CN206654105U - The wheel-track combined of mono-track can passive adaptive robot moving platform - Google Patents

Abstract

The utility model is related to mono-track it is wheel-track combined can passive adaptive robot moving platform, including wheel carries out composite module, car body module and tail wheel module；It is characterized in that described wheel, which carries out composite module, is arranged on the outside of described car body module, and car body module is fully enclosed in inside, described tail wheel module is arranged on car body module rearwards；The car body module includes caterpillar drive system, car body cover plate, Athey wheel support shaft and two active wheel drive systems, caterpillar drive system and two active wheel drive systems are installed in car body cover plate, and two Athey wheel support shafts are arranged with along perpendicular to car body moving direction in the bottom of the rear and front end of car body cover plate；Two active wheel drive systems drive the driving wheel of the left and right sides respectively；Caterpillar drive system is responsible for driving Athey wheel to rotate.The platform has passive adaptive ability to barrier, can switch between wheeled, crawler type and wheel carry out hybrid three kinds of motor patterns.

Description

The wheel-track combined type of mono-track can passive adaptive robot moving platform

Technical field

Robot moving platform technical field is the utility model is related to, the wheel-track combined type of specially a kind of mono-track Can passive adaptive robot moving platform.

Background technology

Existing passive adaptive robot common are wheeled, crawler type and wheel-track be compound for its class of establishment The class of formula three.The Mars Pathfinder robot in the U.S. is typical wheeled passive adaptive robot, Mars Pathfinder's machine People can move in coarse, rugged, precipitous complicated landform, but only adaptation to the ground changes continuous situation, can not cross Ladder；Crawler Series machine people are the passive adaptive robots of typical crawler type, and Crawler Series machines people can lead to Cross less barrier, but barrier that can not be more excessive, and pure crawler haulage energy consumption is big；Patent No. ZL2010102195152 Chinese patent discloses a kind of wheel-track composite deformation mobile robot with adaptive ability, the machine Device people is the compound adaptive robot of typical wheel-track, and the robot uses front end wheeled on flat ground, rear end crawler type Motor pattern, this make it that both speed controls are not easy to synchronization, and without play it is wheeled possessed by speed is fast, motor-driven spirit The characteristics of activity is good, turn performance is good.

Existing passive adaptive robot is all the shape of the double crawler belts of single-unit used mostly for its types of track Formula.Single-unit double-crawler type robot crawler belt is distributed in the both sides of car body, and stability and obstacle climbing ability are good, and are not easy to tumble, but Virtually increase the physical dimension of robot so that narrow passage and turning can not be passed through；The double track machines of binodal People is typically difficult to realize passive adaptive, so being typically all to obtain external information by sensor, passes through the control of complexity Actively adapted to realize；Single-unit mono-track robot can move in the passage of very little, but can not realize turning, in left and right Rugged road conditions are easy to overturn；More piece mono-track robot can not equally realize turning, and joint number is more, and structure is got over Complexity, motion control are difficult to coordination.

Utility model content

In view of the shortcomings of the prior art, the technical problem that the utility model intends to solve is to provide a kind of mono-track wheel-track and answered Close adaptive robot mobile platform.The platform has passive adaptive ability to barrier, can wheeled, crawler type and wheel- Carry out between hybrid three kinds of motor patterns and switch, in the case of wheel hanging, be able to can be passed through by narrow and small passageway and turning The passage more narrower than crawler belt, and surmount obstacles.

The utility model solves the technical scheme that the technical problem uses：It is compound to provide a kind of wheel-track of mono-track Formula can passively adaptive robot moving platform, including wheel-track composite module, car body module and tail wheel module；Its feature It is that described wheel-track composite module is arranged on the outside of described car body module, and car body module is fully enclosed in inside, Described tail wheel module is arranged on car body module rearwards；

The car body module includes caterpillar drive system, car body cover plate, Athey wheel support shaft and two driving wheel drivetrains System, caterpillar drive system and two active wheel drive systems are installed in car body cover plate, in the rear and front end of car body cover plate Bottom is arranged with two Athey wheel support shafts along perpendicular to car body moving direction；Two active wheel drive systems drive a left side respectively The driving wheel of right both sides；Caterpillar drive system is responsible for driving Athey wheel to rotate；

