CN208021568U - Double-track robot mobile platform - Google Patents
Double-track robot mobile platform Download PDFInfo
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- CN208021568U CN208021568U CN201820254923.3U CN201820254923U CN208021568U CN 208021568 U CN208021568 U CN 208021568U CN 201820254923 U CN201820254923 U CN 201820254923U CN 208021568 U CN208021568 U CN 208021568U
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Abstract
Double-track robot mobile platform, including moving body and two pedrail mechanisms, moving body is interior to be equipped with the power source that power is provided to pedrail mechanism, and each pedrail mechanism includes drive sprocket, driven sprocket, link mechanism and crawler belt item；Link mechanism includes several linkage units and spring, each linkage unit is made of pin, first connecting rod, second connecting rod and third connecting rod, and in each linkage unit, the upper end of first connecting rod is equipped with carrier wheel, the lower end of second connecting rod is equipped with bogie wheel, on pin, the end of third connecting rod is connect with the pin in the linkage unit being disposed adjacent by spring the upper end compound hinged of the head end of third connecting rod, the lower end of first connecting rod and second connecting rod；The end of third connecting rod in the linkage unit being disposed adjacent with drive sprocket is connect with pin set in addition by spring.The utility model can realize single dimension, the barrier obstacle detouring on non-flat forms wall surface, the movement on curved wall.
Description
Technical field
The utility model is related to crawler belt technical fields, and in particular to a kind of double-track robot mobile platform.
Background technology
Currently, the mobile mechanism of robot there are many form, include mainly wheeled locomotion mechanism, Tui Shi mobile mechanisms and
Crawler-type mobile mechanism.Wheeled locomotion mechanism is mainly used in the good condition of the state of ground, the high operational efficiency of movement speed
Height, it is simple in structure, but cross-country power is not strong；The advantage of Tui Shi mobile mechanisms is the good traffic capacity on rugged road surface,
Speed is not high, complicated, and capacity usage ratio is relatively low；Crawler-type mobile synthesis of mechanism leg formula and wheeled feature, both had
There is higher movement speed, and possesses superior obstacle performance.
In the prior art, the caterpillar robot generated according to crawler belt comes into being, and the application neck of caterpillar type robot
Domain constantly expands, from security monitoring, fire-fighting, search and rescue, the delivery etc. in civil field, to cave, anti-terrorism, row in military field
Quick-fried, building exploration, clearance, barrier-breaking, biochemical war agent detection etc., the mankind are higher and higher for the application demand of caterpillar robot.
Currently, complex applied to the mobile robot structure employed in military field, cost is higher, is not suitable for civilian neck
Domain.
Utility model content
The purpose of this utility model is to provide a kind of double-track robot mobile platform, and structure is relatively easy, and cost is relatively low,
It can be suitable for the load operation of civil field.
The utility model technical solution used for the above purpose is：Double-track robot mobile platform, including
Moving body and the pedrail mechanism for being symmetrically mounted on moving body opposite sides, interior be equipped with to pedrail mechanism offer of moving body are moved
The power source of power, each pedrail mechanism are set in drive sprocket including drive sprocket, driven sprocket, link mechanism and closed loop
With the crawler belt item outside driven sprocket；The link mechanism includes several linkage units and spring, and each linkage unit is by pin
Nail, first connecting rod, second connecting rod and third connecting rod composition, and in each linkage unit, wherein the upper end rotation peace of first connecting rod
Equipped with the carrier wheel being supported on crawler belt item, the lower end of second connecting rod is rotatablely equipped with the bogie wheel being supported on crawler belt item, the
The upper end compound hinged of the head end of three-link, the lower end of first connecting rod and second connecting rod is on pin, the end of third connecting rod
It is connect by spring with the pin in the linkage unit being disposed adjacent；Wherein, in the linkage unit being disposed adjacent with drive sprocket
Third connecting rod end and moving body in pin set in addition connected by spring.
In the utility model, the moving body includes bottom plate, the top plate being oppositely arranged with bottom plate and for sealing
Multiple side plates of connecting bottom board and top plate side.
