CN209351487U - A kind of passive adaptive caterpillar robot mobile platform - Google Patents
A kind of passive adaptive caterpillar robot mobile platform Download PDFInfo
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- CN209351487U CN209351487U CN201822008614.0U CN201822008614U CN209351487U CN 209351487 U CN209351487 U CN 209351487U CN 201822008614 U CN201822008614 U CN 201822008614U CN 209351487 U CN209351487 U CN 209351487U
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- 230000002146 bilateral effect Effects 0.000 claims description 5
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Abstract
The utility model is a kind of passive adaptive caterpillar robot mobile platform, including the passive adaptive track module of robot body module, sprung suspension module and two；Each passive adaptive track module includes: crawler belt, transmission shaft, driving wheel, multipair Athey wheel, multiple hydraulic damper and crawler belt wheel support, two pieces of creeper treads；Multipair Athey wheel and driving wheel support crawler belt, and the shape positioned at two crawler belt wheel supports at both ends is identical, and it is identical to be located in the middle crawler belt wheel support shape；Crawler belt wheel support positioned at both ends is in " y " font, and being located in the middle crawler belt wheel support is " 1 " font, and the center of effort of each " 1 " font bracket and " y " font bracket passes through hydraulic damper connecting band track plate；The hydraulic damper is mounted between two creeper treads by corresponding axis；Driving wheel is installed by transmission shaft and corresponding bearing in upper end in the middle part of two creeper treads.The platform can adapt to complicated landform held stationary traveling.
Description
Technical field
The utility model relates to robot moving platform technical field, specially a kind of passive adaptive caterpillar robot
Mobile platform.
Background technique
Existing passive adaptive caterpillar robot research has: publication No. are as follows: the Chinese patent of CN107651030A discloses
A kind of buffering built in driving shakes tracked mobile platform and the robot with it, adopts on buffer-type differential balance device
With buffer unit, impact and vibration when crawler belt breaks the barriers are alleviated well, ensure that the electrical system of robot
Stable operation.But its barrier during obstacle detouring is easy to block between its first track unit and the second track unit, can
Robot can be made to be trapped in operating environment.
Utility model content
In view of the deficiencies of the prior art, the technical issues of the utility model intends to solve is to provide a kind of passive adaptive
Caterpillar robot mobile platform.The mobile platform has passive adaptive ability, can adapt to complicated landform held stationary row
It sails, there is stronger obstacle climbing ability and resistance to capsizing.
The utility model solve the technical problem the technical solution adopted is that: a kind of passive adaptive tracked machine is provided
Device people's mobile platform, including the passive adaptive track module of robot body module, sprung suspension module and two；Two passive
Adaptive track module is symmetrically mounted on the two sides of robot body module, and passive adaptive by two by sprung suspension module
Track module and robot body module is answered to link together；It is characterized in that,
The robot body module includes: robot control cabinet, car body and two motors, transmission belt, motor installation
Frame, gear one, gear two；
Two motors pass through corresponding motor mounting rack respectively and are left and right symmetrically arranged in car body；The output shaft of each motor
It is mounted on gear one, gear one is connected with gear two by corresponding transmission belt；Robot control cabinet is mounted on by screw
On the corresponding position of car body；
Each passive adaptive track module includes: crawler belt, transmission shaft, driving wheel, multipair Athey wheel, multiple hydraulic subtracts
Shake device and crawler belt wheel support, two pieces of creeper treads；
Multipair Athey wheel and driving wheel support crawler belt, the shape positioned at two crawler belt wheel supports at both ends is identical, are located at
Between crawler belt wheel support shape it is identical；Crawler belt wheel support positioned at both ends is in " y " font, including main branch and branch, branch and master
Angle among branch is 30~60 °, and branch is in a horizontal state when driving for smooth-riding surface, and the both ends of main branch are separately connected a pair of of crawler belt
Wheel, the outside one end of branch by corresponding axis connection two creeper treads lower edge；Being located in the middle crawler belt wheel support is
" 1 " font, through corresponding axis connection on two creeper treads, the other end connects a pair of of Athey wheel for one end of " 1 " font bracket,
" 1 " font bracket and the angle on ground are less than the angle on " y " font bracket between main branch and branch when driving for smooth-riding surface；Often
The center of effort of a " 1 " font bracket and " y " font bracket passes through hydraulic damper connecting band track plate；The hydraulic damper
It is mounted between two creeper treads by corresponding axis；
