CN207403827U - Co-deflection crawler travel portion and with its robot moving platform - Google Patents
Co-deflection crawler travel portion and with its robot moving platform Download PDFInfo
- Publication number
- CN207403827U CN207403827U CN201721397583.1U CN201721397583U CN207403827U CN 207403827 U CN207403827 U CN 207403827U CN 201721397583 U CN201721397583 U CN 201721397583U CN 207403827 U CN207403827 U CN 207403827U
- Authority
- CN
- China
- Prior art keywords
- gear
- connecting rod
- link
- wheel
- deflection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model discloses a kind of co-deflection crawler travel portion and with its robot moving platform, including intermediate deformation driving unit and link-type track unit；Intermediate deformation driving unit includes frame and the fixed shaft gear train being arranged on frame, fixed shaft gear train includes the first gear and second gear that are intermeshed and the number of teeth is identical, the 3rd gear being engaged with is set below first gear, the 4th gear being engaged with is set below second gear, and deformation driving unit is connected with first gear or second gear；Link-type track unit is two, link-type track unit includes first connecting rod, second connecting rod, third connecting rod, Athey wheel and crawler belt, first connecting rod, second connecting rod, third connecting rod and frame form four-bar linkage, Athey wheel is respectively provided in the one side of the both ends of first connecting rod, the both ends of third connecting rod and first connecting rod away from third connecting rod, crawler belt is wound on outside Athey wheel.The utility model has better terrain adaptability and mobility.
Description
Technical field
The utility model is related to a kind of co-deflection crawler travel portion and with its robot moving platform, belong to moving machine
Device robot mechanism technical field.
Background technology
Crawler type walking mechanism has many advantages, such as that terrain adaptability is strong, and obstacle performance is good, is obtained in mobile robot field
Extensive use.In order to obtain better travelling performance, researcher studies deformable crawler type walking mechanism,
Some good technical solutions are also proposed, wheel compound suspension frame is carried out for example, China Mining University proposes a kind of deformation and has
Its mobile platform (application number：201520668899.4), deformation is carried out wheel compound suspension frame and can be passed through according to the needs of landform
Gear type deformation drive component carries out deformation adjustment, so as to change the shape of crawler type walking mechanism, to change crawler belt ground connection shape
Formula, height of C.G. etc. make it have the ability for preferably overcoming obstacle terrain.But such design is needed using two intermeshings
And the gear being connected with track unit, to drive two track unit deformations.So need the pitch line radius of this auxiliary driving gear
Be greater than Athey wheel radius and crawler belt thickness and, just can guarantee two crawler belts is not in collide.And gear teeth tip circle is excessive
Crawler belt can be exceeded, the travelling performance of creeper undercarriage may be affected with ground contact-impact in some state.
Therefore, a kind of rational deformation actuation techniques scheme, is conducive to the raising of robot travelling performance.
The content of the invention
Goal of the invention：To solve the above-mentioned problems, it is proposed that a kind of co-deflection crawler belt that deformation is realized using fixed shaft gear train
Running part and with its robot moving platform.
To achieve these goals, the utility model employs following technical solution：A kind of co-deflection crawler travel portion,
Including intermediate deformation driving unit and link-type track unit；
Intermediate deformation driving unit includes frame and the fixed shaft gear train being arranged on frame and deformation driving unit, dead axle
Train includes contour first gear and second gear, first gear and second gear intermeshing and the number of teeth is identical, the
The lower section of one gear sets the 3rd gear away from second gear one side, and the 3rd gear is intermeshed with first gear, in the second tooth
The lower section of wheel sets fourth gear contour and identical the number of teeth with the 3rd gear away from first gear one side, the 4th gear and the
Two gears are intermeshed, and deformation driving unit includes driving decelerating motor, and driving decelerating motor is connected with drive gear, sliding tooth
Wheel is intermeshed with first gear or second gear；
Link-type track unit is two, and link-type track unit includes first connecting rod, second connecting rod, third connecting rod, shoe
Belt wheel and crawler belt, the first end of the first connecting rod of one of link-type track unit are fixedly connected with the 3rd gear, another
The first end of the first connecting rod of link-type track unit is fixedly connected with the 4th gear, the first end and first connecting rod of second connecting rod
Second end rotation connection, the second end of the first end of third connecting rod and second connecting rod is rotatablely connected, the second end of third connecting rod
It is connected with frame member, in the one side of the both ends of first connecting rod, the both ends of third connecting rod and first connecting rod away from third connecting rod
Athey wheel is respectively provided with, crawler belt is wound on outside Athey wheel.
