travel pattern of compound suspension frame and the conversion of running on wheels pattern, there is wider comformability; (3) the utility model can be used for designing the deformable mobile robot of crawler belt and other mobile devices.
Accompanying drawing explanation
Fig. 1 is the schematic diagram carrying out wheel compound suspension frame according to the distortion of the utility model embodiment one
Fig. 2 is that shown in Fig. 1, schematic diagram when taking turns compound suspension frame most significant bit is carried out in distortion;
Schematic diagram when Fig. 3 is lowest order under the shoe of distortion shown in Fig. 1 wheel compound suspension frame crawler travel pattern;
Fig. 4 is the schematic diagram under wheel compound suspension frame running on wheels pattern is carried out in distortion shown in Fig. 1;
Fig. 5 is the block diagram carrying out wheel compound suspension frame according to the distortion of the utility model embodiment one;
Fig. 6 is the block diagram of the deformed caterpillar unit according to the utility model embodiment one;
Fig. 7 is another block diagram that shown in Fig. 5, wheel compound suspension frame is carried out in distortion;
Fig. 8 is the front view (removal unit separation structure) that shown in Fig. 5, wheel compound suspension frame is carried out in distortion;
Fig. 9 is that shown in Fig. 5, structural perspective when taking turns compound suspension frame most significant bit is carried out in distortion;
Figure 10 is that shown in Fig. 5, front view when taking turns compound suspension frame most significant bit is carried out in distortion;
Structural perspective when Figure 11 is lowest order under the crawler travel pattern of the shoe of distortion shown in Fig. 5 wheel compound suspension frame;
Structural front view when Figure 12 is lowest order under the crawler travel pattern of the shoe of distortion shown in Fig. 5 wheel compound suspension frame;
Figure 13 is the structural perspective that the running on wheels pattern of wheel compound suspension frame is carried out in distortion shown in Fig. 5;
Figure 14 is the structural front view that the running on wheels pattern of wheel compound suspension frame is carried out in distortion shown in Fig. 5;
Figure 15 is the block diagram adopting distortion shown in Fig. 5 to carry out the mobile platform of wheel compound suspension frame design;
Block diagram when Figure 16 is the most significant bit of mobile platform shown in Figure 15;
Structural perspective when Figure 17 is lowest order under the crawler travel of mobile platform shown in Figure 15 pattern;
Figure 18 is the structural perspective under the running on wheels of mobile platform shown in Figure 15 pattern;
Figure 19 is the state stereogram that mobile platform shown in Figure 15 moves at left and right rough terrain;
Figure 20 is the state front view that mobile platform shown in Figure 15 moves at left and right rough terrain;
Figure 21 is the block diagram (during running on wheels pattern) carrying out wheel compound suspension frame according to the distortion of the utility model embodiment two;
Figure 22 is the front view (during running on wheels pattern) carrying out wheel compound suspension frame according to the distortion of the utility model embodiment two;
Figure 23 is the block diagram (during running on wheels pattern) carrying out wheel compound suspension frame according to the distortion of the utility model embodiment three;
Figure 24 is the front view (during running on wheels pattern) carrying out wheel compound suspension frame according to the distortion of the utility model embodiment three;
Figure 25 is the state stereogram that the distortion shown in Figure 23 carries out when the mobile platform of taking turns compound suspension frame design moves in orbit;
Figure 26 is the state plane figure that the distortion shown in Figure 23 carries out when the mobile platform of taking turns compound suspension frame design moves in orbit;
Schematic diagram when Figure 27 is the distortion shoe wheel compound suspension frame most significant bit according to the utility model embodiment four;
Schematic diagram when Figure 28 is the distortion shoe wheel compound suspension frame meta according to the utility model embodiment four;
Schematic diagram when Figure 29 is the distortion shoe wheel compound suspension frame crawler travel pattern lowest order according to the utility model embodiment four;
Schematic diagram when Figure 30 is the distortion shoe wheel compound suspension frame running on wheels pattern according to the utility model embodiment four;
Reference numeral:
Wheel compound suspension frame is carried out in 1000 distortion; 2000 main car bodies; 3000 rail
1 middle hitch;
2 deformed caterpillar unit;
201 first deformed caterpillar unit; 202 second deformed caterpillar unit;
21 deformed caterpillar framves;
210 four-bar mechanisms; 211 first side links; 212 second side links; 213 connecting rods; 214 frames;
2101 first revolute pairs; 2102 second revolute pairs; 2103 the 3rd revolute pairs; 2104 the 4th revolute pairs;
22 Athey wheels;
2201 drive wheels; 2202 bend wheels;
221 first Athey wheels; 222 second Athey wheels; 223 the 3rd Athey wheels; 224 the 4th Athey wheels; 225 the 5th Athey wheels;
23 crawler belts;
24 track propulsion assemblies;
241 reducing motors; 242 first flexible element gear units; 243 second flexible element gear units;
25 support wheels;
3 distortion driven units;
31 gear systems;
311 first gears; 312 second gears;
32 gear drive assemblies;
321 driven wheels; 322 rotary drives;
33 drive link;
331 first drive link; 332 second drive link;
34 slide blocks;
4 wheel unit;
41 wheels;
411 common wheel; 412 wheel hub motor wheels; 413 rail wheels;
42 wheel actuators;
421 power taking flexible element gear units;
43 wheel reel cages;
44 rollers
Detailed description of the invention
Be described below in detail embodiment of the present utility model, and further illustrate the utility model, the embodiment described by reference to accompanying drawing is exemplary, only for explaining the utility model, and can not be interpreted as restriction of the present utility model.
