CN211765937U - Deformable tracked vehicle based on quadrilateral mechanism - Google Patents

Abstract

The utility model provides a deformable crawler based on quadrilateral mechanism, which comprises a first four-side deformable crawler component, a second four-side deformable crawler component, a first connecting plate and a second connecting plate; the first connecting plate is provided with a control motor for controlling advancing and a deformation motor for controlling deformation; the crawler has two advancing modes of crawler advancing and rolling advancing, and can advance in a superposition mode of the two advancing modes, so that the crawler has higher advancing speed; when the crawler belt runs on muddy or slippery ground and the crawler belt fails, the crawler belt can continue to run in a rolling gait through the deformation of the crawler belt vehicle, so that the terrain adaptability is improved.

Description

Deformable tracked vehicle based on quadrilateral mechanism

Technical Field

The utility model belongs to the tracked vehicle field, in particular to flexible tracked vehicle based on quadrilateral mechanism.

Background

With the development of science and technology, more and more obstacle-surmounting equipment is put into the fields of fire fighting, searching, reconnaissance and the like; the crawler-type obstacle crossing equipment has the capability of stably and safely passing through soft and muddy road surfaces due to the large contact area with the ground. The traditional common non-deformable crawler has poor capability of adapting to complex terrain environment and low steering speed, so the maneuverability is poor. In order to improve the mobility of the tracked vehicle, it is necessary to design a deformable tracked vehicle. CN104477264 discloses a deformable parallelogram crawler type moving robot inside pipe, which can automatically adjust the shape of the variable parallelogram crawler assembly according to the actual working condition of the inner wall of the pipe, thereby effectively increasing the ability of crossing unknown obstacles inside the pipe and the trafficability in various bent pipes and reducer pipes. The robots disclosed in the above techniques have poor obstacle-surmounting capabilities on muddy, slippery or trench floors, as they are only suitable for travelling in pipes.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a flexible tracked vehicle based on quadrilateral mechanism.

One of the technical solutions of the present invention is to provide a deformable crawler based on a quadrilateral mechanism, which comprises a first quadrilateral deformable crawler component, a second quadrilateral deformable crawler component, and a first connecting plate and a second connecting plate for connecting the first quadrilateral deformable crawler component and the second quadrilateral deformable crawler component; the first connecting plate is provided with a control motor for controlling the first four-side deformable track assembly and the second four-side deformable track assembly to move forwards, and the second connecting plate is provided with a deformation motor for controlling the first four-side deformable track assembly and the second four-side deformable track assembly to deform.

In a further improved scheme, the first four-side deformable track assembly and the second four-side deformable track assembly are respectively composed of four connecting rods which are connected with each other and a track which is arranged on each connecting rod; the four connecting rods are connected with each other to form an inner frame structure and an outer frame structure; the two connecting rods are connected through a deformation shaft, the connecting rod positioned on the outer frame structure is fixedly connected with the deformation shaft, and the connecting rod positioned on the inner frame structure is rotatably connected with the deformation shaft; and the other connecting rods are connected through a transmission shaft.

In a further improved scheme, crawler wheels which are arranged on the transmission shaft or the deformation shaft in a penetrating mode and are connected with the crawler in a matched mode are arranged at two ends of each connecting rod; the crawler wheel arranged on the transmission shaft in a penetrating way is fixedly connected with the transmission shaft; the crawler wheel arranged on the deformation shaft in a penetrating mode is in rotating connection with the deformation shaft.

In a further improved scheme, a motor shaft of the control motor is connected with a transmission shaft through a first coupler; and a motor shaft of the deformation motor is connected with the deformation shaft through a second coupler.

In a further improved scheme, each connecting rod is also provided with a tension wheel which is connected with the crawler in a matched manner.

The utility model provides a pair of flexible tracked vehicle based on quadrilateral mechanism has following advantage:

1) according to the deformable crawler based on the quadrilateral mechanism, the quadrilateral deformable crawler structure is adopted as a body structure, and the quadrilateral body structure can be driven by a deformation motor to realize deformation.

2) The deformable crawler based on the quadrilateral mechanism has two traveling modes of crawler traveling and rolling traveling, and can travel in a superposition mode of the two traveling modes, so that the deformable crawler has higher traveling speed.

3) The deformable tracked vehicle based on the quadrilateral mechanism has a rolling function, and when the vehicle travels on muddy or slippery ground and the track fails, the vehicle can continue to travel through rolling gait by deformation of the tracked vehicle, so that terrain adaptability is improved.

4) This deformable tracked vehicle based on quadrilateral mechanism, four tracks of every side are driven by a control motor, have the reliable characteristics of structure.

Drawings

FIG. 1 is a schematic perspective view of a deformable crawler based on a quadrilateral mechanism;

FIG. 2 is a schematic structural view of a first four-side deformable track assembly;

FIG. 3 is an enlarged partial cross-sectional view of the connection of the distortion shaft and the connecting rod;

FIG. 4 is an enlarged view of FIG. 3A;

FIG. 5 is a top view of the connecting rod;

FIG. 6 is a schematic structural view of a first four-sided deformable track assembly that does not include a track;

FIG. 7 is an enlarged sectional view of the connection between the transmission shaft and the crawler wheel;

FIG. 8 is a top view of a transformable crawler based on a quadrilateral mechanism;

FIG. 9 is a schematic view of the connection of the control motor to the transmission shaft;

FIG. 10 is a schematic structural view of a deformation motor connected with a deformation shaft;

figure 11 is a first variant of a deformable crawler based on a quadrilateral mechanism;

FIG. 12 is a second variation of the transformable crawler based on a quadrilateral mechanism;

FIG. 13 is a flow chart for negotiating obstacles for a flexible crawler based on a quadrilateral mechanism;

wherein, A to F are deformation obstacle crossing schematic diagrams of the tracked vehicle in the obstacle crossing process;

figure 14 is a flow chart of the trench crossing of the deformable crawler based on a quadrilateral mechanism;

wherein, a to f are schematic diagrams of deformation and obstacle crossing of the crawler in the process of crossing the trench.

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings.

One embodiment of the present invention provides a transformable crawler based on a quadrilateral mechanism, as shown in fig. 1, comprising a first four-sided transformable crawler assembly 10, a second four-sided transformable crawler assembly 20, and a first connecting plate 30 and a second connecting plate 40 for connecting the first four-sided transformable crawler assembly 10 and the second four-sided transformable crawler assembly 20; wherein the first connecting plate 30 and the second connecting plate 40 are arranged corresponding to each other; as shown in fig. 2, first four-side deformable track assembly 10 and second four-side deformable track assembly 20 are each comprised of four interconnected links 11 and a track 50 disposed on each link 11, the four links 11 being interconnected to form an inner and outer frame structure; the two connecting rods 11 are connected through a deformation shaft 12, and the deformation shaft 12 penetrates through the end parts of the connecting rods 11 to realize connection; as shown in fig. 3, the link 11 on the outer frame is fixedly connected with the deformation shaft 12, as shown in fig. 4, the connection mode includes, but is not limited to, the deformation shaft 12 is provided with a key slot 121, and a protrusion 111 matched with the key slot 121 is arranged at the corresponding position of the link 11 fixedly connected with the deformation shaft; the connecting rod 11 positioned on the inner frame is rotationally connected with the deformation shaft 12; the other connecting rods 11 are connected through a transmission shaft 13, and the connecting rods 11 can rotate around the transmission shaft 13; the two side edges of the first connecting plate 30 and the second connecting plate 40 are respectively fixedly connected with the connecting rods 11 on the corresponding sides in a connecting mode including but not limited to bonding and the like; as shown in fig. 5, grooves 14 are formed at both ends of each of the connecting rods 11, as shown in fig. 6, a crawler wheel 15 is disposed in each of the grooves 14, and is inserted into the transmission shaft 13 or the deformation shaft 12 and is cooperatively connected with the crawler 50, in some preferred embodiments, the crawler wheel 15 inserted into the transmission shaft 13 is fixedly connected with the transmission shaft 13, as shown in fig. 7, two grooves 131 are disposed on each of the transmission shafts 13, and a protrusion 151 matching with the grooves 131 is formed on an inner side wall of the crawler wheel 15 inserted into the transmission shaft 13; the crawler wheel 15 arranged on the deformation shaft 12 in a penetrating way is rotationally connected with the deformation shaft 12; the connection mode among the crawler wheels, the transmission shaft and the deformation shaft avoids the problem that the wheels are damaged due to asynchronous rotation among the crawler wheels; with continued reference to fig. 6, in order to improve the connection tightness between the connecting rods, nuts are further provided on the transmission shaft 13 and the deformation shaft 12; with continued reference to fig. 6, in some preferred embodiments, track wheels 15 are cooperatively coupled to track 50 via an outer sidewall formed rib 16; with continued reference to fig. 5 and 6, each of the connecting rods 11 is provided with a vertically disposed bracket 17, and each of the brackets 17 is symmetrically provided with a horizontally disposed tension wheel 18 for cooperating with the track 50; the stability of the crawler belt is improved; in some preferred embodiments, as shown in figure 8, first link 30 is provided with two control motors 60, via first motor brackets 31, respectively, two control motors 60 being used to control the travel of first and second four-side deformable track assemblies 10 and 20, respectively; the first motor bracket is used for fixing a control motor, and is fixed on the first connecting plate in a fixing mode including but not limited to screws or bonding and the like; as shown in fig. 9, the motor shaft of the control motor 60 is connected to the transmission shaft 13 on the corresponding side through the first coupling 61; wherein the transmission shaft 13 connected with the first coupling 61 is a transmission shaft positioned on a diagonal line with the deformation shaft 12; with continued reference to fig. 8, in some preferred embodiments, the second connecting plate 40 is provided with a deformation motor 70 via a second motor bracket 41, preferably two second motor brackets for fixing the deformation motor, the second motor brackets being fixed to the second connecting plate by means of, but not limited to, screws or bonding; as shown in fig. 10, motor shafts on both sides of the deformation motor 70 are connected to the deformation shafts 12 on both sides, respectively, through second couplings 71.

The utility model provides a flexible tracked vehicle based on quadrilateral mechanism advances the principle as follows: the first four-side deformable track assembly and the second four-side deformable track assembly on two sides of the crawler are respectively driven by control motors on two sides, the control motors are fixed to a first connecting plate, the first connecting plate is fixed relative to the first four-side deformable track assembly and the second four-side deformable track assembly, the control motors transmit power to a first coupler, and the first coupler transmits power to a transmission shaft; the transmission shaft transmits power to the crawler wheel, and does not transmit power to the first four-side deformable crawler assembly or the second four-side deformable crawler assembly, and the crawler wheel drives the crawler to rotate, so that the crawler drives the next crawler wheel to rotate. The crawler wheels transmit power through the connecting shaft so as to drive the coaxial crawler wheels to synchronously rotate, and therefore the single-side crawler belt completely rotates.

The deformation principle of the deformable crawler based on the quadrilateral mechanism is as follows: the deformation of the tracked vehicle is realized by changing the relative angle of the inner frame structure and the outer frame structure. The deformation motor is fixed on the second connecting plate and transmits power to the deformation shaft through the second coupler, the deformation shaft can rotate relatively around the inner frame structure and then transmits power to the outer frame structure, the deformation motor transmits power to the deformation shaft, and the deformation shaft drives the connecting rod positioned on the outer side to rotate so as to change the relative angle of the inner connecting rod and the outer connecting rod and change the appearance of the quadrilateral tracked vehicle; the modified structure is shown in fig. 11 and 12.

The utility model provides a deformable crawler based on quadrilateral mechanism, which can realize deformation through the driving of a deformation motor; the four crawler belts on each side are driven by one control motor, so that the crawler belt has the characteristic of reliable structure; the deformable crawler has two traveling modes of crawler traveling and rolling traveling, and can travel in a superposition mode of the two traveling modes, so that the deformable crawler has higher traveling speed; the deformable tracked vehicle has a rolling function, when the tracked vehicle runs on muddy or slippery ground and the track fails, the tracked vehicle can continue to run with rolling gait through deformation of the tracked vehicle, terrain adaptability is improved, obstacle crossing capability is improved, a structural flow chart of the tracked vehicle crossing an obstacle is shown in a figure 13, and a structural flow chart of the tracked vehicle crossing a ditch is shown in a figure 14.

The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by the teaching of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as the present invention, fall within the protection scope of the present invention.

Claims (5)

1. A transformable crawler based on a quadrilateral mechanism, comprising a first four-sided transformable crawler assembly (10), a second four-sided transformable crawler assembly (20), and first and second connecting plates (30, 40) for connecting the first and second four-sided transformable crawler assemblies (10, 20); the first connecting plate (30) is provided with a control motor (60) used for controlling the first four-side deformable track assembly (10) and the second four-side deformable track assembly (20) to move forwards, and the second connecting plate (40) is provided with a deformation motor (70) used for controlling the first four-side deformable track assembly (10) and the second four-side deformable track assembly (20) to deform.

2. The quadrilateral-based deformable crawler according to claim 1, characterized in that the first (10) and the second (20) four-sided deformable crawler assemblies are each composed of four interconnected links (11) and a track (50) provided on each link (11); the four connecting rods (11) are connected with each other to form an inner frame structure and an outer frame structure; the two connecting rods (11) are connected through a deformation shaft (12), the connecting rod (11) positioned on the outer frame structure is fixedly connected with the deformation shaft (12), and the connecting rod (11) positioned on the inner frame structure is rotatably connected with the deformation shaft (12); the other connecting rods (11) are connected through a transmission shaft (13).

3. The transformable tracked vehicle based on a quadrilateral mechanism according to claim 2, wherein each link (11) is provided at both ends with crawler wheels (15) inserted on the transmission shaft (13) or the transformation shaft (12) and connected with the crawler (50) in a matching manner; a crawler wheel (15) arranged on the transmission shaft (13) in a penetrating way is fixedly connected with the transmission shaft (13); the crawler wheel (15) arranged on the deformation shaft (12) in a penetrating way is rotationally connected with the deformation shaft (12).

4. A deformable crawler according to claim 3, characterised in that the motor shaft of the control motor (60) is connected to the transmission shaft (13) through a first coupling (61); the motor shaft of the deformation motor (70) is connected with the deformation shaft (12) through a second coupler (71).

5. The transformable crawler vehicle based on quadrilateral mechanism according to claim 2, wherein each of the links (11) is further provided with a tension wheel (18) engaged with the crawler (50).

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