Driving wheel is installed by transmission shaft and corresponding bearing in upper end in the middle part of two creeper treads；Driving wheel and creeper tread are not
Contact, two creeper treads are connect by corresponding axis and flange with the track frame of sprung suspension module, and the transmission shaft passes through corresponding
Bearing connect with the gear two in robot body module；
The sprung suspension module includes: sideway bar, connecting rod one, horizontal pendulum shaft, two track frames, multiple hydraulic shock-absorptions
Device；
Sideway bar is that symmetrical structure, the middle position of sideway bar are fixed by horizontal pendulum shaft and car body level up and down；
Multiple hydraulic damper bilateral symmetry right angle setting centered on horizontal pendulum shaft, the hydraulic damper lower end positioned at both ends lead to respectively
Corresponding axis connection is crossed on the both ends of sideway bar, upper end is connect with one end of connecting rod one by the way that ball pair is vertical, and connecting rod one connects simultaneously
Connect track frame；The both ends for being located in the middle hydraulic damper are respectively linked together car body and sideway bar by corresponding axis；Institute
Stating track frame has the cavity that can accommodate crawler belt, and track frame covers on the top of crawler belt；Track frame passes through flange and corresponding axis
It holds and is connected with transmission shaft, the lower part of track frame passes through corresponding axis connection creeper tread.
Passive adaptive caterpillar robot mobile platform, including robot body module, sprung suspension module and two
Passive adaptive track module；Two passive adaptive track modules are symmetrically mounted on the two sides of robot body module, and logical
It crosses buffering On Suspension Module two passive adaptive track modules and robot body module link together；It is characterized in that,
The robot body module includes: robot control cabinet, car body and two motors, transmission belt, motor installation
Frame, gear one, gear two；
Two motors pass through corresponding motor mounting rack respectively and are left and right symmetrically arranged in car body；The output shaft of each motor
It is mounted on gear one, gear one is connected with gear two by corresponding transmission belt；Robot control cabinet is mounted on by screw
On the corresponding position of car body；
Each passive adaptive track module includes: crawler belt, transmission shaft, driving wheel, multipair Athey wheel, multiple hydraulic subtracts
Shake device and crawler belt wheel support, two pieces of creeper treads；
Multipair Athey wheel and driving wheel support crawler belt, the shape positioned at two crawler belt wheel supports at both ends is identical, are located at
Between crawler belt wheel support shape it is identical；Crawler belt wheel support positioned at both ends is in " y " font, including main branch and branch, branch and master
Angle among branch is 30~60 °, and branch is in a horizontal state when driving for smooth-riding surface, and the both ends of main branch are separately connected a pair of of crawler belt
Wheel, the outside one end of branch by corresponding axis connection two creeper treads lower edge；Being located in the middle crawler belt wheel support is
" 1 " font, through corresponding axis connection on two creeper treads, the other end connects a pair of of Athey wheel for one end of " 1 " font bracket,
" 1 " font bracket and the angle on ground are less than the angle on " y " font bracket between main branch and branch when driving for smooth-riding surface；Often
The center of effort of a " 1 " font bracket and " y " font bracket passes through hydraulic damper connecting band track plate；The hydraulic damper
It is mounted between two creeper treads by corresponding axis；
Driving wheel is installed by transmission shaft and corresponding bearing in upper end in the middle part of two creeper treads；Driving wheel and creeper tread are not
Contact, two creeper treads are connect by corresponding axis and flange with the track frame of sprung suspension module, and the transmission shaft passes through corresponding
Bearing connect with the gear two in robot body module；
The sprung suspension module includes: sideway bar, connecting rod one, horizontal pendulum shaft, two track frames, multiple hydraulic shock-absorptions
Device；
Sideway bar is that symmetrical structure, the middle position of sideway bar are fixed by horizontal pendulum shaft and car body level up and down；
Multiple hydraulic damper bilateral symmetry right angle setting centered on horizontal pendulum shaft, the hydraulic damper lower end positioned at both ends lead to respectively
Corresponding axis connection is crossed on the both ends of sideway bar, upper end is connect with one end of connecting rod one by the way that ball pair is vertical, and connecting rod one connects simultaneously
Connect track frame；The both ends for being located in the middle hydraulic damper are respectively linked together car body and sideway bar by corresponding axis；Institute
Stating track frame has the cavity that can accommodate crawler belt, and track frame covers on the top of crawler belt；Track frame passes through flange and corresponding axis
It holds and is connected with transmission shaft, the lower part of track frame passes through corresponding axis connection creeper tread.