Wherein, top plate is equipped with the anti-overturn mechanism extended to outside moving body, and anti-overturn mechanism includes turntable, connection
Frame, spring and universal wheel, turntable are mounted on top plate, and the universal wheel includes wheel fork and the idler wheel on wheel fork,
One end of link is fixed on a spinstand, and the other end of link and the upper end of spring connect, and lower end and the wheel fork of spring connect
It connects.
Further, turntable includes the second motor, rotary shaft and pedestal, and the second motor is fixedly mounted on the upper table of top plate
Face, and one end of the drive shaft of the second motor and rotary shaft is sequentially connected, pedestal is fixed on the other end of rotary shaft, link
One end is fixed on the base；The link includes the head rod being fixedly connected and extend to outside moving body
Two connecting rods, are fixedly connected with the third connecting rod being vertically arranged in the second connecting rod, the lower end of third connecting rod and spring
Upper end connects；Wherein, head rod and the connecting portion of the second connecting rod are located at outside moving body, and are located at moving body
Outer head rod is bent downwards, and idler wheel is made to be generally aligned in the same plane with pedrail mechanism.
In the utility model, power source is the first motor for driving drive sprocket to rotate, and first motor is mounted on bottom
On plate, wherein first gear is installed in the drive shaft of first motor, first gear external toothing is provided with second gear, and first
Gear and the flank of tooth of second gear are vertically arranged, and the first fixing axle is vertically connected on the flank of tooth of second gear, and first is solid
Dead axle stretches out outside the side plate of moving body, and drive sprocket is mounted on the end for stretching out the first fixing axle outside side plate, the
Bearing is arranged in one fixing axle, bearing is mounted on the inner wall of side plate.
Wherein, the inner wall of bottom plate is equipped with the second fixing axle, and the second fixing axle is stretched out outside the side plate of moving body, and from
Movable sprocket is mounted on the end for stretching out the second fixing axle outside side plate, is arranged with bearing in the second fixing axle, bearing is mounted on
On the inner wall of side plate.
In the utility model, each pin is vertically fixed on the side plate of moving body.
Wherein, the inner wall of side plate is connected with guide pad, and the guide rod being vertically arranged is slidably connected in guide pad, is stretched
Go out on the guide rod of guide pad upper end and be connected with stop nut, the lower end of guide rod is connected with the side plate that can stretch out moving body
External multistage connecting rod, bogie wheel are rotatably installed in the lower end of multistage connecting rod；And leading between multistage connecting rod and guide pad
Spring is arranged on bar.
Wherein, crawler belt item includes several sequentially connected creeper treads, and creeper tread is square, and a side of creeper tread connects
Connect there are two interior connecting plate, another side connection for being oppositely arranged of creeper tread there are two outside link plate, adjacent track plate it is interior
Connecting plate is hinged by axis pin with outside link plate.
Further, the outer surface of creeper tread is equipped with rubber layer.
Advantageous effect：The utility model can realize single dimension, the barrier Obstacle Negotiation on non-flat forms wall surface, bending
Movement on wall surface；Multistage link mechanism in the utility model, can make pedrail mechanism make crawler belt according to wall surface configuration of surface
Item is fitted tightly on wall surface, and robot running is made more to stablize safety；Meanwhile being connected by spring between each linkage unit,
It can make pedrail mechanism that there is damping, cushioning effect in the process of running.
In the utility model, link mechanism can make to entrust by the setting of each linkage unit, carrier wheel and bogie wheel
Wheel and bogie wheel adaptively adjust the tightness of crawler belt item in the operational process of pedrail mechanism, so that mobile platform is had more preferable
Adaptability.
Wherein, it is connected with the components such as multistage connecting rod on bogie wheel, when pedrail mechanism bottom surface is by external force, passes through guide rod
On spring indirect utilization multistage connecting rod bogie wheel is pressed down on vertically, stop nut prevents the de- of multistage connecting rod again
It falls.