The wheel-track composite module includes crawler belt and Athey wheel, timing belt and synchronous pulley, two groups of linkages, connecting rods Connecting shaft, two driven wheel systems, driving wheel, driven shaft, connecting rod back-moving spring, spring stack and limiting bracket；

The driving wheel is symmetrical set in the outside of described car body module, and driving wheel and active wheel drive system Both ends connection；Each linkage includes upper connecting rod, middle connecting rod and lower link, and the upper connecting rod is parallel to car body movement side To rear end and the active axis connection of upper connecting rod；The upper end of connecting rod in the front end connection of upper connecting rod, connects under the lower end connection of middle connecting rod The front end of bar, the rear end of lower link and the Athey wheel support axis connection positioned at front；Two groups of linkages are symmetrical set Both sides inside crawler belt, two upper connecting rods are connected with the junction of middle connecting rod by driven shaft, the connection of two middle connecting rods and lower link Place is connected by connecting rod shaft, and upper connecting rod and lower link respectively have that one end and the car body module are mutually hinged, upper connecting rod, middle company Bar, lower link and car body module form quadric chain；A shoe is mounted on the outside of the hinged place of quadric chain Belt wheel, totally ten Athey wheels, ten Athey wheels support crawler belt；Timing belt is installed in parallel among two groups of linkages, in crawler belt One synchronous pulley is installed respectively, two synchronous pulleys pass through synchronous band connection on the output shaft and driven shaft of drive system； In two upper connecting rods, and between two synchronous pulleys, two limiting brackets are installed along perpendicular to car body moving direction；

Two driven wheel systems are left and right symmetrically arranged, and each driven wheel system includes driven wheel support, driven pulley and driven Wheel shaft, the upper end of driven wheel support are fixedly mounted on the outside of the middle part of upper connecting rod, and the bottom of driven wheel support passes through driven pulley Axis connection has driven pulley, and a spring stack is separately installed with driven wheel support and the car body module, and two spring stacks lead to Connecting rod back-moving spring is crossed to link together.

Compared with prior art, the beneficial effects of the utility model are：

1. the utility model, when running into larger barrier, extraneous restraining force becomes mobile platform structure as one kind The driving force of shape so that the mobile platform after Passive deformation can preferably adapt to environment.

2. the utility model uses mono-track structure, and car body module is in the inner side of crawler belt, therefore relatively double shoes Band structure can significantly reduce physical dimension, so as to be easier to by catwalk and corner.

3. the utility model can realize the hybrid three kinds of motor patterns of wheeled, crawler type, wheel-track during obstacle detouring Switching.Moving platform is moved up on flat ground and does wheel type movement, therefore can play that wheel type movement speed is fast, and efficiency high is curving The characteristics of energy is good, and flexibility is strong；During obstacle detouring, just start to carry for wheel-track hybrid motion, crawler belt climbing barrier, wheel Power before feeding to, being contacted simultaneously with barrier and ground relative to crawler belt has stronger obstacle detouring power, is later crawler type Motion so that obstacle detouring process has higher stability.

4. the utility model tail wheel module can support car body to depart from ground so that body gravity rises, and enhances movement The obstacle climbing ability of platform, the barrier higher than itself can be crossed.

5. the utility model can be in the case of wheel hanging, wheel spin, crawler belt contacts with ground, due to car body mould On the inside of crawler belt, other mechanisms of mobile platform do not contact block with ground, therefore can pass through ratio under crawler type motor pattern The narrower passage of crawler belt, and surmount obstacles.

Brief description of the drawings

Fig. 1 is a kind of three-dimensional knot of the compound embodiment of adaptive robot mobile platform of the utility model mono-track wheel-track Structure schematic diagram；

Fig. 2 is a kind of compound embodiment of adaptive robot mobile platform of the utility model mono-track wheel-track without crawler belt Dimensional structure diagram；

Fig. 3 is that a kind of wheel-track of embodiment of the compound adaptive robot mobile platform of the utility model mono-track wheel-track is answered The top view of matched moulds block 1；

Fig. 4 is the A-A of Fig. 3 wheel-tracks composite module 1 half sectional view；

Fig. 5 is a kind of car body mould of the compound embodiment of adaptive robot mobile platform of the utility model mono-track wheel-track The dimensional structure diagram of block 2；