Further, the frame includes interior plate, outer panel, transverse slat and supporting item, and interior plate and outer panel are set
In transverse slat both sides, it is connected between interior plate and outer panel by supporting item, axle bed is equipped on interior plate and outer panel；Described
One gear, second gear, the gear shaft of the 3rd gear and the 4th gear are arranged on axle bed.
Further, one of Athey wheel of the link-type track unit is as driving wheel, remaining Athey wheel conduct
Driven wheel.
Further, main drive system is further included, main drive system passes through the second flexible element transmission mechanism and one of them
The driving wheel of link-type track unit is connected, and passes through the first flexible element driver between the driving wheel of two link-type track units
Structure is connected.
Further, the lower part of the frame is symmetrical sets two running wheels, and running wheel sets wheel hub electricity
Machine.
Further, the driving wheel of the link-type track unit sets wheel hub motor.
Further, the first gear, second gear, the 3rd gear and the 4th gear are double-deck roller gear, institute
It is worm type of reduction gearing to state driving decelerating motor, and the output shaft both ends of decelerating motor is driven to be equipped with drive gear, two drives
Moving gear is intermeshed respectively with two gears of first gear or second gear.
Including middle car body, above-mentioned co-deflection crawler belt is set in the both sides of middle car body for a kind of robot moving platform
Running part.
Advantageous effect：(1) the co-deflection crawler travel portion structure of the utility model is used, drive link formula track unit becomes
3rd gear of shape and the outer diameter of the 4th gear are not required to, beyond crawler belt, make it have better terrain adaptability and mobility；(2)
The fixed shaft gear train of the deformation driving portion can be improved using double-deck roller gear force-bearing situation and intensity；(3) use
Equally there is the mobile platform in the co-deflection crawler travel portion of the utility model good travelling performance and landform to adapt to
Property.
Description of the drawings
Fig. 1 is the mechanism principle schematic diagram in co-deflection crawler travel portion；
Fig. 2 is structural scheme of mechanism when co-deflection crawler travel portion is in highest order；
Fig. 3 is structural scheme of mechanism when co-deflection crawler travel portion is in lowest order；
Fig. 4 is the stereoscopic schematic diagram in the co-deflection crawler travel portion of an embodiment according to the present utility model；
Fig. 5 is the broken section stereoscopic schematic diagram in the co-deflection crawler travel portion of embodiment illustrated in fig. 4；
Fig. 6 is the mobile platform structure diagram using co-deflection crawler travel portion shown in Fig. 4；
Fig. 7 is the stereoscopic schematic diagram of the robot moving platform of embodiment illustrated in fig. 6；
Fig. 8 is the linkage arrangement of a link-type track unit of embodiment illustrated in fig. 4 and drive part schematic diagram；
Fig. 9 is the structure of another link-type track unit of embodiment illustrated in fig. 4 and drive part schematic diagram；
Figure 10 is the first connecting rod structure diagram of the link-type track unit of embodiment illustrated in fig. 4；
Figure 11 is the broken section structural representation in the co-deflection crawler travel portion of another embodiment according to the present utility model
Figure；
Figure 12 is the stereoscopic schematic diagram of robot moving platform low level shown in Fig. 7 when driving；
Figure 13 is the stereoscopic schematic diagram of a robot moving platform high position shown in Fig. 7 when driving；
Figure 14 is the structure diagram after the portion of co-deflection crawler travel shown in Fig. 4 installation running wheel；
Figure 15 is the deformed view in the portion of co-deflection crawler travel shown in Figure 13；
Schematic diagram when Figure 16 is using the mobile platform running on wheels pattern of co-deflection crawler travel portion shown in Figure 14；