Describe in detail below in conjunction with Fig. 1 to Figure 30 and carry out the mobile platform of taking turns compound suspension frame and there is it according to the distortion of the utility model embodiment, this distortion is carried out wheel compound suspension frame and be can be used for mobile platform, and then can be used for designing mobile robot, but be not limited thereto, such as can be applicable to deformable shoe wheel composite transport car etc.
Embodiment one
Referring to figs. 1 through Figure 20;
The utility model solves the technical scheme that its technical matters adopts:
If Fig. 1 is the schematic diagram carrying out wheel compound suspension frame according to the distortion of the utility model embodiment one, Fig. 5, Fig. 7, Fig. 8 are its constructional drawing, carry out wheel compound suspension frame 1000 according to the distortion of the utility model embodiment one, comprising: middle hitch 1, deformed caterpillar unit 2, distortion driven unit 3 and wheel unit 4.Deformed caterpillar unit 2 is two, comprise the first deformed caterpillar unit 201 and the second deformed caterpillar unit 202, and two deformed caterpillar unit 2 is all connected with middle hitch 1, and is arranged symmetrically with in front and back.Middle hitch 1 symmetrically framed structure in the present embodiment, for deformed caterpillar unit 2 and distortion driven unit 3 and wheel unit 4 provide hitch.
As shown in Figure 6, the deformed caterpillar unit 2 of the present embodiment comprises deformed caterpillar frame 21, Athey wheel 22, crawler belt and track propulsion assembly 24; Deformed caterpillar frame 21 is connected with middle hitch 1, and deformed caterpillar frame 21 comprises a four-bar mechanism 210, and four-bar mechanism 210 comprises four rod members, is respectively: frame 214, and frame 214 is connected with middle hitch 1; First side link 211, first side link 211 is connected with frame 214, forms the first revolute pair 2101; Second side link 212, second side link 212 is connected with frame 214, forms the 4th revolute pair 2104; Connecting rod 213, one end of connecting rod 213 is connected with the first side link 211, forms the second revolute pair 2102, and the other end of connecting rod 213 is connected with the second side link 212, forms the 3rd revolute pair 2103.Athey wheel 22 is no less than four, and Athey wheel 22 is connected with four-bar mechanism 210, and Athey wheel 22 comprises drive wheel 2201 and bend wheel 2202; In the present embodiment, deformed caterpillar unit 2 have employed five Athey wheels 22, and wherein four Athey wheels 22 are connected with four described revolute pair coaxial lines of four-bar mechanism 210 respectively, and the diameter of four Athey wheels 22 is identical.Crawler belt 23 envelope is outside Athey wheel 22, and crawler belt 23 and the transmission of drive wheel 2201 phase; Track propulsion assembly 24 is connected with drive wheel 2201 and drives drive wheel 2201.
As shown in Fig. 5, Fig. 6, Fig. 7, Fig. 8, the distortion driven unit 3 of the present embodiment is one, distortion driven unit 3 is connected with middle hitch 1, and distortion driven unit 3 is all connected with the second deformed caterpillar unit 202 with the first deformed caterpillar unit 201, and drives deformed caterpillar frame 21 to be out of shape.Wheel unit 4 is two, and wheel unit 4 is connected with middle hitch 1, and is arranged symmetrically, and wheel unit 4 is in the side of deformed caterpillar unit 2, and wheel unit 4 comprises wheel and wheel actuator 42; When deformed caterpillar unit 2 and earth surface, wheel 41 not with earth surface; When deformed caterpillar unit 2 upwards deforms, deformed caterpillar unit 2 departs from ground, and wheel 41 can support ground.