Fig. 6 is a kind of car body mould of the compound embodiment of adaptive robot mobile platform of the utility model mono-track wheel-track The front view of block 2；

Fig. 7 is a kind of tail wheel mould of the compound embodiment of adaptive robot mobile platform of the utility model mono-track wheel-track The dimensional structure diagram of block 3；

Fig. 8 is partial enlarged drawing at A in Fig. 7；

Fig. 9 is the schematic diagram that the compound adaptive robot mobile platform of the utility model mono-track wheel-track does wheel type movement；

Figure 10 is that the compound adaptive robot mobile platform of the utility model mono-track wheel-track runs into the deformation after barrier Schematic diagram；

Figure 11 is the compound adaptive robot mobile platform tail wheel rigid connection tread surface motion of the utility model mono-track wheel-track Schematic diagram；

Figure 12 is that the compound adaptive robot mobile platform tail wheel of the utility model mono-track wheel-track supports body movement to show It is intended to；

Figure 13 is to move to show after the compound adaptive robot mobile platform driven pulley of the utility model mono-track wheel-track resets It is intended to；

Figure 14 is to move to show after the compound adaptive robot mobile platform of the utility model mono-track wheel-track clears the jumps It is intended to；

Figure 15 is that the compound adaptive robot mobile platform of the utility model mono-track wheel-track is stood in the case of wheel hanging Body schematic diagram；

Figure 16 is that the compound adaptive robot mobile platform of the utility model mono-track wheel-track is transported in the case of wheel hanging Dynamic front view；

Figure 17 is that the compound adaptive robot mobile platform of the utility model mono-track wheel-track is met in the case of wheel hanging Deformation schematic diagram after to barrier；

Figure 18 be the compound adaptive robot mobile platform of the utility model mono-track wheel-track in the case of wheel hanging from Driving wheel moves schematic diagram after resetting；

Figure 19 is that the compound adaptive robot mobile platform of the utility model mono-track wheel-track is got in the case of wheel hanging Schematic diagram is moved after crossing barrier；

In figure：1- wheel-track composite modules, 2- car body modules, 3- tail wheel modules, 101- Athey wheels, 102- driven shafts, 103- Synchronous pulley, 104- connecting rod shafts, 105- timing belts, 106- limiting brackets, the driven wheel supports of 107-, 108- driven pulleys, 109- driven pulley ring flanges, 110- follower shafts, 111- driving wheels, 112- crawler belts, 113- upper connecting rods, connecting rod in 114-, 115- Lower link, 116- connecting rod back-moving springs, 117- spring stacks, 201- back side panels, the small crossed helical gears of 202-, 203- driving shafts, The big crossed helical gears of 204-, 205- drive sprocket axles, 206- left side plates, 207- crawler belt decelerators, 208- crawler belt motors, 209- Athey wheel support shaft, 210- bottom plates, 211- motor support plates, 212- bevel gears, 213- electric machine supports, 214- front side boards, 215- Upper cover plate, 216- driver motors, 217- active wheel decelerators, 301- tail wheel brackets, 302- tail wheel connecting shafts, 303- springs Axle, 304- tail wheel back-moving springs, 305- tail wheel bars, 306- tail wheel support shafts, 307- tail wheels, 308- limit shafts.

Embodiment

The utility model is described in further detail with reference to the accompanying drawings and examples, but not in this, as to this Apply for the restriction of claims.

Embodiment：The wheel-track combined type of the utility model mono-track can passively adaptive robot moving platform (letter Claim platform, referring to Fig. 1) include wheel-track composite module 1, car body module 2 and tail wheel module 3；Described wheel-track composite module 1 is pacified Inside is fully enclosed in mounted in the outside of described car body module 2, and by car body module 2, described tail wheel module 3 is arranged on car The rear portion of module 2；The utility model platform can realize the drive that the restraining force of outside is converted to deformation of the present utility model Power so that the utility model platform can realize that wheeled, crawler type and wheel-track mix the switching of three kinds of motor patterns, in car In the case of wheel is hanging, by the passage more narrower than crawler belt, tail wheel module 3 the utility model can be crossed than itself more High barrier.

The car body module 2 (referring to Fig. 5 and Fig. 6) includes caterpillar drive system, car body cover plate, Athey wheel support shaft 209 With two active wheel drive systems, caterpillar drive system and two active wheel drive systems are installed in car body cover plate, in car The bottom of the rear and front end of body cover plate is arranged with two Athey wheel support shafts 209 along perpendicular to car body moving direction；Two masters Driving wheel drive system drives the driving wheel 111 of the left and right sides respectively；Caterpillar drive system is responsible for driving Athey wheel 101 to rotate；

The car body cover plate includes back side panel 201, left side plate 206, bottom plate 210, front side board 214 and upper cover plate 215, after Side plate 201, left side plate 206, bottom plate 210, front side board 214 and upper cover plate 215 form closing space；Two driving wheel drivetrains System is left and right symmetrically arranged on bottom plate 210, and each active wheel drive system includes driver motor 216, active wheel decelerator 217th, electric machine support 213, drive sprocket axle 205 and bevel gear 212, driver motor 216 are connected with active wheel decelerator 217, and It is fixed on by electric machine support 213 on bottom plate 210；Described one end of drive sprocket axle 205 passes through the side plate of left and right side, other end peace Equipped with a bevel gear 212, and drive sprocket axle 205 is located at the rear portion of active wheel decelerator 217；On active wheel decelerator 217 One bevel gear 212 is installed, two bevel gears 212 are meshed；Active wheel decelerator 217 is engaged by two bevel gears 212 Power is reached to the drive sprocket axle 205 on the side plate of left and right side；

The caterpillar drive system includes crawler belt motor 208, crawler belt decelerator 207, motor support plate 211, small alternating axis Helical gear 202, big crossed helical gears 204 and driving shaft 203, crawler belt motor 208 is connected with crawler belt decelerator 207, and pacifies In motor support plate 211, the motor support plate 211 is located at the rear of drive sprocket axle 205, and motor support plate 211 with Upper cover plate 215, bottom plate 210, front side board 214 and left side plate 206 form a closing space, by crawler belt motor 208 and crawler belt Decelerator 207 is sealed in inside；The crawler belt motor 208 connects big crossed helical gears 204, institute by crawler belt decelerator 207 State big crossed helical gears 204 and be located at the rear portion of motor support plate 211, the top of big crossed helical gears 204 is along perpendicular to car body Moving direction is provided with driving shaft 203, and small crossed helical gears 202, small crossed helical gears 202 are provided with driving shaft 203 It is intermeshed with big crossed helical gears 204；The power of crawler belt motor 208 is oblique by small crossed helical gears 202 and big alternating axis Gear 204 reaches power with crawler belt motor 208 not in same level and orthogonal driving shaft 203；

Two Athey wheel support shafts 209 are arranged on front and rear, an Athey wheel support shaft 209 for the lower end of left side plate 206 In the front of driver motor 216, another Athey wheel support shaft 209 is located at the rear portion of motor support plate 211；

The wheel-track composite module 1 (referring to Fig. 2-4) includes crawler belt 112 and Athey wheel 101, timing belt 105 and timing belt 103, two groups of linkages, 104, two driven wheel systems of connecting rod shaft, driving wheel 111, driven shaft 102, connecting rod is taken turns to reset Spring 116, spring stack 117 and limiting bracket 106；The driving wheel 111 is symmetrical set in described car body module 2 Outside, and driving wheel 111 is connected with the both ends of drive sprocket axle 205；Each linkage includes upper connecting rod 113, the and of middle connecting rod 114 Lower link 115, the upper connecting rod 113 are connected parallel to car body moving direction, the rear end of upper connecting rod 113 with driving shaft 203；Upper company The upper end of connecting rod 114 in the front end connection of bar 113, the front end of the lower end connection lower link 115 of middle connecting rod 114, lower link 115 Rear end is connected with the Athey wheel support shaft 209 positioned at front；Two groups of linkages are symmetrical set in the inside of crawler belt 112 two Side, two upper connecting rods 113 are connected with the junction of middle connecting rod 114 by driven shaft 102, two middle connecting rods 114 and lower link 115 Junction is connected by connecting rod shaft 104, and upper connecting rod 113 and lower link 115 respectively have one end to be cut with scissors each other with the car body module 2 Connect, upper connecting rod 113, middle connecting rod 114, lower link 115 and car body module 2 form quadric chain；In the hinge of quadric chain An Athey wheel 101 is mounted on the outside of the place of connecing, totally ten Athey wheels 101, ten Athey wheels 101 support crawler belt 112；It is synchronous Band 105 is installed in parallel among two groups of linkages, installs a synchronous pulley respectively on driving shaft 203 and driven shaft 102 103, two synchronous pulleys 103 are connected by timing belt 105, and the power of driving shaft 203 in car body module 2 is passed through into timing belt 105 reach driven shaft 102；In two upper connecting rods 113, and between driven shaft 102 and driving shaft 203, along perpendicular to car Body moving direction is provided with two limiting brackets 106, and front end limiting bracket 106 can make middle connecting rod 114 common with lower link 115 just It can not be rotated further by after line, the lower surface and the lower surface of upper connecting rod 113 of rear end limiting bracket are coplanar, and rear end limiting bracket is positioned at flat The latter half of platform；Rear end limiting bracket 106 can limit the horizontal level of upper connecting rod 113 and be higher than the horizontal level of upper cover plate 215, prevent Only crawler belt 112 is interfered with car body module 2, and the position of connecting rod 114 is no more than the limit during front end limiting bracket 106 can limit, and prevents It can not reset, two limiting brackets 106 play the role of parallel between firm two upper connecting rod 113.