Compared with prior art, the utility model has the beneficial effects that
1. sprung suspension module slows down robot two by corresponding location arrangements hydraulic damper, allowing to balance
Side hypsography causes robot to roll, and increases the frictional force between crawler belt and road surface to the maximum extent, makes it have preferably
Complicated landform envelope ability has stronger resistance to capsizing.
2. the utility model has passive adaptive ability.Passive adaptive track module is when encountering barrier, obstacle
Object is inputted as extraneous driving force, and crawler belt wheel support one up rotates under force, according to mechanism principle Athey wheel branch
Frame four rotates down.Under the action of hydraulic damper two, hydraulic damper three, crawler belt wheel support two, three and of crawler belt wheel support
Corresponding Athey wheel makes crawler belt keep best rate of tension.In the process, plastic deformation, robot center of gravity liter occur for crawler belt profile
Height can be realized the walking in complex environments such as boss, slope, trenches, across the barrier higher than itself.
3. the ability that the utility model has shock-absorbing energy-absorbing.Each crawler belt wheel support installs a hydraulic damper, often
One passive adaptive track module has the tracked wheel assemblies of four groups of shock-absorbing energy-absorbings, by installing hydraulic shock-absorption in corresponding position
Device can absorb the energy that uneven road surface causes robot vertical to accelerate, crawler belt is made to pitch along road surface
Robot body module is interference-free simultaneously, so that car body is steady, reduces influence of the landform to electric elements in car body.Make to move
Moving platform can be bonded complicated landform smooth-ride.In addition to this, four groups of hydraulic damper can make crawler belt auto-tensioning, guarantee most
Good crawler belt tighting degree.
4. the utility model is using modularized design.The robot of the utility model is by robot body module, quilt
Move adaptive track module, sprung suspension module composition.By modularized design, robot fault mould can be quickly replaced
Block reduces influence of the robot fault to its operation.
Detailed description of the invention
Fig. 1 is the overall structure diagram of passive adaptive caterpillar robot mobile platform；
Fig. 2 is the body module structural schematic diagram of passive adaptive caterpillar robot mobile platform；
Fig. 3 is the passive adaptive track module structural schematic diagram of passive adaptive caterpillar robot mobile platform；
Fig. 4 be passive adaptive caterpillar robot mobile platform passive adaptive track module remove side creeper tread and
Structural schematic diagram after track frame；
Fig. 5 is the schematic perspective view of the sprung suspension module of passive adaptive caterpillar robot mobile platform；
Fig. 6 is hydraulic damper six and connecting rod one in the sprung suspension module of passive adaptive caterpillar robot mobile platform
Schematic cross-sectional view；
Passively adaptive caterpillar robot mobile platform adapts to the smooth landform schematic diagram in side fluctuating side to Fig. 7；
Passively adaptive caterpillar robot mobile platform moves schematic diagram to Fig. 8 on the slope；
Fig. 9 posture changing schematic diagram when passively adaptive caterpillar robot mobile platform passes through boss；
Figure 10 posture changing schematic diagram when passively adaptive caterpillar robot mobile platform passes through trench；
In figure, robot body module 1, passive adaptive track module 2, sprung suspension module 3；Transmission belt 101, motor
Mounting rack 102, motor 103, gear 1, gear 2 105, robot control cabinet 106, car body 107；Crawler belt 201, flange
202, transmission shaft 203, creeper tread 204, Athey wheel 1, hydraulic damper 1, hydraulic damper 2 207, driving wheel
208, hydraulic damper 3 209, hydraulic damper 4 210, Athey wheel 6 211, Athey wheel 5 212, crawler belt wheel support 4 213,
Athey wheel 4 214, crawler belt wheel support 3 215, Athey wheel 3 216, crawler belt wheel support 2 217, Athey wheel 2 218, Athey wheel branch
Frame 1, axis 4 220, axis 5 221；Sideway bar 301, hydraulic damper 5 302, hydraulic damper 6 303, connecting rod 1,
Track frame 305, horizontal pendulum shaft 306, axis 1, axis 2 308, axis 3 309.
Specific embodiment
The utility model is explained further below with reference to examples and drawings, but does not protect model in this, as to the application
The restriction enclosed.