Because the frame 214 of the four-bar mechanism 210 of the deformed caterpillar frame 21 of deformed caterpillar unit 2 is connected with middle hitch 1, when therefore specifically implementing, frame 214 and middle hitch 1 can sharing structures, therefore can in the middle of hitch 1 be the constructional drawing of deformed caterpillar unit 2 as the frame 214, Fig. 6 of the four-bar mechanism 210 of deformed caterpillar frame 21.In deformed caterpillar unit 2, Athey wheel 22 comprises the first Athey wheel 221, second Athey wheel 222, the 3rd Athey wheel 223, the 4th Athey wheel 224 and the 5th Athey wheel 225, and the equal diameters of the first Athey wheel 221, second Athey wheel 222, the 3rd Athey wheel 223 and the 4th Athey wheel 224, the first Athey wheel 221, second Athey wheel 222, the 3rd Athey wheel 223 and the 4th Athey wheel 224 are connected with the first revolute pair 2101, second revolute pair 2102 of four-bar mechanism 210, the 3rd revolute pair 2103, the 4th revolute pair 2104 coaxial line respectively.5th Athey wheel 225 is connected with the first side link 211 of four-bar mechanism 210, and the 5th Athey wheel 225 center is in the outside of the first side link 211 two ends revolute pair line of centres; In the present embodiment, have chosen the first Athey wheel 221 as drive wheel 2201, all the other four Athey wheels 22 are all as bend wheel 2202.In the present embodiment, the first side link 211 in the four-bar mechanism 210 of the deformed caterpillar frame 21 of deformed caterpillar unit 2, connecting rod 213 and the second side link 212 are also provided with support wheel 25, support wheel 25 is more smaller than Athey wheel 22, support wheel 25 is auxiliary plays a supporting role to crawler belt 23, but does not change crawler belt 23 shape.Like this, when four-bar mechanism 210 does not exist the component of conllinear, crawler belt 23 can be supported to pentagon, the state as shown in Fig. 1, Fig. 6 by five Athey wheels 22.
According to embodiment one of the present utility model, distortion driven unit 3 is one, and as shown in Figure 5, Figure 8, wherein Fig. 8 removes part-structure, and distortion driven unit 3 is gear type distortion driven unit, and comprises gear system 31, gear drive assembly 32.Gear system 31 is all connected with the four-bar mechanism 210 of the deformed caterpillar frame 21 of two deformed caterpillar unit 2, and gear system 31 comprises: the first gear 311, first gear 311 is connected with a side link (the present embodiment has selected the first side link 211) of the four-bar mechanism 210 of the deformed caterpillar frame 21 of the first deformed caterpillar unit 201, and the revolute pair that the first gear 311 is formed with described side link and frame 214 is for center of gyration; Second gear 312, second gear 312 is connected to the corresponding side link (i.e. the first side link 211 of the second deformed caterpillar unit 202) of the four-bar mechanism 210 of the deformed caterpillar frame 21 of the second deformed caterpillar unit 202, and the revolute pair that the second gear 312 is formed with described side link and frame 214 is for center of gyration, and the second gear 312 is meshed with the first gear 311.Gear drive assembly 32 is connected with gear system 31, and driven wheel driving device 31 engagement rotation.In the present embodiment, gear drive assembly 32 also comprises rotary drive 322 and driven wheel 321, and driven wheel 321 is connected with rotary drive 322, and driven wheel 321 is meshed with a gear of gear system 31.In the present embodiment, rotary drive 322 have employed reducing motor, and driven wheel 321 is meshed with the first gear 311.In the design of the present embodiment, as shown in Figure 5, one end of first side link 211 is provided with the assembling fork of connection first Athey wheel 221 (i.e. drive wheel 2201), first side link 211 of the first gear 311 and the first deformed caterpillar unit 201 is fixed together, and the first gear 311 is designed to split left and right gear, be connected with two side plates of assembling fork respectively; After having installed the first Athey wheel 221, two Split type structures of the first gear 311 are in the both sides of the first Athey wheel 221.Equally, the second gear 312 has identical structure with the first gear 311, is fixed together with the first side link 211 of the second deformed caterpillar unit 202.Adopt such scheme and structure, rotary drive 322 drives driven wheel 321, driven wheel 321 driven wheel driving device 31 rotates, and gear system 31 drives the deformed caterpillar frame 21 of the first deformed caterpillar unit 201 and the second deformed caterpillar unit 202 be arranged symmetrically with to deform.
In the present embodiment, because relatively middle hitch 1 invariant position of the first Athey wheel 221 of two deformed caterpillar unit 2, and at a distance of nearer.Select the first Athey wheel 221 to be drive wheel 2201, because both close together adopt driving device can realize both connections, utilize a track propulsion assembly 24 that two drive wheels 2201 can be driven to rotate like this.As shown in Fig. 5, Fig. 7, Fig. 8, in concrete enforcement, track propulsion assembly 24 is one, and track propulsion assembly 24 is all connected with the drive wheel 2201 of two deformed caterpillar unit 2 and drives two drive wheels 2201 to rotate.The drive wheel 2201 of two deformed caterpillar unit 2 is connected by the second flexible element gear unit 243, ensure that two deformed caterpillar unit 2 can synchronous rotating in same direction, described track propulsion part is fixed on middle hitch 1, and track propulsion part 241 to be connected with one of them drive wheel 2201 by the first flexible element gear unit 242 and to drive drive wheel 2201 to rotate.Described track propulsion part have employed reducing motor, and described first flexible element gear unit 242 and the second flexible element gear unit 243 have selected Chain conveyer in the present embodiment, also can select toothed belt transmission in other embodiments.In the concrete structure of the present embodiment, described flexible element gear unit adopts protective case protection, affects transmission to prevent entering of foreign matter.Adopt this scheme, rotate while a track propulsion assembly 24 can realize the crawler belt 23 of two deformed caterpillar unit 2.In other embodiments, two track propulsion assemblies 24 also can be adopted to drive the crawler belt 23 of two deformed caterpillar unit 2 respectively.