Two driven wheel systems are left and right symmetrically arranged, each driven wheel system include driven wheel support 107, driven pulley 108, Driven pulley ring flange 109 and follower shaft 110, the upper end of driven wheel support 107 are fixedly mounted on the outside of the middle part of upper connecting rod 113 On, the bottom of driven wheel support 107 is connected with driven pulley 108 by follower shaft 110, is provided with driven pulley 108 driven Ring flange 109 is taken turns, a spring stack 117, two springs are separately installed with driven wheel support 107 and the car body module 2 Post 117 is linked together by connecting rod back-moving spring 116；

Specific motion principle is as follows：Will be dynamic by synchronous pulley 103 and timing belt 105 by the power that car body module 2 provides Power is reached on driven shaft 102 so that crawler belt 112 has enough in the presence of two groups of Athey wheels 101 being connected with upper connecting rod 113 Driving force, when the restraining force in the external world is as a kind of driving force for deforming linkage, lifted in upper connecting rod 113, with upper connecting rod 113 connected driven wheel systems are also upper to be lifted, therefore the barycenter of driven pulley 108 is raised, higher than switched to after the minimum point of crawler belt 112 by Crawler belt 112 and bar contact, after linkage loses external force effect, connecting rod back-moving spring 116 will even by spring force Linkage and driven pulley system reset, former and later two limiting brackets 106 contacted by object (above a limiting bracket 106 with Middle connecting rod 114 contacts, and latter one limiting bracket 106 contacts with upper cover plate 215) limit respectively the upper limit of middle connecting rod 114 with The lower limit of upper connecting rod 113.

The rotating speed of driver motor 216 is mainly reduced to master by the power of driving wheel 111 by active wheel decelerator 217 Rotating speed needed for driving wheel 111, then it is driven by bevel gear 212 and speed is transferred to the drive sprocket axle being connected with bevel gear 212 On 205, so as to realize the rotation of driving wheel 111, the power of crawler belt 112 mainly passes through crawler belt decelerator 207 by crawler belt motor 208 rotating speed is reduced to the rotating speed needed for driving shaft 203, then passes through big crossed helical gears 204 and small crossed helical gears 202 are transferred to power on driving shaft 203, then impart power to crawler belt 112 by Athey wheel 101.

The tail wheel module 3 (referring to Fig. 7 and Fig. 8) includes two tail wheel bars of tail wheel 307, two of tail wheel bracket 301, two 305th, tail wheel connecting shaft 302, spring shaft 303, tail wheel support shaft 306, limit shaft 308 and tail wheel back-moving spring 304；Each tail wheel The one end of support 301 is fixedly mounted on the rear portion of car body module 2, and the other end is reached outside the crawler belt 112 by bending, while with Tail wheel bar 305 connects；Two tail wheel bars 305 are connected with the junction of tail wheel bracket 301 by tail wheel connecting shaft 302, and tail wheel Short limit shaft 308 is housed, prominent one end is inserted in the stopper slot on tail wheel bracket 301 on bar 305；In two tail wheel brackets Two spring shafts 303 are separately installed between 301 and two tail wheel bars 305, right angle setting tail wheel is answered between two spring shafts 303 Position spring 304；In the end installation tail wheel support shaft 306 of two tail wheel bars 305, it is provided with the both ends of tail wheel support shaft 306 Two tail wheels 307.