Passively (abbreviation mobile platform includes machine referring to Fig. 1-6) to adaptive caterpillar robot mobile platform to the utility model
The passive adaptive track module 2 of device human body module 1, sprung suspension module 3 and two；Two passive adaptive track modules 2
The two sides of robot body module are symmetrically mounted on, and pass through sprung suspension module 3 for two 2 Hes of passive adaptive track module
Robot body module 1 links together；
The robot body module 1 includes: robot control cabinet 106, car body 107 and two motors 103, transmission belts
101, motor mounting rack 102, gear 1, gear 2 105；
Two motors 103 are left and right symmetrically arranged in car body 107 by corresponding motor mounting rack 102 respectively；Each electricity
The output shaft of machine is mounted on gear 1, gear 1 and gear 2 105 and is connected by corresponding transmission belt 101, described
Gear 2 105 is mounted on the transmission shaft 203 of passive adaptive track module 2；Robot control cabinet is mounted on vehicle by screw
On the corresponding position of body 107；
Each passive adaptive track module 2 include: crawler belt 201, transmission shaft 203, driving wheel 208, multipair Athey wheel,
Multiple hydraulic damper and crawler belt wheel support, two pieces of creeper treads 204；
Multipair Athey wheel and driving wheel support crawler belt 201, and the shape positioned at two crawler belt wheel supports at both ends is identical, is located at
Intermediate crawler belt wheel support shape is identical；Crawler belt wheel support positioned at both ends is in " y " font, including main branch and branch, branch with
Angle among main branch is 30~60 °, and branch is in a horizontal state when driving for smooth-riding surface, and the both ends of main branch are separately connected a pair of of shoe
Belt wheel, the outside one end of branch by corresponding axis connection two creeper treads lower edge；It is located in the middle crawler belt wheel support
For " 1 " font, through corresponding axis connection on two creeper treads, the other end connects a pair of of Athey wheel for one end of " 1 " font bracket,
In smooth-riding surface, " 1 " font bracket and the angle on ground are less than the angle on " y " font bracket between main branch and branch when driving,
And installation site of " 1 " the font bracket on creeper tread is higher than " y " font bracket；Each " 1 " font bracket and " y " font bracket
Center of effort pass through hydraulic damper connecting band track plate；The hydraulic damper is mounted on two creeper treads by corresponding axis
Between, and hydraulic damper and the mounting height of creeper tread are greater than the mounting height of crawler belt wheel support and creeper tread；It is two neighboring
It is equidistant between " 1 " font bracket；
Driving wheel 208 is installed by transmission shaft 203 and corresponding bearing two pieces of 204 middle part upper ends of creeper tread；Driving wheel
It is not contacted with creeper tread, two creeper treads are connect by corresponding axis and flange with the track frame 305 of sprung suspension module, the biography
Moving axis is connect by corresponding bearing with the gear 2 105 in robot body module 1；
Each pair of Athey wheel includes two Athey wheels, and the quantity of crawler belt wheel support is four；
The sprung suspension module 3 include: sideway bar 301, connecting rod 1,306, two track frames 305 of horizontal pendulum shaft,
Multiple hydraulic damper；
Sideway bar 301 is that symmetrical structure, the middle position of sideway bar are horizontal by horizontal pendulum shaft and car body 107 up and down
It is fixed；Multiple hydraulic damper bilateral symmetry right angle setting centered on horizontal pendulum shaft, positioned at the hydraulic damper lower end at both ends
Respectively through corresponding axis connection on the both ends of sideway bar, upper end is vertical with one end of connecting rod 1 to be connect, and connecting rod one connects simultaneously
Connect track frame 305；Car body and sideway bar are connected to one by corresponding axis respectively by the both ends for being located in the middle hydraulic damper
It rises；The track frame 305 has the cavity that can accommodate crawler belt, and track frame covers on the top of crawler belt；Track frame 305 passes through flange
202 and corresponding bearing be connected with transmission shaft 203, passive adaptive track module 2 can be around the car body relatively of transmission shaft 203
107 rotations；The lower part of track frame 305 passes through corresponding axis connection creeper tread 204.
103 output power of motor, power pass to gear 2 105, gear 2 105 by gear 1 and transmission belt 101
Drive transmission shaft 203.Transmission shaft 203 is mounted on driving wheel 208, then the power transmission of motor output to driving wheel 208
On, driving wheel 208 passes through the power that crawler belt 201 exports motor 103, passes to Athey wheel, completes entirely passively adaptive carry out
Driving with module.