Reference numeral：
100- co-deflection crawler travels portion；200- middle car bodies；
1- intermediate deformation driving units；11- frames；111- interior plates；112- outer panels；113- transverse slats；114- supporting items；
12- fixed shaft gear trains；121- first gears；122- second gears；The 3rd gears of 123-；The 4th gears of 124-；13- deformation drivings are single
Member；131- drives decelerating motor；132- drive gears；14- axle beds；The first axle beds of 141-；The second axle beds of 142-；The 3rd axis of 143-
Seat；
2- link-type track units；21- first connecting rods；211- gear connecting plates；212- inner support transverse slats；Crawler belt under 213-
Take turns support plate；214- outer support transverse slats；215- support side plates；216- supports floor；217- track wheel shafts；22- second connecting rods；
221- side connecting plates；222- middle connecting plates；223- intermediate supports floors；23- third connecting rods；231- intermediate support plates；232-
Connecting lateral plate；24- driven wheels；241- driving wheels；25- crawler belts；
3- the first flexible element transmission mechanisms；31- the first flexible element wheels；32- the second flexible element wheels；The first flexible elements of 33-；
34- flexible element protecting box；
4- the second flexible element transmission mechanisms；The 3rd flexible element wheels of 41-；The 4th flexible element wheels of 42-；The second flexible elements of 43-；
The main drive systems of 5-；51- main drive motors；52- closes bearing block；53- opening bearing blocks；54- hollow main shafts；
55- rolling bearings；56- elastic circlips；57- locking nuts；58- power output shafts；59- babinet connecting seats；
6- running wheels.
Specific embodiment：
Further explanation is done to the utility model below in conjunction with the accompanying drawings.
As shown in Figures 1 to 3, its composition situation is briefly introduced, mainly by co-deflection crawler travel portion according to the present utility model
Including：Intermediate deformation driving unit 1 and link-type track unit 2.
With reference to Fig. 4-Fig. 5, the structure of detailed description intermediate deformation driving unit 1.Specifically, intermediate deformation driving is single
Member 1 includes frame 11, fixed shaft gear train 12, deformation driving unit 13 and axle bed 14, fixed shaft gear train 12, deformation driving unit 13 and axis
Seat 14 is respectively provided on the frame 11.
Frame 11 includes interior plate 111, outer panel 112, transverse slat 113 and supporting item 114, interior plate 111 and outer panel 112
113 both sides of transverse slat are arranged on, are connected between interior plate 111 and outer panel 112 by supporting item 114, wherein transverse slat 113 and support
Part 114 is collectively as intermediate supports portion.Specifically, interior plate 111 and outer panel 112 are equipped with slot and circular hole, transverse slat 113
Both sides are equipped with flange, and 114 both ends of supporting item are fixed on by circular hole among interior plate 111 and outer panel 112,113 both sides of transverse slat
Flange be inserted into two side plates slot in, be finally attached fixation.Axle bed 14 is bolted mounted on interior plate 111
On outer panel 112, axle bed 14 includes the first axle bed 141, the second axle bed 142 and the 3rd axle bed 143.Axle bed 14 is used to support fixed
The gear shaft of axis train 12 enables the gear of fixed shaft gear train 12 to rotate on the frame 11.
Fixed shaft gear train 12 includes contour first gear 121 and second gear 122, first gear 121 and second gear 122
It is intermeshed and the number of teeth is identical, the 3rd gear 123 is set away from 122 one side of second gear in the lower section of first gear 121, the
Three gears 123 are intermeshed with first gear 121, are set and the away from 121 one side of first gear in the lower section of second gear 122
The 4th gear 124 that three gears 123 are contour and the number of teeth is identical, the 4th gear 124 are intermeshed with second gear 122, and first
The gear shaft of gear is arranged on the first axle bed 141, and the gear shaft of second gear is arranged on the 3rd axle bed 143.