As shown in figure 5 and figure 7, in the present embodiment, wheel unit 4 is two, and wheel unit 4 is connected with middle hitch 1, and is arranged symmetrically, and wheel unit 4 is in the side of deformed caterpillar unit 2.Wheel unit 4 comprises wheel 41 and wheel actuator 42; In concrete enforcement, the side of middle hitch 1 is provided with wheel link span, is arranged symmetrically, and wheel 41 is connected pivotly with described wheel link span; In the present embodiment, wheel actuator 42 have employed power taking flexible element gear unit 421, and power taking flexible element gear unit 421 is connected to wheel 41 and track propulsion assembly 24.Adopt this kind of scheme, by power taking flexible element gear unit 421 by the transmission of power of deformed caterpillar unit 2 to wheel 41, like this, in the present embodiment, adopt a track propulsion assembly 24 to achieve crawler belt 23 and rotate with wheel 41 simultaneously.In the present embodiment, wheel 41 have employed common wheel 411, and common wheel 411 can select pneumatic rubber wheel, also can select solid rubber wheel.In other embodiments, wheel unit also can adopt independently wheel actuator, carries out individual drive to wheel.
Specifically, the deformed caterpillar frame 21 of deformed caterpillar unit 2 comprises a four-bar mechanism 210, and four described rotation vice division chiefs of four-bar mechanism 210 are all connected with Athey wheel 22, the equal diameters of four Athey wheels 22, and crawler belt 23 envelope is outside Athey wheel 22.Adopt this technical scheme, when four-bar mechanism 210 moves, the position of four Athey wheels 22 is out of shape with four-bar mechanism 210 and changes.The present embodiment one have employed five Athey wheels 22, except being connected with except Athey wheel 22 in the rotation vice division chief of four-bar mechanism 210,5th Athey wheel 225 is also connected with the first side link 211 of four-bar mechanism 210, when 5th Athey wheel 225 is connected to the outside of the revolute pair line of centres at the first side link 211 two ends, such 5th Athey wheel 225 pairs of crawler belts 23 play and support the limit number that changed course effect can increase crawler belt 23, and when deformed caterpillar frame 21 deforms, the pitch length of crawler belt 23 does not need to change yet.Adopt this technical scheme, when Athey wheel 22 position changes along with screw mechanism, the length of the crawler belt 23 of envelope outside Athey wheel 22 does not need to change, and like this, achieve crawler belt 23 when deforming, its length and tensioning degree do not change.
By technique scheme, two deformed caterpillar unit, 2, two wheel unit, middle hitch 1 and distortion driven unit 3 are connected as one, and constitute described distortion and carry out wheel compound suspension frame 1000; Distortion driven unit 3 drives two deformed caterpillar unit 2 to realize distortion, changes the shape that wheel compound suspension frame is carried out in distortion.Fig. 1 to Fig. 4 is one group of schematic diagram of the utility model embodiment one, as in Fig. 1, it is W shape that the shape of wheel compound suspension frame under crawler travel pattern is carried out in distortion, Fig. 2 is the schematic diagram that the most significant bit shape of wheel compound suspension frame under crawler travel pattern is carried out in distortion, under Fig. 1 and Fig. 2 state, distortion carries out wheel compound suspension frame 1000 with the crawler belt at Athey wheel 22 place and earth surface; Fig. 3 is the schematic diagram that the minimum state of wheel compound suspension frame when being crawler travel pattern is carried out in distortion, and now distortion carries out wheel compound suspension frame with track-face kiss the earth; Fig. 4 is the schematic diagram under wheel compound suspension frame running on wheels pattern is carried out in distortion, under this state, and wheel kiss the earth, and crawler belt 23 departs from ground.Therefore, described distortion carry out wheel compound suspension frame can according to landform initiatively deforming to meet the needs by this landform, greatly can improve the landform comformability and the terrain trafficability that use described distortion to carry out the crawler-type mobile platform of wheel compound suspension frame like this; Because distortion changes the center-of-gravity position of mobile platform, and the length of ground connection crawler belt, the stability of mobile platform also can be improved; Also the conversion of crawler travel pattern and running on wheels pattern can be realized.
In addition, the utility model also proposed a kind of mobile platform, and it comprises main car body 2000 and two above-mentioned distortion carry out the left and right sides that wheel compound suspension frame 1000, two distortion shoe wheel compound suspension frame 1000 is connected to main car body 2000, as shown in Figure 16 to Figure 20.Other of mobile platform are formed, has been prior art, and has known for those of ordinary skill in the art, therefore be not described in detail.