Description of the drawings
Fig. 1 is the schematic diagram of the utility model；
Fig. 2 is the vertical view of Fig. 1；
Fig. 3 is the left view of Fig. 2；
Fig. 4 is the enlarged diagram of pedrail mechanism in Fig. 3；
Fig. 5 is the enlarged diagram of anti-overturn mechanism in Fig. 3；
Fig. 6 is the connection diagram of creeper tread in the utility model；
Fig. 7 is the connection diagram of drive sprocket and first motor in the utility model；
Fig. 8 is the connection diagram of driven sprocket and the second fixing axle in the utility model；
Fig. 9 is the connection diagram of bogie wheel and multistage connecting rod in the utility model.
Reference numeral：1, first motor, 2, first gear, 3, second gear, the 4, first fixing axle；5, moving body, 50,
Bottom plate, 51, top plate, 52, side plate；6, pedrail mechanism, 60, drive sprocket, 61, driven sprocket, 62, crawler belt item, 620, creeper tread,
621, interior connecting plate, 622, outside link plate, 623, rubber layer；7, linkage unit, 70, first connecting rod, 71, second connecting rod, 72,
Three-link, 73, carrier wheel, 74, bogie wheel；8, anti-overturn mechanism, the 80, second motor, 81, rotary shaft, 82, pedestal, 83, connection
Frame, 830, head rod, the 831, second connecting rod, 832, third connecting rod, 84, wheel fork, 85, idler wheel；9, the second fixing axle,
10, pin, 11, spring, 12, bearing, 13, guide pad, 14, guide rod, 15, stop nut, 16, multistage connecting rod, 17, axis pin.
Specific implementation mode
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
The every other embodiment that field those of ordinary skill is obtained without making creative work, belongs to this practicality
Novel protected range.
Double-track robot mobile platform, as shown in Figure 1, Figure 2 and Figure 3, which includes moving body 5 and symmetrical
The power that power is provided to pedrail mechanism 6 is equipped in the pedrail mechanism 6 of 5 opposite sides of moving body, moving body 5
Source.Wherein, moving body 5 include bottom plate 50, the top plate 51 that is oppositely arranged with bottom plate 50 and for seal connecting bottom board 50 and
Multiple side plates 52 of 51 side of top plate.
As shown in Figure 3 and Figure 4, each pedrail mechanism includes drive sprocket 60, driven sprocket 61, link mechanism and closes
Ring set is located at the crawler belt item 62 outside drive sprocket 60 and driven sprocket 61；Link mechanism includes several linkage units 7 and spring,
Each linkage unit 7 is made of pin, first connecting rod 70, second connecting rod 71 and third connecting rod 72, and in each linkage unit 7,
Wherein, the upper end of first connecting rod 70 is rotatablely equipped with the carrier wheel 73 being supported on superposed crawler belt item 62, second connecting rod
71 lower end is rotatablely equipped with the bogie wheel 74 being supported on the crawler belt item 62 of lower part, the head end of third connecting rod 72（That is Fig. 4
The right end of middle third connecting rod）, first connecting rod 70 lower end and second connecting rod 71 upper end compound hinged on pin, third connect
The end of bar 72（That is the left end of third connecting rod in Fig. 4）It is connect by spring with the pin in the linkage unit being disposed adjacent；Its
In, end and the pin set in addition in moving body 5 of the third connecting rod in the linkage unit being disposed adjacent with drive sprocket 60
Nail is connected by spring.As shown in Fig. 2, each pin stretches out pedrail mechanism and is vertically fixed on the side plate 52 of moving body 5.
As shown in Figure 2 and Figure 7, power source is the first motor 1 for driving drive sprocket 60 to rotate, and first motor 1 is logical
It crosses fixed link and fixed seat is mounted on bottom plate 50, wherein first gear 2, the first tooth are installed in the drive shaft of first motor 1
It takes turns 2 external toothings and is provided with second gear 3, the flank of tooth of first gear 2 and second gear 3 is vertically arranged, and the tooth of second gear 3
The first fixing axle 4 is vertically connected on face, the first fixing axle 4 is stretched out outside the side plate 52 of moving body 5, and drive sprocket 60 is pacified
Mounted in the end for stretching out the first fixing axle 4 outside side plate 52, bearing is arranged in the first fixing axle 4, bearing is mounted on side plate
On 52 inner wall.