Embodiment 1
The passive adaptive caterpillar robot mobile platform of the present embodiment includes robot body module 1, sprung suspension mould
Block 3 and two passive adaptive track modules 2；Two passive adaptive track modules 2 are symmetrically mounted on robot body module
Two sides, and two passive adaptive track modules 2 and robot body modules are connected to one by sprung suspension module 3
It rises；
The robot body module 1 includes: robot control cabinet 106, car body 107 and two motors 103, transmission belts
101, motor mounting rack 102, gear 1, gear 2 105；
The passive adaptive track module 2 includes: crawler belt 201, flange 202, transmission shaft 203, creeper tread 204, crawler belt
Take turns one 205, hydraulic damper 1, hydraulic damper 2 207, driving wheel 208, hydraulic damper 3 209, hydraulic damper
4 210, Athey wheel 6 211, Athey wheel 5 212, crawler belt wheel support 4 213, Athey wheel 4 214, crawler belt wheel support 3 215, shoe
Belt wheel 3 216, crawler belt wheel support 2 217, Athey wheel 2 218, crawler belt wheel support 1, axis 4 220, axis 5 221；
The sprung suspension module 3 includes: sideway bar 301, hydraulic damper 5 302, hydraulic damper 6 303, connecting rod
One 304, track frame 305, horizontal pendulum shaft 306, axis 1, axis 2 308, axis 3 309；
The connection relationship of robot body module 1 and passive adaptive track module 2:
Robot body module 1 is connected by transmission shaft 203 and passive adaptive track module 2, wherein passive adaptive
Track module 2 can be rotated around transmission shaft 203 relative to car body 107, combined with sprung suspension module 3, can be made robot
Adapt to the smooth landform in side fluctuating side.
The connection relationship of robot body module 1 and sprung suspension module 3:
Hydraulic damper 5 302 is left and right symmetrically arranged, and 5 302 one end of hydraulic damper is mounted on sideway by axis 2 308
On the corresponding position of bar 301, the other end is mounted on the corresponding position of car body 107 by axis 3 309；Sideway bar 301 passes through cross
Pendulum shaft 306 is mounted on the corresponding position of car body 107.
The connection relationship of passive adaptive track module 2 and sprung suspension module 3:
Creeper tread 204 is connected by axis 4 220 and axis 5 221 with track frame 305；6 303 bilateral symmetry of hydraulic damper
Installation, one of hydraulic damper 6 303 are mounted on the corresponding position of sideway bar 301 by axis 1, pass through connecting rod one
It is connected with track frame 305；Track frame 305 is connected by flange 202 and corresponding bearing with transmission shaft 203.To realize quilt
Move the connection of adaptive track module 2 and sprung suspension module 3.
Connection and positional relationship between each component of robot body module 1:
Motor 103 is mounted on corresponding motor mounting rack 102, and motor mounting rack 102 is mounted on car body 107 by screw
On, so that motor 103 is mounted on 107 corresponding position of car body；Gear 1 is mounted on the output shaft of motor, gear two
105 are mounted on transmission shaft 203, and gear 1 is connected with gear 2 105 by transmission belt 101；Robot control cabinet passes through
Screw is mounted on the corresponding position of car body 107.Robot control cabinet 106 is accordingly moved for controlling entire mobile platform
Make.