According to the mobile platform of the utility model embodiment, due to the cause using above-mentioned distortion to carry out wheel compound suspension frame 1000, the distortion of the crawler belt of mobile platform and the conversion of crawler travel pattern and running on wheels pattern can be realized, can improve landform comformability and the crossing ability of mobile platform, described mobile platform may be used for designing mobile robot.
By above-mentioned concrete technical scheme and structure, wheel compound suspension frame is carried out in the distortion of embodiment one of the present utility model, can realize the deformation program shown in Fig. 1 to Fig. 4.Therefore, there is the performance that mobile platform that this distortion carries out wheel compound suspension frame has crawler belt distortion, crawler travel pattern and running on wheels mode conversion too.Fig. 7 and Fig. 8 is that the wheel general state of compound suspension frame under crawler travel pattern is carried out in the distortion of the present embodiment one, and Figure 15 carries out the constitution diagram of the mobile platform of taking turns when compound suspension frame is in state shown in Fig. 7,8 for having this distortion.Now, it be W shape that wheel compound suspension frame is carried out in distortion, the second Athey wheel 222 of two deformed caterpillar unit 2 support crawler belt and and earth surface, wheel unit is in the top that wheel compound suspension frame is carried out in distortion, apart from ground certain altitude.This state has the feature of wheel type traveling mechanism, again because crawler belt is near the side on ground, has four sections of crawler belts, and in W shape, and such mobile platform is having directional tagging by during obstacle terrain.Fig. 9 and Figure 10 is that the wheel most significant bit state of compound suspension frame under crawler travel pattern is carried out in the distortion of the present embodiment one, and Figure 16 carries out the constitution diagram of the mobile platform of taking turns when compound suspension frame is in state shown in Fig. 9,10 for having this distortion.Like this, distortion is carried out wheel compound suspension frame and is in most high state, when the mobile platform having this distortion and carry out wheel compound suspension frame is paddled, the facility above mobile platform can be prevented not to be in water with part.Figure 11 and Figure 12 is that the wheel lowest order state of compound suspension frame under crawler travel pattern is carried out in the distortion of the present embodiment one, and Figure 17 carries out the constitution diagram of the mobile platform of taking turns when compound suspension frame is in state shown in Figure 11,12 for having this distortion.Now, crawler belt and earth surface be one section of horizontal segment, the crawler belt horizontal segment of two deformed caterpillar unit 2 is in the same plane, wheel unit 4 is still above lowermost layer crawler belt, not with earth surface, now, the wheel decentralization of compound suspension frame and the length of crawler belt kiss the earth reaches maximum is carried out in distortion, distortion carries out the crawler belt shape of wheel compound suspension frame substantially in inverted trapezoidal, and therefore crawler belt has certain guiding climbing angle.In this condition, there is the mobile platform that distortion carries out wheel compound suspension frame and be more suitable for by soft landform, speeling stairway and pass through raceway groove; Now, track ground contact length is large, and center of gravity is on the lower side, and therefore the stability of motion of mobile platform is better.Figure 13 and Figure 14 is that the wheel constitution diagram of compound suspension frame under running on wheels pattern is carried out in the distortion of the present embodiment one, and Figure 18 carries out the constitution diagram of the mobile platform of taking turns when compound suspension frame is in state shown in Figure 13,14 for having this distortion.Now, wheel 41 and earth surface, and the crawler belt of two deformed caterpillar unit 2 is upwards out of shape disengaging ground; Under this state, run at high speed in the ground being adapted at platform, the resistance of the running part of crawler belt can be reduced.There are two of left and right sides distortion that distortion carries out the mobile platform of wheel compound suspension frame and carry out the distortion that wheel compound suspension frames can carry out in various degree, to adapt to the highly different landform in left and right, Figure 19,20 is for having mobile platform that distortion carries out wheel compound suspension frame at the constitution diagram by the highly different landform in left and right.Therefore, the utility model can distortion initiatively, form different forms, shape more can be adapted to, thus improve landform comformability and the terrain trafficability of the mobile platform with it, also can be carried out the center of gravity of the distortion reduction mobile platform of wheel compound suspension frame by distortion, improve the ground connection size of crawler belt, thus the stability of motion of mobile platform can be improved.The utility model, by distortion, can realize the conversion of crawler travel pattern and running on wheels pattern, expand Applicable scope of the present utility model further, in running on wheels pattern further efficiency also higher than the sport efficiency of crawler travel pattern.
Embodiment two
With reference to Figure 21 to Figure 22;
Embodiment two and embodiment one difference are, embodiment two have employed the wheel unit 4 that two are equipped with wheel hub motor, during concrete enforcement, the wheel unit 4 that wheel hub motor is housed adopts wheel hub motor wheel 412, middle hitch 1 is connected to wheel fixation fork, fixation fork is connected to wheel hub motor wheel 412, the installation strength that ensure that wheel hub motor wheel 412 is installed like this.Adopt this kind of scheme, the wheel unit 4 implementing two does not need to adopt power taking flexible element gear unit 421 to obtain power to track propulsion assembly 24.Adopt wheel hub motor wheel 413 to have independently to drive, under such running on wheels pattern, the crawler belt 23 of two deformed caterpillar unit 2 can not rotate, and only needs vehicle wheel rotation, can save crawler belt and rotate the waste of power brought.