Deforming driving unit 13 includes driving decelerating motor 131 and drive gear 132, and driving decelerating motor 131 employs
Worm type of reduction gearing, driving decelerating motor 131 are mounted on by bolt on transverse slat 113, and the gear shaft of drive gear 132 is set
On the second axle bed 142.131 output shaft of decelerating motor and drive gear 132 are driven by key connection, drive gear 132 and the
One gear 121 or second gear 122 are intermeshed, and make the power transmission of driving decelerating motor 131 to fixed shaft gear train 12, for deformation
Power is provided.
First gear 121, second gear 122, the 3rd gear 123, the 4th gear 124 are double-deck roller gear, driving
The output shaft both ends of decelerating motor 131 are equipped with drive gear 132, two drive gears 132 respectively with first gear 121 or the
Two gears intermeshing of two gears 122.In this way, with improving fixed shaft gear train on the whole intensity and force-bearing situation.
The structure composition of link-type track unit 2 is described in detail with reference to Fig. 5,8 and 9.Link-type track unit 2 is two,
Link-type track unit 2 includes first connecting rod 21, second connecting rod 22, third connecting rod 23, Athey wheel and crawler belt 25, one of to connect
The first end of the first connecting rod 21 of rod-type track unit 2 is fixedly connected with the 3rd gear 123, another link-type track unit 2
The first end of first connecting rod 21 be fixedly connected with the 4th gear 124, the of the first end of second connecting rod 22 and first connecting rod 21
Two ends are rotatablely connected, and the first end of third connecting rod 23 is rotatablely connected with the second end of second connecting rod 22, and the second of third connecting rod 23
End is rotatablely connected with frame 11.In this way, first connecting rod 21, second connecting rod 22, third connecting rod 23 form double leval jib machine with frame 11
Structure.
As shown in Figures 1 to 3, in the both ends of first connecting rod 21, the both ends of third connecting rod 23 and first connecting rod 21 away from
The one side of three-link 23 is respectively provided with Athey wheel, and crawler belt 25 is wound on outside Athey wheel.Crawler belt 25 is supportted by above-mentioned five Athey wheels
Pentagon.In addition to above-mentioned five Athey wheels, it can also increase at the middle part of first connecting rod 21, second connecting rod 22 and third connecting rod 23
If additional Athey wheel, as shown in Fig. 4,5,8 and 9, distinguish at the middle part of first connecting rod 21, second connecting rod 22 and third connecting rod 23
An Athey wheel is added, the Athey wheel added equally supports crawler belt 25, but not changes 25 pentagon state of crawler belt.
According to Fig. 4,8,9 and 10, the first connecting rod 21 of link-type track unit 2 is described in detail, second connecting rod the 22, the 3rd connects
The assembling structure of bar 23, first connecting rod 21 include：Gear connecting plate 211, inner support transverse slat 212, lower Athey wheel support plate 213,
Outer support transverse slat 214, support side plate 215 support floor 216, track wheel shaft 217.The top of gear connecting plate 211 is equipped with convex
Edge, middle part are equipped with fluting, and the both ends of inner support transverse slat 212 are equipped with flange, and outer support transverse slat 214 is equipped with multiple flutings, two
The flange insertion outer support transverse slat 214 on 211 top of gear connecting plate leans on the fluting of two close end, and 212 both ends of inner support transverse slat
211 middle part of flange insertion gear connecting plate fluting, then linked together by the modes such as welding；Two lower Athey wheel branch
The top of fagging 213 is equipped with flange, and insertion outer support transverse slat 214 is in intermediate fluting, by being welded and fixed；Two supports
The end of side plate 215 is equipped with flange, and centre is equipped with 3 flutings, supports among the both ends insertion support side plate 215 of floor 216
In fluting, in the corresponding fluting of the flange of 215 end of support side plate insertion outer support transverse slat 214, finally by being welded and fixed；It is more
A track wheel shaft 217 is welded in corresponding support plate, and Athey wheel is separately mounted on track wheel shaft 217.