Connection and positional relationship between each component of passive adaptive track module 2:
Transmission shaft 203 is connected by flange 202 and corresponding bearing with track frame 305；Driving wheel 208 passes through corresponding
Bearing is mounted on transmission shaft 203；Crawler belt wheel support 1, crawler belt wheel support 2 217, crawler belt wheel support 3 215, Athey wheel
Bracket 4 213 is sequentially arranged at from front to back on the corresponding position of creeper tread 204；One end of hydraulic damper 1 is mounted on
On the corresponding position of creeper tread 204, the other end is mounted on one 219 corresponding position of crawler belt wheel support；Hydraulic damper 2 207
One end be mounted on the corresponding position of creeper tread 204, the other end is mounted on 2 217 corresponding position of crawler belt wheel support；It is hydraulic
One end of damper 3 209 is mounted on the corresponding position of creeper tread 204, and it is corresponding that the other end is mounted on crawler belt wheel support 3 215
On position；One end of hydraulic damper 4 210 is mounted on the corresponding position of creeper tread 204, hydraulic damper 4 210 it is another
End is mounted on the corresponding position of crawler belt wheel support 4 213；
2 Athey wheel one 205 and 2 Athey wheels 2 218 are installed on one 219 corresponding position of crawler belt wheel support；Athey wheel
2 Athey wheels 3 216 are installed on 2 217 corresponding position of bracket；2 shoes are installed on 3 215 corresponding position of crawler belt wheel support
Belt wheel 4 214；2 Athey wheel 5 212 and 2 Athey wheels 6 211 are installed on 4 213 corresponding position of crawler belt wheel support.Crawler belt
Plate 204 is connected by axis 4 220 and axis 5 221 with track frame 305；
Crawler belt wheel support 1, crawler belt wheel support 4 213 are in " y " font, including main branch and branch, in branch and main branch
Between angle be 45 °, branch is in a horizontal state when driving for smooth-riding surface, and the both ends of main branch are separately connected a pair of of Athey wheel, branch
Outside one end by corresponding axis connection two creeper treads lower edge；Crawler belt wheel support 2 217, crawler belt wheel support three
215 be " 1 " font, and through corresponding axis connection on two creeper treads, other end connection is a pair of to be carried out for one end of " 1 " font bracket
Belt wheel, in smooth-riding surface, " 1 " font bracket and the angle on ground are less than on " y " font bracket between main branch and branch when driving
Angle；Each the center of effort of " 1 " font bracket and " y " font bracket passes through hydraulic damper connecting band track plate.
Connection and positional relationship between each component of sprung suspension module 3:
Sideway bar 301 is symmetrical structure up and down, is successively installed with hydraulic damper 6 303, hydraulic from the beginning to the end
Damper 5 302, horizontal pendulum shaft 306, hydraulic damper 5 302, hydraulic damper 6 303, sideway bar 301 pass through horizontal pendulum shaft
306 are mounted on the corresponding position of car body 107；Hydraulic damper 5 302 is left and right symmetrically arranged, wherein hydraulic damper 5 302
One end is mounted on the corresponding position of sideway bar 301 by axis 2 308, and the other end is mounted on car body 107 by axis 3 309 and corresponds to
Position on；Hydraulic damper 6 303 is left and right symmetrically arranged, and 6 303 one end of hydraulic damper is mounted on sideway by axis 1
On the corresponding position of bar 301, the other end is connected by connecting rod 1 with track frame 305, connecting rod one and corresponding hydraulic damper
Junction is flexural pivot；Track frame 305 is connected by flange 202 and corresponding bearing with transmission shaft 203；Creeper tread 204 passes through
Axis 4 220 and axis 5 221 are connected with track frame 305, to realize passive adaptive track module 2 and sprung suspension module 3
Connection.
It is connected between hydraulic damper 6 303 and connecting rod 1 by ball pair in Fig. 6, sideway bar 301 can be made around sideway
Bar axis 306 is rotated relative to car body 107, realizes 3 function of sprung suspension module.If hydraulic damper 6 303 and connecting rod 1
Between be not to be connected by ball pair, then sideway bar 301, cannot be around in the case where being connected by horizontal pendulum shaft 306 with car body 107
Car body rotation.
The motor pattern of the utility model mobile platform is divided into Three models: first is that moving on normal smooth road surface；One
It is to be moved in being abstracted as the environment such as boss, slope, trench；First is that being moved in the smooth landform in side fluctuating side.
Mobile platform is when the first mode operation:
103 output power of motor, power pass to gear 2 105, gear 2 105 by gear 1 and transmission belt 101
Drive transmission shaft 203.Transmission shaft 203 is mounted on driving wheel 208, then the power transmission of motor output to driving wheel 208
On, driving wheel 208 passes through the power that crawler belt 201 exports motor 103, passes to Athey wheel 1, Athey wheel 2 218, crawler belt
3 216, Athey wheel 4 214, Athey wheel 5 212, Athey wheel 6 211 are taken turns, the driving of entire passive adaptive track module is completed.
To realize the smooth motion of entire robot.
Mobile platform is when second of mode operation:
103 output power of motor, power pass to gear 2 105, gear 2 105 by gear 1 and transmission belt 101
Drive transmission shaft 203.Transmission shaft 203 is mounted on driving wheel 208, then the power transmission of motor output to driving wheel 208
On, driving wheel 208 passes through the power that crawler belt 201 exports motor 103, passes to Athey wheel 1, Athey wheel 2 218, crawler belt
3 216, Athey wheel 4 214, Athey wheel 5 212, Athey wheel 6 211 are taken turns, the driving of entire passive adaptive track module is completed.
When the crawler belt 201 of rotation touches barrier, crawler belt wheel support 1 turns upwards clockwise around corresponding axis
Dynamic, hydraulic damper 1 is in compressive state；Crawler belt wheel support 2 217 rotates down clockwise around corresponding axis, hydraulic to subtract
Shake device 2 207 is in tensional state；Crawler belt wheel support 3 215 rotates down clockwise around corresponding axis, hydraulic damper 3 209
In tensional state；Crawler belt wheel support 4 213 rotates down clockwise around corresponding axis, and hydraulic damper 4 210, which is in, to be stretched
State.Deformation takes place in 201 outer profile of crawler belt, until Athey wheel 1 exceeds barrier, crawler belt wheel support 1 is realized
Obstacle detouring.Wherein crawler belt wheel support 1 is rotated up the size of angle, hydraulic damper 1 around corresponding axis clockwise
Compression degree, depending on the size of barrier, hydraulic damper 2 207 and hydraulic damper 3 209 make crawler belt auto-tensioning, protect
Demonstrate,prove best crawler belt tighting degree.
After Athey wheel 2 218 clears the jumps, crawler belt wheel support 1 rotates down counterclockwise around corresponding axis,
Hydraulic damper 1 is in elongation state；Crawler belt wheel support 2 217 is rotated up counterclockwise around corresponding axis, hydraulic shock-absorption
Device 2 207 is in compressive state；Crawler belt wheel support 3 215 is rotated up counterclockwise around corresponding axis, hydraulic damper 3 209
In compressive state；Crawler belt wheel support 4 213 is rotated up counterclockwise around corresponding axis, and hydraulic damper 4 210 is in compression
State.201 outer profile of crawler belt deforms, and the center of gravity for making robot forward, is more advantageous to obstacle detouring.Wherein hydraulic damper two
207 and hydraulic damper 3 209 make crawler belt auto-tensioning, guarantee best crawler belt tighting degree.
After Athey wheel 3 216 clears the jumps, robot center of gravity clears the jumps.When Athey wheel 5 212 crosses barrier
After hindering object, robot completes entire obstacle detouring process, hydraulic damper 1, hydraulic damper 2 207, hydraulic damper three
209, hydraulic damper 4 210 returns to original state.
Mobile platform is when the third mode operation:
103 output power of motor, power pass to gear 2 105, gear 2 105 by gear 1 and transmission belt 101
Drive transmission shaft 203.Transmission shaft 203 is mounted on driving wheel 208, then the power transmission of motor output to driving wheel 208
On, driving wheel 208 passes through the power that crawler belt 201 exports motor 103, passes to Athey wheel 1, Athey wheel 2 218, crawler belt
3 216, Athey wheel 4 214, Athey wheel 5 212, Athey wheel 6 211 are taken turns, the driving of entire passive adaptive track module is completed.
When robot moves in the smooth landform in side fluctuating side, the passive adaptive shoe in hypsography side
Outer profile deformation occurs for the crawler belt 201 with module 2, and crawler belt outer profile deformation process and robot are in second of mode operation
When it is identical.In addition to this, the passive adaptive track module 2 in hypsography side passes through track frame 305 and transmission shaft
203 rotate around robot body module 1 to the direction of fitting landform, increase rubbing between crawler belt 201 and road surface to the maximum extent
Wipe power.At the same time, when robot is in the hypsography side side smooth lower than landform, sideway bar 301 rotates,
So that hydraulic damper 5 302, hydraulic damper 6 303 in hypsography side is in tensional state, the other side it is hydraulic
Damper 5 302, hydraulic damper 6 303 are in compressive state, and balance slows down robot two sides hypsography and causes machine
People rolls；When robot is in the hypsography side side smooth higher than landform, the fortune of 3 various components of sprung suspension module
Emotionally condition and robot are in opposite when the side smooth lower than landform of hypsography side.
The utility model does not address place and is suitable for the prior art.
Claims (5)
1. a kind of passive adaptive caterpillar robot mobile platform, including robot body module, sprung suspension module and two
A passive adaptive track module；Two passive adaptive track modules are symmetrically mounted on the two sides of robot body module, and
Two passive adaptive track modules and robot body module are linked together by sprung suspension module；Its feature exists
In,
The robot body module includes: robot control cabinet, car body and two motors, transmission belt, motor mounting rack, teeth
Take turns one, gear two；
Two motors pass through corresponding motor mounting rack respectively and are left and right symmetrically arranged in car body；The output shaft of each motor is pacified
Equipped with gear one, gear one is connected with gear two by corresponding transmission belt；Robot control cabinet is mounted on car body by screw
Corresponding position on；
Each passive adaptive track module includes: crawler belt, transmission shaft, driving wheel, multipair Athey wheel, multiple hydraulic damper
And crawler belt wheel support, two pieces of creeper treads；
Multipair Athey wheel and driving wheel support crawler belt, and the shape positioned at two crawler belt wheel supports at both ends is identical, is located in the middle
Crawler belt wheel support shape is identical；Crawler belt wheel support positioned at both ends is in " y " font, including main branch and branch, in branch and main branch
Between angle be 30~60 °, branch is in a horizontal state when driving for smooth-riding surface, and the both ends of main branch are separately connected a pair of of Athey wheel,
The outside one end of branch by corresponding axis connection two creeper treads lower edge；Being located in the middle crawler belt wheel support is " 1 "
Font, through corresponding axis connection on two creeper treads, the other end connects a pair of of Athey wheel for one end of " 1 " font bracket；Each
The center of effort of " 1 " font bracket and " y " font bracket passes through hydraulic damper connecting band track plate；The hydraulic damper is logical
Corresponding axis is crossed to be mounted between two creeper treads；
Driving wheel is installed by transmission shaft and corresponding bearing in upper end in the middle part of two creeper treads；Driving wheel does not connect with creeper tread
Touching, two creeper treads are connect by corresponding axis and flange with the track frame of sprung suspension module, and the transmission shaft passes through corresponding
Bearing is connect with the gear two in robot body module；
The sprung suspension module includes: sideway bar, connecting rod one, horizontal pendulum shaft, two track frames, multiple hydraulic damper；
Sideway bar is that symmetrical structure, the middle position of sideway bar are fixed by horizontal pendulum shaft and car body level up and down；It is multiple
Hydraulic damper bilateral symmetry right angle setting centered on horizontal pendulum shaft, the hydraulic damper lower end positioned at both ends pass through phase respectively
Answer axis connection on the both ends of sideway bar, upper end is connect with one end of connecting rod one by the way that ball pair is vertical, and connecting rod one connects shoe simultaneously
Tape holder；The both ends for being located in the middle hydraulic damper are respectively linked together car body and sideway bar by corresponding axis；The shoe
Tape holder has the cavity that can accommodate crawler belt, and track frame covers on the top of crawler belt；Track frame by flange and corresponding bearing and
Transmission shaft is connected, and the lower part of track frame passes through corresponding axis connection creeper tread.
2. passive adaptive caterpillar robot mobile platform according to claim 1, which is characterized in that " 1 " font branch
Installation site of the frame on creeper tread is higher than " y " font bracket.
3. passive adaptive caterpillar robot mobile platform according to claim 1, which is characterized in that passive adaptive
In track module, the mounting height of hydraulic damper and creeper tread is greater than the mounting height of crawler belt wheel support and creeper tread.
4. passive adaptive caterpillar robot mobile platform according to claim 1, which is characterized in that two neighboring
It is equidistant between " 1 " font bracket.
5. passive adaptive caterpillar robot mobile platform according to claim 1, which is characterized in that each pair of Athey wheel
It include two Athey wheels, the quantity of crawler belt wheel support is four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822008614.0U CN209351487U (en) | 2018-12-03 | 2018-12-03 | A kind of passive adaptive caterpillar robot mobile platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822008614.0U CN209351487U (en) | 2018-12-03 | 2018-12-03 | A kind of passive adaptive caterpillar robot mobile platform |
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| CN209351487U true CN209351487U (en) | 2019-09-06 |
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| CN201822008614.0U Expired - Fee Related CN209351487U (en) | 2018-12-03 | 2018-12-03 | A kind of passive adaptive caterpillar robot mobile platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110904625A (en) * | 2019-11-25 | 2020-03-24 | 宁波金帅集团有限公司 | Damping and silencing device for washing machine |
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2018
- 2018-12-03 CN CN201822008614.0U patent/CN209351487U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110904625A (en) * | 2019-11-25 | 2020-03-24 | 宁波金帅集团有限公司 | Damping and silencing device for washing machine |
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