Embodiment three
With reference to Figure 23 to Figure 26;
Embodiment three and embodiment one difference are, the wheel of embodiment three have employed rail wheel 413, during concrete enforcement, have employed the power taking flexible element gear unit 421 identical with embodiment one and obtain power, as shown in Figure 23, Figure 24 from track propulsion assembly 24.Adopt this kind of scheme, the mobile platform of wheel compound suspension frame is carried out in the distortion with the utility model embodiment three, except having all functions under embodiment one crawler travel pattern, under running on wheels pattern, the mobile platform of the present embodiment three is adopted to have the performance travelled on rail 3000.The constitution diagram that Figure 25 and Figure 26 is employing Figure 23, the mobile platform of 24 illustrated embodiments three travels on rail 3000.The mobile platform of technique scheme design is adopted to realize rail dual-purpose.Such as utilize this mobile platform projected mine Disaster Relief Robot, in the process of straight line detection, the mining transportation rail on mine can be utilized to move forward fast, when transport rail blocks, when transport rail cannot use, robot can be transformed into crawler travel pattern to be continued to move forward, and robot therefore can be made to have good landform and adapt to and crossing ability, can meet multiple landform.
Embodiment four
With reference to Figure 27 to Figure 30;
Figure 27 to Figure 30 carries out wheel compound suspension frame schematic diagram according to the distortion of embodiment four of the present utility model, carries out wheel compound suspension frame 1000 and comprises: hitch 1, two deformed caterpillar unit 2, distortion driven unit 3 and two wheel unit 4 in the middle of one according to the distortion of the utility model embodiment four.Be with the difference of embodiment four with embodiment one: one, distortion driven unit 3 is one, have employed connecting rod slider-type distortion driven unit; Two, have employed five Athey wheels the 22, five Athey wheel 225 and be connected with connecting rod 213; Three, wheel unit 4 also comprises wheel reel cage 43, is connected by wheel reel cage 43 by wheel with middle hitch 1.
In Figure 27, when distortion driven unit 3 is one, distortion driven unit 3 is connected with middle hitch 1, and distortion driven unit 3 is all connected with the deformed caterpillar frame 21 of two described deformed caterpillar unit 2, and distortion driven unit 3 can drive two deformed caterpillar framves 21 to be out of shape simultaneously.Distortion driven unit 3 comprises for connecting rod slider-type is out of shape driven unit: drive link 33, slide block 34, slider-actuated part.Drive link 33 is two, be designated as the first drive link 331 and the second drive link 332, first drive link 331 is connected pivotly with a side link (the present embodiment selects the first side link 211) of the four-bar mechanism 210 of the deformed caterpillar frame 21 of the first deformed caterpillar unit 201, second drive link 332 is connected pivotly to the first corresponding side link 211 of the four-bar mechanism 210 of the deformed caterpillar frame 21 of the second deformed caterpillar unit 202, and the first side link 211 is three accessory element components.Slide block 34 is connected pivotly with two drive link 33, and slide block 34 is connected movably with middle hitch 1, forms moving sets.Described slider-actuated part (described slider-actuated part does not draw in the drawings) is connected with slide block 34, and drives slide block 34 to move along middle hitch 1.
Adopt this technical scheme, the slide block 34 of connecting rod slider-type distortion driven unit is connected pivotly with two drive link 33, and drive link 33 connects the deformed caterpillar frame 21 of deformed caterpillar unit 2 respectively; Described slider-actuated part drives slide block 34 straight-line motion, and drives two drive link 33 to drive deformed caterpillar frame 21 action.Adopt this scheme, achieve a distortion driven unit and the distortion of two deformed caterpillar unit 2 is driven.
In the present embodiment, 5th Athey wheel 225 is connected with connecting rod 213, and the 5th Athey wheel 225 center is in the outside of connecting rod 213 and forms triangle with the revolute pair center at connecting rod 213 two ends, such 5th Athey wheel 225 pairs of crawler belts 23 play and support changed course effect, as shown in figure 27.
In the present embodiment, wheel unit 4 comprises wheel reel cage 43, wheel 41, wheel actuator 42; Wheel reel cage 43 is triangular in shape, and be connected pivotly with middle hitch 1 in the middle part of it, one end of wheel reel cage 43 is provided with roller; Wheel 41 is connected with the other end of wheel reel cage 43.Wheel actuator 42 is connected with wheel and drives wheel, can adopt wheel hub motor wheel 412 during concrete enforcement.As shown in figure 29, when described distortion carries out wheel compound suspension frame when the lowest order of crawler travel pattern, described roller contacts with the first side link 211 of the four-bar mechanism 210 of deformed caterpillar frame 21, because the position of existence first side link 211 of wheel reel cage 43 defines the position of wheel unit 4, now crawler belt be flat and and earth surface, wheel does not contact with ground.When being out of shape shoe wheel compound suspension frame and upwards deforming, the first side link 211 upwards swings the roller upward movement driving and be in contact with it, and wheel reel cage 43 is swung, and band motor car wheel declines; After wheel and earth surface, crawler belt departs from ground, achieves the transformation of crawler travel pattern to running on wheels pattern that wheel compound suspension frame is carried out in distortion.The state of its running on wheels pattern as shown in figure 30.And under the crawler travel pattern of a high position, the roller of wheel reel cage 43 does not contact with the first side link 211, as shown in Figure 27 and Figure 28.Adopt this scheme, when deformed caterpillar frame 21 is from the lowest order state of crawler travel pattern to wheeled patten transformation, deformed caterpillar frame 21 can impel wheel to lower swing, realizes the conversion of two kinds of walking modes.Adopt this scheme, described distortion carries out wheel compound suspension frame when most significant bit, and be horizontal segment track and earth surface (as shown in figure 27), stability is better.Described distortion carries out wheel compound suspension frame when interposition with the crawler belt kiss the earth at Athey wheel 22 place, and now crawler belt also has guiding segment track, and such turning resistance is little, and is conducive to climbing obstacle, as shown in figure 28.
Although illustrate and described embodiment of the present utility model, those having ordinary skill in the art will appreciate that: can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present utility model and aim, scope of the present utility model is by claim and equivalents thereof.
Claims (10)
1. a wheel compound suspension frame is carried out in distortion, it is characterized in that, comprising:
Middle hitch;
Deformed caterpillar unit, described deformed caterpillar unit is two, and two described deformed caterpillar unit are all connected with described middle hitch, and are arranged symmetrically, and described deformed caterpillar unit comprises:
Deformed caterpillar frame, described deformed caterpillar frame is connected with described middle hitch, and described deformed caterpillar frame comprises a four-bar mechanism, and described four-bar mechanism comprises four rod members, is respectively:
Frame, described frame is connected with described middle hitch;
First side link, described first side link is connected with described frame, forms the first revolute pair;
Second side link, described second side link is connected with described frame, forms the 4th revolute pair;
Connecting rod, one end of described connecting rod is connected with described first side link, forms the second revolute pair, and the other end of described connecting rod is connected with described second side link, forms the 3rd revolute pair;
Athey wheel, described Athey wheel is no less than four, and described Athey wheel is connected with described four-bar mechanism, and described Athey wheel comprises drive wheel and bend wheel; Wherein four described Athey wheels are connected with four described revolute pair coaxial lines of described four-bar mechanism respectively, and the diameter of four described Athey wheels is identical;
Crawler belt, described crawler belt envelope is outside described Athey wheel, and described crawler belt and the transmission of described drive wheel phase;
Track propulsion assembly, described track propulsion assembly is connected with described drive wheel and drives described drive wheel;
Distortion driven unit, no more than two of described distortion driven unit, described distortion driven unit is connected with the described deformed caterpillar frame of described deformed caterpillar unit and drives described deformed caterpillar frame to be out of shape;
Wheel unit, described wheel unit is two, and described wheel unit is connected with middle hitch, and is arranged symmetrically, and described wheel unit comprises wheel and wheel actuator, and described wheel actuator drives described vehicle wheel rotation; When described deformed caterpillar unit and earth surface, described wheel not with earth surface; When described deformed caterpillar unit upwards deforms, described deformed caterpillar unit departs from ground, and described wheel can contact and support ground.
2. wheel compound suspension frame is carried out in distortion according to claim 1, it is characterized in that: described Athey wheel comprises the first Athey wheel, the second Athey wheel, the 3rd Athey wheel and the 4th Athey wheel, and the equal diameters of described first Athey wheel, described second Athey wheel, described 3rd Athey wheel and described 4th Athey wheel, described first Athey wheel, described second Athey wheel, described 3rd Athey wheel and described 4th Athey wheel are connected with described first revolute pair of described four-bar mechanism, described second revolute pair, described 3rd revolute pair, described 4th revolute pair coaxial line respectively; When the quantity of described Athey wheel is more than four, described Athey wheel also can be connected with the first side link of described four-bar mechanism, described second side link, described connecting rod, and described Athey wheel plays crawler belt and supports changed course effect.
3. wheel compound suspension frame is carried out in distortion according to claim 1 and 2, it is characterized in that: described Athey wheel is five, and described Athey wheel also comprises the 5th Athey wheel, described 5th Athey wheel is connected with described first side link of described four-bar mechanism, and described 5th Athey wheel center is in the outside of the described first side link two ends revolute pair line of centres; Described crawler belt envelope, outside five described Athey wheels, forms deformable pentagon crawler belt.
4. wheel compound suspension frame is carried out in distortion according to claim 1, it is characterized in that:
Described deformed caterpillar unit comprises the first deformed caterpillar unit and the second deformed caterpillar unit;
When described distortion driven unit is two, comprise the first distortion driven unit and the second distortion driven unit, be connected with the described deformed caterpillar frame of described second deformed caterpillar unit with the described deformed caterpillar frame of described first deformed caterpillar unit respectively, and drive described deformed caterpillar frame to be out of shape;
When described distortion driven unit is one, described distortion driven unit is connected with described middle hitch, and described distortion driven unit is all connected with described second deformed caterpillar unit with described first deformed caterpillar unit, and drives described deformed caterpillar frame to be out of shape.
5. wheel compound suspension frame is carried out in distortion according to claim 4, and it is characterized in that, described distortion driven unit is one, and described distortion driven unit is gear type distortion driven unit, and it comprises:
Gear system, described gear system is all connected with the described four-bar mechanism of the described deformed caterpillar frame of two described deformed caterpillar unit, and described gear system comprises:
First gear, described first gear is connected with a side link of the described four-bar mechanism of the described deformed caterpillar frame of described first deformed caterpillar unit, and the revolute pair that described first gear is formed with described side link and described frame is for center of gyration;
Second gear, described second gear is connected to the corresponding side link of the described four-bar mechanism of the described deformed caterpillar frame of described second deformed caterpillar unit, and the revolute pair that described second gear is formed with described side link and described frame is for center of gyration, and described second gear is meshed with described first gear;
Gear drive, described gear drive is connected with described gear system, and drives described gear system engagement rotation.
6. wheel compound suspension frame is carried out in distortion according to claim 4, and it is characterized in that, described distortion driven unit is one, and described distortion driven unit is connecting rod slider-type distortion driven unit, and it comprises:
Drive link, described drive link is two, be designated as the first drive link and the second drive link, described first drive link is connected pivotly with a side link of the described four-bar mechanism of the described deformed caterpillar frame of described first deformed caterpillar unit, described second drive link is connected pivotly to the corresponding side link of the described four-bar mechanism of the described deformed caterpillar frame of described second deformed caterpillar unit, and described side link is three accessory element components;
Slide block, described slide block is connected pivotly with two described drive link, and described slide block is connected movably with described middle hitch, forms moving sets;
Slider-actuated part, described slider-actuated part is connected with described slide block, and drives slide block to move along described middle hitch.
7. wheel compound suspension frame is carried out in distortion according to claim 2, it is characterized in that: two described deformed caterpillar unit are all using described first Athey wheel as drive wheel, described track propulsion assembly is one, and described track propulsion assembly is all connected with two described drive wheels and drives two described drive wheels.
8. wheel compound suspension frame is carried out in distortion according to claim 2, it is characterized in that: two described deformed caterpillar unit are all using described 3rd Athey wheel as drive wheel, described track propulsion assembly is two, and two described track propulsion assemblies are connected with two described drive wheels respectively and drive two described drive wheels.
9. wheel compound suspension frame is carried out in distortion according to claim 1, it is characterized in that:
Described wheel unit also comprises wheel reel cage, is connected pivotly in the middle part of described wheel reel cage with middle hitch, and described wheel is connected with one end of described wheel reel cage; The other end of described wheel reel cage is provided with roller, and described roller can contact with the rod member of the four-bar mechanism of described deformed caterpillar frame, and the rod member of described four-bar mechanism can drive described roller up-and-down movement, thus drives described wheel reel cage to swing;
The described wheel of described wheel unit adopts common wheel;
Described wheel adopts wheel hub motor wheel;
Described wheel adopts rail wheel.
10. a mobile platform, is characterized in that, comprises distortion according to any one of claim 1-9 and carries out wheel compound suspension frame.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520668899.4U CN205022726U (en) | 2015-08-31 | 2015-08-31 | Moving platform who carries out compound suspension of wheel and have it warp |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520668899.4U CN205022726U (en) | 2015-08-31 | 2015-08-31 | Moving platform who carries out compound suspension of wheel and have it warp |
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| CN205022726U true CN205022726U (en) | 2016-02-10 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128961A (en) * | 2015-08-31 | 2015-12-09 | 中国矿业大学 | Composite suspension with deformable crawler wheels and moving platform provided with same |
| CN106184434A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Wheel is carried out conversion mobile chassis and has its fire-fighting sniffing robot |
| CN109693724A (en) * | 2019-01-07 | 2019-04-30 | 哈尔滨理工大学 | A kind of walking Mine pit survey robot |
-
2015
- 2015-08-31 CN CN201520668899.4U patent/CN205022726U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128961A (en) * | 2015-08-31 | 2015-12-09 | 中国矿业大学 | Composite suspension with deformable crawler wheels and moving platform provided with same |
| CN106184434A (en) * | 2016-08-16 | 2016-12-07 | 中国矿业大学 | Wheel is carried out conversion mobile chassis and has its fire-fighting sniffing robot |
| CN109693724A (en) * | 2019-01-07 | 2019-04-30 | 哈尔滨理工大学 | A kind of walking Mine pit survey robot |
| CN109693724B (en) * | 2019-01-07 | 2020-03-27 | 哈尔滨理工大学 | Walking type mine detection robot |
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