Wherein, as shown in Figure 2 and Figure 8, the inner wall of bottom plate 50 is equipped with the second fixing axle 9, and the second fixing axle 9 stretches out movement
Outside the side plate 52 of car body 5, and driven sprocket 60 is mounted on the end for stretching out the second fixing axle 9 outside side plate 52, and second is solid
Bearing is arranged on dead axle 9, bearing is mounted on the inner wall of side plate 52.
As shown in Fig. 1, Fig. 3 and Fig. 9, the inner wall of side plate 52 is connected with guide pad 13, is slidably connected in guide pad 13
There is a guide rod 14 being vertically arranged, stretches out and be connected with from guide pad 13 will not to deviate from the guide rod 14 of 13 upper end of guide pad
The lower end of stop nut 15, guide rod 14 is connected with the multistage connecting rod 16 outside the side plate 52 that can stretch out moving body 5, bears a heavy burden
Wheel 74 is rotatably installed in the lower end of multistage connecting rod 16；And it is arranged on the guide rod 14 between multistage connecting rod 16 and guide pad 13
There is spring.Wherein, multistage connecting rod 16 is in inverted L shape structure, and the lower end of multistage connecting rod 16 is connected with axis pin, makes multistage connecting rod 16 and is somebody's turn to do
Axis pin constitutes similar " Z " font structure, bogie wheel 74 and is rotatably installed on the axis pin and does not deviate from.
In the utility model, near connection first connecting rod, second connecting rod and the third connecting rod of the linkage unit of driving wheel
The other end of pin pin that moving body is connected to by spring and one end be connected；And in each linkage unit, connection
A multistage connecting rod is welded above the other end of the pin of third connecting rod and bogie wheel.The lower vertical piece connecting rod of multistage connecting rod and heavy burden
It is connect above the end of axis pin, that is, pin of wheel by being weldingly connected, wherein the crosspiece connecting rod of multistage connecting rod passes through moving body
Side plate, and the guide rod being vertically arranged is fixed on its crosspiece connecting rod, guide rod passes through a spring, then passes through and is fixed on side
Guide pad on plate, finally, the upper end of guide rod are connected through a screw thread a stop nut, here guide rod and guide pad it
Between clearance fit, spring can not pass through guide pad through-hole.
As shown in fig. 6, crawler belt item includes several sequentially connected creeper treads 620, creeper tread 620 is square, and crawler belt
There are two interior connecting plate 621, another sides being oppositely arranged of creeper tread 620 to connect there are two outside for a side connection of plate 620
Connecting plate 622, the interior connecting plate 621 and outside link plate 621 of adjacent track plate 620 are hinged by axis pin；As shown in figure 4, crawler belt
The outer surface of plate is equipped with rubber layer 623.Wherein, crawler belt item is formed by two layers, and internal layer is that creeper tread connect the soft of composition with pin
Property link, outer layer is rubber layer, and rubber layer is laid on the surface of internal layer.Flexible pedrail is laid in the driven sprocket of pedrail mechanism
On drive sprocket, when tiling, the gear teeth of drive sprocket and driven sprocket should be inserted into the rectangular apertures between creeper tread.
As shown in Figure 1, Figure 2 and Figure 3, top plate 51 is equipped with the anti-overturn mechanism 8 extended to outside moving body 5, anti-tipping
Mechanism 8 includes turntable, link 83, spring and universal wheel, and turntable is mounted on top plate 51；Universal wheel includes 84 He of wheel fork
This structure of idler wheel 85 on wheel fork 84, universal wheel belongs to existing known technology, and details are not described herein.