Likewise, second connecting rod 22 includes side connecting plate 221, middle connecting plate 222, intermediate supports floor 223, two sides
Connecting plate 221 and middle connecting plate 222 are internally provided with multiple flutings, and the both ends of intermediate supports floor 223 are equipped with flange, are filling
Timing, two side connecting plates 221 and middle connecting plate 222 are placed in parallel, and the flange insertion at 223 both ends of intermediate supports floor is corresponding
Fluting in, then weld together；Third connecting rod 23 includes intermediate support plate 231 and connecting lateral plate 232, intermediate support plate
The flange at 231 both ends is inserted into the fluting of two connecting lateral plates 232, is fixedly connected finally by the methods of welding.
As shown in Fig. 4,5 and 8, one of Athey wheel of the link-type track unit 2 as driving wheel 241, remaining
Athey wheel is as driven wheel 24.
Through the above technical solutions, deformation driving unit 13 drives fixed shaft gear train 12 to move, fixed shaft gear train 12 drives connecting rod
Formula track unit 2 deforms.Specifically, the 3rd gear 123 of fixed shaft gear train 12, the 4th gear 124 respectively with two connecting rods
Formula deformed caterpillar unit 2 is connected, and first gear 121 and second gear 122 engage, and first gear 121 is nibbled with the 3rd gear 123
It closes, second gear 122 is engaged with the 4th gear 124；Deform the drive gear 132 of driving unit 13 and first gear 121 or the
Two gears 122 are meshed, and drive gear 132, which rotates, acts driving fixed shaft gear train 12, the 3rd gear 123 and the 4th gear 124
Two link-type track units 2 of driving deform.Using this technical solution, the 3rd gear 123 and the 4th gear 124 avoid phase
Mutually engagement, therefore its tip diameter can be smaller, can thus avoid exceeding crawler belt.Because link-type track unit 2
First connecting rod 21, second connecting rod 22, third connecting rod 23 and frame 11 form quadric chain, the 3rd gear 123 and the 4th gear
124 are fixedly connected respectively with the first connecting rod of two link-type track units 2 21, therefore the 3rd gear 123 and the 4th gear 124
When synchronous backward rotates, two first connecting rods 21 will be driven to act, so as to which quadric chain be driven to deform, and then drive link-type
Track unit 2 deforms.
With reference to Fig. 5,6,8 and 9, the co-deflection crawler travel portion of the utility model further includes main drive system 5, main drive
Dynamic system 5 is connected by the second flexible element transmission mechanism 4 with the driving wheel 241 of one of link-type track unit 2, two companies
It is connected between the driving wheel 241 of rod-type track unit 2 by the first flexible element transmission mechanism 3.Specifically, the first flexible element is driven
Mechanism 3 includes the first flexible element wheel 31, the second flexible element wheel 32, the first flexible element 33 and flexible element protecting box 34；Second is flexible
Part transmission mechanism 4 includes the 3rd flexible element wheel 41, the 4th flexible element wheel 42, the second flexible element 43；Main drive system 5 includes main drive
Dynamic motor 51, closing bearing block 52, opening bearing block 53, hollow main shaft 54, rolling bearing 55, elastic circlip 56, locking nut
57th, power output shaft 58 and babinet connecting seat 59.
Specifically, the first flexible element wheel 31, the second flexible element wheel 32, the 3rd flexible element wheel 41 and the 4th flexible element wheel 42 are
For sprocket wheel, the first flexible element 33 and the second flexible element 43 are chain.