Specific motion principle is as follows：During robot moving platform crossing over blockage, tail wheel 307 contacts with ground, Tail wheel 307 is connected with tail wheel support shaft 306 and around the axis rotation of tail wheel support shaft 306, and the external force that ground applies causes tail wheel bar 305 rotate around tail wheel connecting shaft 302, and the angle with tail wheel bar 305 and tail wheel bracket 301 constantly increases, when limit shaft 308 When reaching stopper slot end, tail wheel bar 305 can not be rotated further by, and now tail wheel module 3 is converted into support meanss, play support car body The effect of module 2, because tail wheel bar 305 rotates, therefore distance becomes big between two spring shafts 303, and tail wheel back-moving spring 304 becomes Long, after tail wheel 307 departs from ground, tail wheel back-moving spring 304 resets tail wheel bar 305.

The operation principle and the course of work of the compound adaptive robot mobile platform of the utility model mono-track wheel-track be： When being walked on smooth-riding surface, driving wheel 111 and driven pulley 108 are contacted with ground, and power is driven by active wheel drive system, are carried out It is above the ground level with 112 extreme lower position, so crawler belt 112 dallies under caterpillar drive system driving, by controlling both sides actively The different rotating speeds of wheel 111, can also realize the turning of mobile platform, now mobile platform does wheel type movement (referring to Fig. 9).Work as chance During to barrier, extraneous restraining force is as a kind of driving force for deforming linkage so that and upper connecting rod 113 is lifted on front end, Connecting rod back-moving spring 116 is elongated, and the driven wheel system being connected with upper connecting rod 113 is also upper to be lifted, therefore the barycenter lift of driven pulley 108 Height, the minimum point of driven pulley 108 are higher than the minimum point of crawler belt 112, crawler belt 112 and bar contact, and driving wheel 111 connects with ground Touch, now tractive force of the frictional force of crawler belt 112 and barrier as mobile platform obliquely, driving wheel 111 provide forward Power, it is now wheel-track hybrid motion pattern (referring to Figure 10).When mobile platform continues to ascend obstacle, mobile platform and ground The elevation angle increase in face, the rear lower of crawler belt 112 contacts with ground, and driving wheel 111 gradually leaves ground, and tail wheel 307 is then gradual Ground is contacted, is now moved for crawler type (referring to Figure 11).As mobile platform with terrestrial elevation angle continues to increase, barrier is to even Linkage is no longer binding, but barrier is binding to driven pulley 108, so linkage can not also reset, tail wheel The angle of bar 305 and tail wheel bracket 301 also constantly becomes big, and when limit shaft 303 reaches stopper slot end, tail wheel bar 305 can not It is rotated further by, now tail wheel module 3 is converted into support meanss, and tail wheel module 3 plays a part of supporting car body module 2, now crawler belt 112 rear portion departs from ground, and only by crawler belt 112 and bar contact, the mode that tail wheel 307 contacts with ground is moved (referring to figure 12).When the linkage of crawler belt 112 and driven pulley 108 all of no force, drawing of the linkage in connecting rod back-moving spring 116 Power effect is lower to be resetted, and center of gravity is raised forward and further (referring to Figure 13).After center of gravity reaches critical point, front end center of gravity to Under, mobile platform crossing over blockage, after tail wheel 307 loses the restraining force on ground, under the pulling force effect of tail wheel back-moving spring 304 Reset, be now wheel-track hybrid motion pattern (referring to Figure 14).Mobile platform moves forward, and recovers to wheel type movement (ginseng See Fig. 9).