As shown in Figure 3 and Figure 5, one end of link 83 is fixed on a spinstand, the other end of link 83 and spring
Upper end connects, and the lower end of spring is connect with wheel fork 84.Turntable includes the second motor 80, rotary shaft 81 and pedestal 82, the second electricity
Machine 80 is fixedly mounted on the upper surface of top plate 51, and the drive shaft of the second motor 80 and one end of rotary shaft 81 are sequentially connected, base
Seat 82 is fixed on the other end of rotary shaft 81, and one end of link 83 is fixed on the pedestal 82.
Wherein, link 83 includes the head rod 830 being fixedly connected and second extended to outside moving body 5 connection
Bar 831, is fixedly connected with the third connecting rod 832 being vertically arranged in the second connecting rod 831, the lower end of third connecting rod 832 with
The upper end of spring in anti-overturn mechanism 8 connects；Wherein, head rod 830 and the connecting portion of the second connecting rod 831 are located at
Outside moving body 5, and the head rod 830 outside moving body 5 is bent downwards, and idler wheel is made to be located at pedrail mechanism
Same plane.The setting of anti-overturn mechanism in the utility model can adjust link 83 and universal wheel by the second motor 80
Relative to the position of moving body 5, meanwhile, universal wheel auxiliary avoids mobile platform from inclining during the motion as support
It turns over.
The mobile platform of the utility model is rear-guard, and at work, the first motor 1 in two pedrail mechanisms passes through engagement
The first gear 2 and second gear 3 of setting drive drive sprocket 60 to work, the crawler belt item 62 that drive sprocket 60 passes through closed ring set
Driven sprocket 61 is driven to work asynchronously, mobile platform starts to move；In its moving process, the universal wheel in anti-overturn mechanism 8
With moving with it, multigroup linkage unit 7 in pedrail mechanism according to surface state adaptively in each linkage unit with pin
Hinge joint rotates, and when pedrail mechanism bottom surface is by external force, it will be born by the spring indirect utilization multistage connecting rod on guide rod 14
Roller 74 presses down on vertically.
Other not described contents of the utility model belong to the prior art.
In the description of the present invention, it should be noted that term " upper end ", " lower end ", " lower section ", "left", "right",
The orientation or positional relationship of the instructions such as "vertical" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description originally
Utility model and simplified description, do not indicate or imply the indicated device or element must have a particular orientation, with specific
Azimuth configuration and operation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", "
Three " are used for description purposes only, and are not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can be specific
Situation understands the concrete meaning of above-mentioned term in the present invention.
Claims (10)
1. double-track robot mobile platform, including moving body and the tracked machine for being symmetrically mounted on moving body opposite sides
Structure, moving body is interior to be equipped with the power source that power is provided to pedrail mechanism, it is characterised in that：Each pedrail mechanism includes actively
Sprocket wheel, driven sprocket, link mechanism and closed loop are set in the crawler belt item outside drive sprocket and driven sprocket；
The link mechanism includes several linkage units and spring, and each linkage unit is connected by pin, first connecting rod, second
Bar and third connecting rod composition, and in each linkage unit, wherein the upper end of first connecting rod, which is rotatablely equipped with, to be supported on crawler belt item
Carrier wheel, the lower end of second connecting rod is rotatablely equipped with the bogie wheel being supported on crawler belt item, and the head end of third connecting rod, first connect
The lower end of bar and the upper end compound hinged of second connecting rod are on pin, the end of third connecting rod and the linkage unit being disposed adjacent
In pin connected by spring；Wherein, the end of the third connecting rod in the linkage unit being disposed adjacent with drive sprocket and shifting
Pin set in addition is connected by spring in motor vehicles bodies.
2. double-track robot mobile platform according to claim 1, it is characterised in that：The moving body includes bottom
Plate, the top plate being oppositely arranged with bottom plate and multiple side plates for sealing connecting bottom board and top plate side.
3. double-track robot mobile platform according to claim 2, it is characterised in that：Top plate is equipped with to moving body
The anti-overturn mechanism of outer extension, anti-overturn mechanism include turntable, link, spring and universal wheel, and turntable is mounted on top plate
On, the universal wheel includes wheel fork and the idler wheel on wheel fork, and one end of link is fixed on a spinstand, link
The other end and spring upper end connect, the lower end of spring is connect with wheel fork.
4. double-track robot mobile platform according to claim 3, it is characterised in that：The turntable includes second
Motor, rotary shaft and pedestal, the second motor are fixedly mounted on the upper surface of top plate, and the drive shaft of the second motor and rotary shaft
One end is sequentially connected, and pedestal is fixed on the other end of rotary shaft, and one end of link is fixed on the base；The link
Including the head rod being fixedly connected and the second connecting rod extended to outside moving body, it is fixedly connected in the second connecting rod
The third connecting rod being vertically arranged, the lower end of third connecting rod and the upper end of spring connect；Wherein, head rod and second connects
The connecting portion of extension bar is located at outside moving body, and the head rod outside moving body is bent downwards, makes idler wheel
It is generally aligned in the same plane with pedrail mechanism.
5. double-track robot mobile platform according to claim 2, it is characterised in that：The power source is for band
The first motor of dynamic drive sprocket rotation, first motor are mounted on bottom plate, wherein the is equipped in the drive shaft of first motor
One gear, first gear external toothing are provided with second gear, and the flank of tooth of first gear and second gear is vertically arranged, and second
The first fixing axle is vertically connected on the flank of tooth of gear, the first fixing axle is stretched out outside the side plate of moving body, and drive sprocket
Mounted on the end for stretching out the first fixing axle outside side plate, bearing is arranged in the first fixing axle, bearing is mounted on side plate
On inner wall.
6. double-track robot mobile platform according to claim 2, it is characterised in that：The inner wall of bottom plate is equipped with second
Fixing axle, the second fixing axle are stretched out outside the side plate of moving body, and driven sprocket is mounted on second stretched out outside side plate and consolidates
The end of dead axle, bearing is arranged in the second fixing axle, and bearing is mounted on the inner wall of side plate.
7. double-track robot mobile platform according to claim 2, it is characterised in that：Each pin is vertically fixed on shifting
On the side plate of motor vehicles bodies.
8. double-track robot mobile platform according to claim 2, it is characterised in that：The inner wall of side plate is connected with guiding
Block is slidably connected with the guide rod being vertically arranged in guide pad, stretches out on the guide rod of guide pad upper end and is connected with limit
Nut, the lower end of guide rod are connected with the multistage connecting rod that can be stretched out outside the side plate of moving body, and bogie wheel is rotatably installed in
The lower end of multistage connecting rod；And it is arranged with spring on the guide rod between multistage connecting rod and guide pad.
9. double-track robot mobile platform according to claim 1, it is characterised in that：The crawler belt item includes several
A sequentially connected creeper tread, creeper tread are square, and a side connection of creeper tread, there are two interior connecting plate, creeper tread is another
There are two outside link plate, the interior connecting plate of adjacent track plate is cut with scissors with outside link plate by axis pin for a side connection being oppositely arranged
It connects.
10. double-track robot mobile platform according to claim 9, it is characterised in that：The outer surface of creeper tread is equipped with
Rubber layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820254923.3U CN208021568U (en) | 2018-02-13 | 2018-02-13 | Double-track robot mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820254923.3U CN208021568U (en) | 2018-02-13 | 2018-02-13 | Double-track robot mobile platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208021568U true CN208021568U (en) | 2018-10-30 |
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ID=63904900
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820254923.3U Expired - Fee Related CN208021568U (en) | 2018-02-13 | 2018-02-13 | Double-track robot mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208021568U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112303435A (en) * | 2020-10-14 | 2021-02-02 | 常留喜 | Geological prospecting machine |
-
2018
- 2018-02-13 CN CN201820254923.3U patent/CN208021568U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112303435A (en) * | 2020-10-14 | 2021-02-02 | 常留喜 | Geological prospecting machine |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181030 Termination date: 20190213 |