According to one of link-type track unit 2 shown in Fig. 8, fixation is bolted in two opening bearing blocks 53
On the frame 11, one of gear of 211 and the 3rd gear 123 of a gear connecting plate of first connecting rod 21 is connected by bolt
It connects and is fixed together, be integrally sleeved on the neck of opening bearing block 53, elastic circlip 56 limits its axial displacement, likewise, separately
The entirety that composition is bolted in another gear of one 211 and the 3rd gear 123 of gear connecting plate is sleeved on opening bearing
On the neck of seat 53, in this way, the entirety of 21 and the 3rd gear 123 of first connecting rod composition can be around two fixed on the frame 11
The neck rotation of bearing block, two rolling bearings 55 are separately mounted in opening bearing block 53, the both ends of hollow main shaft 54 and rolling
The inner ring cooperation of dynamic bearing 55, rolling bearing 55 can carry out /V with the shaft shoulder and bearing seating shoulder, and driving wheel 241 passes through key connection
The middle part of hollow main shaft 54 is fixed on, the shaft shoulder and elastic circlip 56 limit its axial displacement, the second flexible element transmission mechanism 4
The 4th flexible element wheel 42 one end of hollow main shaft 54 is fixed on by key connection, limited by locking nut 57 and the shaft shoulder
Position.First flexible element wheel 31 of the first flexible element transmission mechanism 3 is fixed on the other end of hollow main shaft 54 by key connection, equally
/V is carried out by locking nut 57 and the shaft shoulder.
According to Fig. 9, another link-type track unit 2 also using similar assembling structure, carry out by another link-type
The entirety of 21 and the 4th gear 124 of the first connecting rod composition of tape cell 2 can also be around fixed closing bearing block on the frame 11
52 and the neck rotation of opening bearing block 53, two rolling bearings 55 are separately mounted to closing bearing block 52 and opening bearing block 53
In, the both ends of hollow main shaft 54 coordinate with the inner ring of rolling bearing 55, and rolling bearing 55 can be carried out with the shaft shoulder and bearing seating shoulder
/V, driving wheel 241 are fixed on the middle part of hollow main shaft 54 by key connection, and the shaft shoulder and elastic circlip 56 limit its axial direction
Displacement, the second flexible element wheel 32 of the first flexible element transmission mechanism 3 are fixed on one end of hollow main shaft 54 by key connection, and first
Flexible element 33 is wound on the first flexible element wheel 31 and the second flexible element wheel 32.
According to Fig. 5,6,8 and 9, the main driving process of detailed description link-type track unit 2.Middle car body 200 and double changes
Shape crawler travel portion 100 is fixed together by babinet connecting seat 59, and main drive motor 51 is located in middle car body 200
Portion, the 3rd flexible element wheel 41 of 58 and second flexible element transmission mechanism 4 of power output shaft are fixed by key connection.Main driving electricity
Machine 51 rotates, and the 3rd flexible element wheel 41 of the second flexible element transmission mechanism 4 of driving rotates, by the transmission of the second flexible element 43,
The 4th flexible element wheel 42 is driven to rotate, and then hollow main shaft 54 is driven to rotate, it is final that driving wheel 241 is driven to rotate, and two
It is driven between the driving wheel 241 of link-type track unit 2 using the first flexible element transmission mechanism 3, in this way, a driving motor 51
With regard to that can drive the driving wheel 241 of two link-type track units 2 while rotate.
With reference to Figure 11, can also wheel hub be set on the driving wheel 241 of the link-type track unit 2 of the utility model
Motor, its main feature is that driving force can be provided alone, the driving wheel 241 of two link-type track units 2 is equipped with wheel hub motor,
In this way, two link-type track units 2 can be carried out independent driving.During the motion, intermediate deformation driving unit 1 is as above
It states shown in scheme, the deformation of controls connecting rod formula track unit 2, and in terms of the main driving of link-type track unit 2, hub motor type
Driving wheel 242 can carry out independent driving, save main drive system 5, the first flexible element transmission mechanism 3 and the second flexible element
Transmission mechanism 4 enormously simplifies the complexity of transmission mechanism, is arranged so, and makes complete machine more maneuverability.
Figure 12 and 13 is the deformation state schematic diagram of co-deflection crawler travel portion robot moving platform.It is mobile in Figure 12
The center of gravity of platform is relatively low, can obtain higher stability, the tilting section crawler belt in co-deflection crawler travel portion is most, convenient for ascending one
A little complicated obstacles, such as stair, step and gully etc., obstacle climbing ability are more prominent.In Figure 13, the co-deflection of the utility model
The ground contact length in crawler travel portion is smaller, and convenient for turning to, center of gravity is higher at this time, can pass through some short barriers.