Work of the compound adaptive robot mobile platform of the utility model mono-track wheel-track in the case of wheel hanging is former Reason and the course of work are：Before barrier is not moved to, because whole channel width is less than the width of crawler belt 112, crawler belt 112 is direct Contacted with ground, both sides driving wheel 111 and driven pulley 108 are hanging, and therefore, driving wheel 111 dallies, and driven pulley 108 does not turn, mobile Platform is travelled forward (referring to Figure 15 and Figure 16) by crawler belt 112.When running into barrier, extraneous restraining force makes as one kind The driving force of linkage deformation so that lifted on the front end of upper connecting rod 113, connecting rod back-moving spring 116 elongates, with upper connecting rod 113 Connected driven wheel system is also upper to be lifted, therefore the barycenter of driven pulley 108 is raised, now the friction masterpiece of crawler belt 112 and barrier For the tractive force of mobile platform obliquely, after crawler belt 112, part, which contact the power of offer forward with ground, makes its scale obstacles (referring to Figure 17)；When mobile platform continues to ascend obstacle, the elevation angle increase on mobile platform and ground, tail wheel 307 then gradually connects Tread surface (referring to Figure 11).As mobile platform with terrestrial elevation angle continues to increase, the angle of tail wheel bar 305 and tail wheel bracket 301 Also constantly increase, when limit shaft 303 reaches stopper slot end, tail wheel bar 305 can not be rotated further by, and now tail wheel module 3 converts For support meanss, tail wheel module 3 plays a part of supporting car body module 2, and now the rear portion of crawler belt 112 departs from ground, only by carrying out Band 112 and bar contact, the mode that tail wheel 307 contacts with ground are moved, gradual barrier linkage no longer Constrained Power, linkage reset under the pulling force effect of connecting rod back-moving spring 116, and center of gravity is forward (referring to Figure 18).With continuing to move, The center of gravity of mobile platform continues to raise (referring to Figure 13).Finally, after center of gravity reaches critical point, front end center of gravity is downward, makes movement Platform crossing over blockage, after tail wheel 307 loses the restraining force on ground, reset, become under the pulling force effect of tail wheel back-moving spring 304 For mono-track motor pattern (referring to Figure 19).

In wheel-track composite module 2 described in the utility model above two groups of Athey wheels be active, and following three groups be by It is dynamic, because the centre-to-centre spacing of two groups of Athey wheels above is constant, therefore two groups of drive sprockets of same crawler belt can be realized, and only During only by one group of rear end Athey wheel as driving wheel, after linkage deforms, the cornerite between crawler belt and Athey wheel reduces, Enough driving forces can not be provided and cause caterpillar drive.

Tail wheel module described in the utility model has the work(for supporting whole car body to cross the barrier more taller than itself Energy.

The nouns of locality such as " front, back, left, right, up, down " described in the utility model is clear in order to describe, and is only had relative Meaning.Generally, using the direction of the horizontal forward motion of mobile platform before, and as the benchmark of other nouns of locality.This reality It is applied to prior art with new part of not addressing.

It is emphasized that embodiment described in the utility model is illustrative, rather than it is limited, therefore this reality It is every new according to this practicality by those skilled in the art with the new embodiment including being not limited to described in embodiment The other embodiment that the technical scheme of type is drawn, also belongs to scope of protection of the utility model.

Claims (3)

1. a kind of wheel-track combined type of mono-track can passively adaptive robot moving platform, including wheel-track compound die Block, car body module and tail wheel module；It is characterized in that described wheel-track composite module is arranged on the outer of described car body module Side, and car body module is fully enclosed in inside, described tail wheel module is arranged on car body module rearwards；

The car body module includes caterpillar drive system, car body cover plate, Athey wheel support shaft and two active wheel drive systems, carries out Band drive system and two active wheel drive systems are installed in car body cover plate, on the bottom edge of the rear and front end of car body cover plate Two Athey wheel support shafts are arranged with perpendicular to car body moving direction；Two active wheel drive systems drive the left and right sides respectively Driving wheel；Caterpillar drive system is responsible for driving Athey wheel to rotate；

The wheel-track composite module is connected including crawler belt with Athey wheel, timing belt and synchronous pulley, two groups of linkages, connecting rods Axle, two driven wheel systems, driving wheel, driven shaft, connecting rod back-moving spring, spring stack and limiting bracket；

The driving wheel is symmetrical set in the outside of described car body module, and driving wheel and the two of active wheel drive system End connection；Each linkage includes upper connecting rod, middle connecting rod and lower link, the upper connecting rod parallel to car body moving direction, on The rear end of connecting rod and active axis connection；The upper end of connecting rod in the front end connection of upper connecting rod, the lower end connection lower link of middle connecting rod Front end, the rear end of lower link and the Athey wheel support axis connection positioned at front；Two groups of linkages are symmetrical set in crawler belt Internal both sides, two upper connecting rods are connected with the junction of middle connecting rod by driven shaft, the junctions of two middle connecting rods and lower link by Connecting rod shaft is connected, and upper connecting rod and lower link respectively have that one end and the car body module are mutually hinged, upper connecting rod, middle connecting rod, under Connecting rod and car body module form quadric chain；An Athey wheel is mounted on the outside of the hinged place of quadric chain, Totally ten Athey wheels, ten Athey wheels support crawler belt；Timing belt is installed in parallel among two groups of linkages, in track drive system One synchronous pulley is installed respectively, two synchronous pulleys pass through synchronous band connection on the output shaft and driven shaft of system；On two On connecting rod, and between two synchronous pulleys, two limiting brackets are installed along perpendicular to car body moving direction；

Two driven wheel systems are left and right symmetrically arranged, and each driven wheel system includes driven wheel support, driven pulley and follower shaft, On the upper end of driven wheel support is fixedly mounted on the outside of the middle part of upper connecting rod, the bottom of driven wheel support is connected by follower shaft There is driven pulley, a spring stack is separately installed with driven wheel support and the car body module, two spring stacks pass through connecting rod Back-moving spring links together.

2. the wheel-track combined type of mono-track according to claim 1 can passive adaptive robot moving platform, its Being characterised by the car body cover plate includes back side panel, left side plate, bottom plate, front side board and upper cover plate, back side panel, left side plate, Bottom plate, front side board and upper cover plate form closing space；Two active wheel drive systems are left and right symmetrically arranged on bottom plate, Mei Gezhu Driving wheel drive system includes driver motor, active wheel decelerator, electric machine support, drive sprocket axle and bevel gear, driving wheel electricity Machine is connected with active wheel decelerator, and is fixed on by electric machine support on bottom plate；Described drive sprocket axle one end passes through left and right side Side plate, the other end is provided with a bevel gear, and drive sprocket axle is located at the rear portion of active wheel decelerator；On active wheel decelerator One bevel gear is also installed, two bevel gears are meshed；

The caterpillar drive system include crawler belt motor, crawler belt decelerator, motor support plate, small crossed helical gears, it is big staggeredly Axis helical teeth wheel and driving shaft, crawler belt motor are connected with crawler belt decelerator, and in motor support plate, the motor support Plate is located at the rear of drive sprocket axle, and motor support plate forms a closing sky with upper cover plate, bottom plate, front side board and left side plate Between, crawler belt motor and crawler belt decelerator are sealed in inside；The crawler belt motor is oblique by the big alternating axis of crawler belt decelerator connection Gear, the big crossed helical gears are located at motor support postlaminar part, and the top of big crossed helical gears is moved along perpendicular to car body Dynamic direction is provided with driving shaft, and small crossed helical gears, small crossed helical gears and the axis helical teeth that interlocks greatly are provided with driving shaft Wheel intermeshing；

Two Athey wheel support shafts are arranged on the front and rear of left side plate lower end, and an Athey wheel support shaft is located at driver motor Front, another Athey wheel support shaft are located at the rear portion of motor support plate.

3. the wheel-track combined type of mono-track according to claim 1 can passive adaptive robot moving platform, its It is characterised by that the tail wheel module includes two tail wheel brackets, two tail wheels, two tail wheel bars, tail wheel connecting shaft, spring shaft, tail Take turns support shaft, limit shaft and tail wheel back-moving spring；Each tail wheel bracket one end is fixedly mounted on the rear portion of car body module, the other end Reached outside the crawler belt by bending, while be connected with tail wheel bar；The junction of two tail wheel bars and tail wheel bracket passes through tail Wheel connection axis connection, and short limit shaft is housed on tail wheel bar, in the stopper slot on prominent one end insertion tail wheel bracket；At two Two spring shafts are separately installed between tail wheel bracket and two tail wheel bars, right angle setting tail wheel resets bullet between two spring shafts Spring；Tail wheel support shaft is installed in the end of two tail wheel bars, two tail wheels are installed at the both ends of tail wheel support shaft.