As shown in figure 14, can also be passed retaining main drive system 5, the first flexible element transmission mechanism 3 and the second flexible element
On the basis of motivation structure 4, in two running wheels 6 of the symmetrical setting in the lower part of the frame 11, running wheel 6 sets wheel
Hub motor.
As shown in figs, after co-deflection crawler travel portion installation running wheel 6, by deformation, wheel can be switched to
Formula walking mode on flat ground when driving, can greatly speed up translational speed, simultaneously as its center of gravity is very low, be convenient for
It is moved in some narrow short passages.
In addition, the utility model also proposed a kind of robot moving platform, as shown in fig. 7, comprises 200 He of middle car body
Two above-mentioned co-deflection crawler travel portions 100.Because employ the co-deflection crawler travel portion, the mobile platform
With good travelling performance and terrain adaptability.
It has been the prior art for other compositions of mobile platform, robot and other movement equipment, and has been this field
It is well-known to the ordinarily skilled artisan, therefore be not described in detail.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model principle is not departed from, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the scope of protection of the utility model.
Claims (8)
1. a kind of co-deflection crawler travel portion, which is characterized in that including intermediate deformation driving unit (1) and link-type track unit
(2)；
Intermediate deformation driving unit (1) includes frame (11) and the fixed shaft gear train (12) being arranged on frame (11) and deformation is driven
Moving cell (13), fixed shaft gear train (12) include contour first gear (121) and second gear (122), first gear (121) and
Second gear (122) is intermeshed and the number of teeth is identical, in the lower section of first gear (121) away from second gear (122) one side
3rd gear (123) is set, and the 3rd gear (123) is intermeshed with first gear (121), in the lower section of second gear (122)
The 4th contour with the 3rd gear (123) and identical number of teeth gear (124) of separate first gear (121) one side setting, the 4th
Gear (124) is intermeshed with second gear (122), and deformation driving (13) unit includes driving decelerating motor (131), and driving subtracts
Speed motor (131) is connected with drive gear (132), drive gear (132) and first gear (121) or second gear (122) phase
Mutually engagement；
Link-type track unit (2) is two, and link-type track unit (2) includes first connecting rod (21), second connecting rod (22), the
Three-link (23), Athey wheel and crawler belt (25), the first end of the first connecting rod (21) of one of link-type track unit (2) with
3rd gear (123) is fixedly connected, first end and the 4th gear of the first connecting rod (21) of another link-type track unit (2)
(124) it is fixedly connected, the first end of second connecting rod (22) is rotatablely connected with the second end of first connecting rod (21), third connecting rod (23)
The second end of first end and second connecting rod (22) be rotatablely connected, the second end of third connecting rod (23) is rotated with frame (11) to be connected
It connects, in the both ends of first connecting rod (21), the both ends of third connecting rod (23) and first connecting rod (21) away from third connecting rod (23)
One side is respectively provided with Athey wheel, and crawler belt (25) is wound on outside Athey wheel.
2. co-deflection crawler travel portion according to claim 1, it is characterised in that：The frame (11) includes interior plate
(111), outer panel (112), transverse slat (113) and supporting item (114), interior plate (111) and outer panel (112) are arranged on transverse slat
(113) both sides are connected between interior plate (111) and outer panel (112) by supporting item (114), interior plate (111) and outer panel
(112) axle bed (14) is equipped on；The first gear (121), second gear (122), the 3rd gear (123) and the 4th gear
(124) gear shaft is arranged on axle bed (14).
3. co-deflection crawler travel portion according to claim 1, it is characterised in that：The link-type track unit (2)
One of Athey wheel is as driving wheel (241), remaining Athey wheel is as driven wheel (24).
4. co-deflection crawler travel portion according to claim 3, it is characterised in that：Further include main drive system (5), main drive
Dynamic system (5) passes through the second flexible element transmission mechanism (4) and driving wheel (241) phase of one of link-type track unit (2)
Even, it is connected between the driving wheel (241) of two link-type track units (2) by the first flexible element transmission mechanism (3).
5. co-deflection crawler travel portion according to claim 4, it is characterised in that：Lower part of the frame (11) or so pair
Two running wheels (6) of setting of title, running wheel (6) set wheel hub motor.
6. co-deflection crawler travel portion according to claim 3, it is characterised in that：The link-type track unit (2)
Driving wheel (241) sets wheel hub motor.
7. co-deflection crawler travel portion according to claim 1, it is characterised in that：The first gear (121), the second tooth
It is double-deck roller gear to take turns (122), the 3rd gear (123) and the 4th gear (124), and the driving decelerating motor (131) is
Worm type of reduction gearing, the output shaft both ends of driving decelerating motor (131) are equipped with drive gear (132), two drive gears
(132) it is intermeshed respectively with two gears of first gear (121) or second gear (122).
8. a kind of robot moving platform, it is characterised in that：Including middle car body (200), set in the both sides of middle car body (200)
Put the co-deflection crawler travel portion (100) described in any one in claim 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721397583.1U CN207403827U (en) | 2017-10-26 | 2017-10-26 | Co-deflection crawler travel portion and with its robot moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721397583.1U CN207403827U (en) | 2017-10-26 | 2017-10-26 | Co-deflection crawler travel portion and with its robot moving platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207403827U true CN207403827U (en) | 2018-05-25 |
Family
ID=62407952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721397583.1U Active CN207403827U (en) | 2017-10-26 | 2017-10-26 | Co-deflection crawler travel portion and with its robot moving platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207403827U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600200A (en) * | 2017-10-26 | 2018-01-19 | 中国矿业大学 | Co-deflection crawler travel portion and there is its robot moving platform |
-
2017
- 2017-10-26 CN CN201721397583.1U patent/CN207403827U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600200A (en) * | 2017-10-26 | 2018-01-19 | 中国矿业大学 | Co-deflection crawler travel portion and there is its robot moving platform |
| CN107600200B (en) * | 2017-10-26 | 2024-03-15 | 中国安全生产科学研究院 | Double-deformation crawler belt walking part and robot moving platform with same |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1104349C (en) | Carrier stanchion with in-built lifting means and carrier assembly consisting of at least pair of stanchions functionally linked | |
| CN106368464B (en) | The sliding avoidance needless type stereoscopic garage of one kind rotation | |
| CN107128390B (en) | Leg wheel hybrid robot | |
| CN205971581U (en) | Rackwork warp shock attenuation walking portion and has its fire control moving platform | |
| CN107816238A (en) | Broach elevating and telescopic type intelligent carrier | |
| CN108327809B (en) | Double-track robot moving platform | |
| CN105216611A (en) | Controlled differential balance device and there is its mobile platform | |
| CN207403827U (en) | Co-deflection crawler travel portion and with its robot moving platform | |
| US9737149B2 (en) | Height adjustable bed framework with a lift chain and a planetary gear train | |
| CN103010325A (en) | Convertible walking mechanism of robot | |
| CN202568665U (en) | Stair climbing and traveling full-automatic electric wheelchair | |
| CN107600200A (en) | Co-deflection crawler travel portion and there is its robot moving platform | |
| CN201257075Y (en) | Anti-slip speed changer | |
| CN103184804A (en) | Downward running mechanism of liftable, rotary and movable stereoscopic parking equipment | |
| CN214138740U (en) | A multipurpose swing arm formula track removes chassis for complicated road surface | |
| CN215515238U (en) | Linkage type sixteen-wheel four-way shuttle | |
| CN213311007U (en) | Wheeled chair with planet wheel type structure for helping old people to climb stairs | |
| CN107974948A (en) | A kind of new flow type bridge erecting machine | |
| CN210653080U (en) | Self-propelled wheel rail tooth rail transportation flat car | |
| CN208584124U (en) | A kind of welding robot walking mechanism | |
| CN2571930Y (en) | Rotary double-layer garage | |
| CN219983242U (en) | Multifunctional wheelchair | |
| CN208021568U (en) | Double-track robot mobile platform | |
| CN202782681U (en) | Series compensation device inspection robot mechanism | |
| CN113602406A (en) | Harmonic gear type balance transport vehicle for mountain terraced road |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |