CN212828739U - Wheel-track composite trolley - Google Patents
Wheel-track composite trolley Download PDFInfo
- Publication number
- CN212828739U CN212828739U CN202021509314.1U CN202021509314U CN212828739U CN 212828739 U CN212828739 U CN 212828739U CN 202021509314 U CN202021509314 U CN 202021509314U CN 212828739 U CN212828739 U CN 212828739U
- Authority
- CN
- China
- Prior art keywords
- wheel
- crawler
- mechanisms
- steering
- wheels
- 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
Images
Abstract
The utility model belongs to the technical field of engineering machinery, in particular to a wheel-track composite trolley, which comprises a supporting mechanism, a lifting mechanism, a wheel steering mechanism, a track driving mechanism and wheels; the left side and the right side of the supporting mechanism are respectively provided with the lifting mechanisms symmetrically, the bottom of each lifting mechanism is provided with the wheel steering mechanism, the two sides of each wheel steering mechanism are respectively provided with the wheels symmetrically, the lifting mechanisms are used for driving the wheel steering mechanisms to lift up and down, and the wheel steering mechanisms are used for driving the wheels to steer left and right; the front side and the rear side of the supporting mechanism are respectively provided with the crawler mechanisms symmetrically. The utility model discloses can realize the conversion between wheeled and the crawler-type on complicated topography and flat road surface, and the fuselage when satisfying the wheel-track conversion, still reduced the volume and the quality of fuselage as far as, and each spare part hookup is inseparable.
Description
Technical Field
The utility model belongs to the technical field of engineering machine tool, concretely relates to wheel-track composite trolley.
Background
At present, the moving modes of the robot are mainly wheel type, leg type and crawler type. The wheel type robot is difficult to exert the advantages in places with complex terrain, the obstacle crossing capability is limited, and wheels are easy to slip. The legged and tracked robots are slow in movement speed and complex in structure and control.
With the development of mechanical technology, most of the wheel-tracked robots have more degrees of freedom. Even though people have intensively studied in the field of wheel-track robots, the problems of overlarge mass and volume, low movement speed, complex structure and control algorithm and the like still exist.
SUMMERY OF THE UTILITY MODEL
The utility model provides a wheel-track composite trolley aims at solving the problem that there are quality and volume too big, and the velocity of motion is slow, and structure, control algorithm are complicated in above-mentioned background art in present wheel-track robot.
In order to achieve the above object, the utility model provides a following technical scheme: a wheel-track composite trolley comprises a supporting mechanism, a lifting mechanism, a wheel steering mechanism, a track driving mechanism and wheels;
the left side and the right side of the supporting mechanism are respectively provided with the lifting mechanisms symmetrically, the bottom of each lifting mechanism is provided with the wheel steering mechanism, the two sides of each wheel steering mechanism are respectively provided with the wheels symmetrically, the lifting mechanisms are used for driving the wheel steering mechanisms to lift up and down, and the wheel steering mechanisms are used for driving the wheels to steer left and right;
the front side and the rear side of the supporting mechanism are respectively and symmetrically provided with the crawler mechanisms, the crawler driving mechanisms are arranged in the supporting mechanism, and the crawler driving mechanisms are used for driving the crawler mechanisms to walk.
Preferably, the lifting mechanism comprises a fixing plate, the fixing plate is in an "L" shape, a vertical part of the fixing plate is fixedly connected to the side wall of the supporting mechanism, four hydraulic cylinders distributed in a matrix shape are mounted on the lower surface of a transverse part of the fixing plate, and an output end of each hydraulic cylinder is fixedly connected with the wheel steering mechanism.
Preferably, wheel steering mechanism includes first even board, first link upper surface is provided with the second and links the board, first even board one end with the second links and has a steering spindle through the pin junction between the one end of board, first even board the other end with the second links and has another steering spindle through the pin junction between the other end of board, two there is the connecting rod through the pin junction between the steering spindle, every the one end of steering spindle is all installed the wheel, the second links board upper surface and installs positive and negative motor, positive and negative motor's output fixedly connected with gear, the connecting rod upper surface be provided with gear engaged with rack.
Preferably, the crawler mechanism comprises a guide wheel and a chain wheel, the guide wheel is in transmission connection with the chain wheel through a roller chain, a guide wheel shaft penetrates through the center of the guide wheel, one end of the guide wheel shaft penetrates through the supporting mechanism and is fixedly connected with the crawler driving mechanism, a chain wheel shaft penetrates through the center of the chain wheel, one end of the chain wheel shaft penetrates through the supporting mechanism, a supporting frame is arranged between the guide wheel and the chain wheel, a plurality of supporting wheels are arranged on the supporting frame through a plurality of supporting wheel shafts and are matched with the roller chain, and a plurality of crawler plates which are full of the roller chain are arranged on the outer surface of the roller chain.
Preferably, the track driving mechanism comprises a servo motor, the output end of the servo motor is fixedly connected with a first bevel gear, one side of the first bevel gear is meshed with a second bevel gear, and one end of the guide wheel shaft penetrates through the second bevel gear and is fixedly connected with the second bevel gear.
Preferably, the opposite ends of the two guide wheel shafts are connected through a flange coupling.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses can realize the conversion between wheeled and the crawler-type on complicated topography and flat road surface, and the fuselage when satisfying the wheel-track conversion, still reduced the volume and the quality of fuselage as far as, and each spare part hookup is inseparable. The servo motors change the forward and backward movement of the two crawler belts by two motors with the same type through forward and reverse rotation, and the speed of the two crawler belts can be changed by controlling the rotating speed of the servo motors; the weight of the trolley is borne by the thrust wheels, the chain wheel shafts, the thrust wheel shafts, the guide wheel shafts and the supporting plates on the crawler; the rack is driven to move by the gear controlled by the positive and negative motors, so that the steering shaft moves under the driving of the connecting rod to realize efficient steering and easy in-situ turning of the wheel, and the steering mechanism has a good market prospect and can be widely popularized.
Drawings
Fig. 1 is a front view of the present invention;
fig. 2 is a side view of the present invention;
fig. 3 is a top view of the present invention;
fig. 4 is a perspective view of a first viewing angle of the present invention;
fig. 5 is a perspective view of a second viewing angle of the present invention;
FIG. 6 is an enlarged view of a portion of FIG. 5 at A;
FIG. 7 is a top view of the present invention (with portions of the support mechanism removed);
in the figure: 1-supporting mechanism, 2-lifting mechanism, 21-fixing plate, 22-hydraulic cylinder, 3-wheel steering mechanism, 31-first connecting plate, 32-second connecting plate, 33-connecting rod, 34-steering shaft, 35-positive and negative motor, 36-gear, 37-rack, 4-crawler mechanism, 41-guide wheel, 42-chain wheel, 43-guide wheel shaft, 44-chain wheel shaft, 45-support frame, 46-support wheel, 47-support wheel shaft, 48-roller chain, 49-crawler plate, 5-crawler driving mechanism, 51-servo motor, 52-first bevel gear, 53-second bevel gear, 54-flange coupling and 6-wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-7, the present invention provides a technical solution: a wheel-track composite trolley comprises a supporting mechanism 1, a lifting mechanism 2, a wheel steering mechanism 3, a track mechanism 4, a track driving mechanism 5 and wheels 6;
the left side and the right side of the supporting mechanism 1 are respectively symmetrically provided with a lifting mechanism 2, the bottom of each lifting mechanism 2 is provided with a wheel steering mechanism 3, the two sides of each wheel steering mechanism 3 are respectively symmetrically provided with wheels 6, the lifting mechanisms 2 are used for driving the wheel steering mechanisms 3 to lift up and down, and the wheel steering mechanisms 3 are used for driving the wheels 6 to steer left and right;
In the embodiment, when the trolley travels on a flat road surface, the trolley is switched into a wheel mode, the lifting mechanism 2 drives the wheel steering mechanism 3 to descend until the wheels 6 contact the ground, and the wheel steering mechanism 3 can realize steering and turning of the wheels 6 by rolling; when the trolley walks on a complex terrain, the trolley is switched into a track mode, the lifting mechanism 2 drives the wheel steering mechanism 3 to ascend so that the wheels 6 are separated from the ground and contact with the ground, at the moment, the track mechanism 4 is driven to contact with the ground, and power is provided by the track driving mechanism 5 to drive the track mechanism 4 to walk.
Further, the lifting mechanism 2 comprises a fixing plate 21, the fixing plate 21 is in an "L" shape, a vertical portion of the fixing plate 21 is fixedly connected to a side wall of the supporting mechanism 1, four hydraulic cylinders 22 distributed in a matrix shape are mounted on a lower surface of a transverse portion of the fixing plate 21, and an output end of each hydraulic cylinder 22 is fixedly connected with the wheel steering mechanism 3.
In the present embodiment, the "L" shape is attached to the side wall of the support mechanism 1, and the four hydraulic cylinders 22 can be fixed to the lateral portion of the fixed plate 21 by means of the hexagon head bolts, and the telescopic rods of the four hydraulic cylinders 22 distributed in a matrix shape are most stable when they are extended and contracted together downward or upward, and can stably drive the wheel turning mechanism 3 to move up and down.
Further, the wheel steering mechanism 3 includes first even board 31, first board 31 upper surface is provided with second even board 32, there is a steering spindle 34 through the pin joint between the one end of first board 31 and the one end of second even board 32, there is another steering spindle 34 through the pin joint between the other end of first board 31 and the other end of second even board 32, there is connecting rod 33 through the pin joint between two steering spindles 34, wheel 6 is all installed to the one end of every steering spindle 34, even board 32 upper surface mounting of second has positive and negative motor 35, the output fixedly connected with gear 36 of positive and negative motor 35, connecting rod 33 upper surface is provided with the rack 37 with gear 36 engaged with.
In this embodiment, when the cart is in the wheel mode and needs to turn left or right, the output end of the forward and reverse motor 35 rotates forward or reversely, the forward and reverse motor 35 drives the gear 36 to rotate forward or reversely, the connecting rod 33 moves left or right under the action of the gear 36 and the rack 37, and the steering shaft 34 moves left or right under the drive of the connecting rod 33, so that the left or right movement of the wheels 6 is realized to turn.
Further, the crawler 4 comprises a guide wheel 41 and a chain wheel 42, the guide wheel 41 is in transmission connection with the chain wheel 42 through a roller chain 48, a guide wheel shaft 43 penetrates through and is fixed at the center of the guide wheel 41, one end of the guide wheel shaft 43 penetrates through the supporting mechanism 1 and is fixedly connected with the crawler driving mechanism 5, a chain wheel shaft 44 penetrates through and is fixed at the center of the chain wheel 42, one end of the chain wheel shaft 44 penetrates through the supporting mechanism 1, a supporting frame 45 is arranged between the guide wheel 41 and the chain wheel 42, a plurality of supporting wheels 46 are arranged on the supporting frame 45 through a plurality of supporting wheel shafts 47, the plurality of supporting wheels 46 are all matched with the roller chain 48, and a plurality of crawler plates 49 which are full of the roller chain 48 are arranged on the outer surface of the roller chain 48.
In the present embodiment, the track driving mechanism 5 can drive the guide wheel shaft 43 to rotate, the guide wheel shaft 43 drives the guide wheel 41 to rotate, the roller chain 48 drives the sprocket 42 to rotate during the rotation of the guide wheel 41, and the roller chain 48 contacts with the ground through the track shoe 49 during the transmission process, so as to switch to the track mode, thereby adapting to the walking on complex terrain.
Further, the track driving mechanism 5 comprises a servo motor 51, a first bevel gear 52 is fixedly connected to an output end of the servo motor 51, a second bevel gear 53 is meshed and connected to one side of the first bevel gear 52, and one end of the guide wheel shaft 43 penetrates through the second bevel gear 53 and is fixedly connected with the second bevel gear 53.
In the present embodiment, the rotation of the output end of the servo motor 51 drives the first bevel gear 52 to rotate, the first bevel gear 52 drives the second bevel gear 53 to rotate, and the second bevel gear 53 drives the guide wheel shaft 43 to rotate.
Further, the opposite ends of the two guide axles 43 are connected by a flange coupling 55.
In the present embodiment, the two guide wheel shafts 43 are connected by the flange coupling 55 so that the two guide wheel shafts 43 can be rotated.
The utility model discloses a theory of operation and use flow: after the utility model is installed, when the trolley travels on a flat road surface, the trolley is switched into a wheel mode, the hydraulic cylinder 22 drives the wheel steering mechanism 3 to descend until the wheels 6 contact the ground, and the wheel steering mechanism 3 can realize steering and turning of the wheels 6 by rolling; when the trolley needs to walk on a complex terrain, the trolley is switched into a track mode, the hydraulic cylinder 22 drives the wheel steering mechanism 3 to ascend, so that the wheels 6 are separated from contact with the ground, the track mechanism 4 is driven to contact with the ground at the moment, and power is provided by the track driving mechanism 5 to drive the track mechanism 4 to walk.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. A wheel-track composite trolley is characterized in that: comprises a supporting mechanism (1), a lifting mechanism (2), a wheel steering mechanism (3), a crawler mechanism (4), a crawler driving mechanism (5) and wheels (6);
the left side and the right side of the supporting mechanism (1) are respectively provided with the lifting mechanisms (2) symmetrically, the bottom of each lifting mechanism (2) is provided with the wheel steering mechanism (3), the two sides of each wheel steering mechanism (3) are respectively provided with the wheels (6) symmetrically, the lifting mechanisms (2) are used for driving the wheel steering mechanisms (3) to lift up and down, and the wheel steering mechanisms (3) are used for driving the wheels (6) to steer left and right;
the front side and the rear side of the supporting mechanism (1) are respectively and symmetrically provided with the crawler mechanisms (4), the crawler driving mechanism (5) is arranged in the supporting mechanism (1), and the crawler driving mechanism (5) is used for driving the crawler mechanisms (4) to walk.
2. The wheel-track composite trolley as claimed in claim 1, wherein: the lifting mechanism (2) comprises a fixing plate (21), the fixing plate (21) is L-shaped, a vertical part of the fixing plate (21) is fixedly connected to the side wall of the supporting mechanism (1), four hydraulic cylinders (22) distributed in a matrix shape are mounted on the lower surface of a transverse part of the fixing plate (21), and the output end of each hydraulic cylinder (22) is fixedly connected with the wheel steering mechanism (3).
3. The wheel-track composite trolley as claimed in claim 2, wherein: the wheel steering mechanism (3) comprises a first connecting plate (31), a second connecting plate (32) is arranged on the upper surface of the first connecting plate (31), a steering shaft (34) is connected between one end of the first connecting plate (31) and one end of the second connecting plate (32) through a pin, the other end of the first connecting plate (31) and the other end of the second connecting plate (32) are connected with another steering shaft (34) through a pin, a connecting rod (33) is connected between the two steering shafts (34) through a pin, one end of each steering shaft (34) is provided with the wheel (6), a positive and negative motor (35) is arranged on the upper surface of the second connecting plate (32), the output end of the positive and negative motor (35) is fixedly connected with a gear (36), and a rack (37) meshed with the gear (36) is arranged on the upper surface of the connecting rod (33).
4. The wheel-track composite trolley as claimed in claim 3, wherein: the crawler mechanism (4) comprises a guide wheel (41) and a chain wheel (42), the guide wheel (41) and the chain wheel (42) are in transmission connection through a roller chain (48), a guide wheel shaft (43) penetrates through the center of the guide wheel (41) and is fixed, one end of the guide wheel shaft (43) penetrates through the supporting mechanism (1) and is fixedly connected with the crawler driving mechanism (5), a chain wheel shaft (44) penetrates through the center of the chain wheel (42) and is fixed, one end of the chain wheel shaft (44) penetrates through the supporting mechanism (1), a supporting frame (45) is arranged between the guide wheel (41) and the chain wheel (42), a plurality of thrust wheels (46) are arranged on the thrust frame (45) through a plurality of thrust wheel shafts (47), the plurality of thrust wheels (46) are all matched with the roller chain (48), a plurality of track shoes (49) which are fully paved on the roller chain (48) are arranged on the outer surface of the roller chain (48).
5. The wheel-track composite trolley as claimed in claim 4, wherein: the crawler driving mechanism (5) comprises a servo motor (51), a first bevel gear (52) is fixedly connected to the output end of the servo motor (51), a second bevel gear (53) is connected to one side of the first bevel gear (52) in a meshed mode, and one end of the guide wheel shaft (43) penetrates through the second bevel gear (53) and is fixedly connected with the second bevel gear (53).
6. The wheel-track composite trolley as claimed in claim 5, wherein: the opposite ends of the two guide wheel shafts (43) are connected through a flange coupling (55).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021509314.1U CN212828739U (en) | 2020-07-27 | 2020-07-27 | Wheel-track composite trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021509314.1U CN212828739U (en) | 2020-07-27 | 2020-07-27 | Wheel-track composite trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212828739U true CN212828739U (en) | 2021-03-30 |
Family
ID=75121614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021509314.1U Active CN212828739U (en) | 2020-07-27 | 2020-07-27 | Wheel-track composite trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212828739U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114575221A (en) * | 2022-02-25 | 2022-06-03 | 中铁第五勘察设计院集团有限公司 | Method for laying a plank |
| CN114575222A (en) * | 2022-02-25 | 2022-06-03 | 中铁第五勘察设计院集团有限公司 | Advancing support leg, mortar paver, plate paving machine and full-flow paving and plate paving equipment |
-
2020
- 2020-07-27 CN CN202021509314.1U patent/CN212828739U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114575221A (en) * | 2022-02-25 | 2022-06-03 | 中铁第五勘察设计院集团有限公司 | Method for laying a plank |
| CN114575222A (en) * | 2022-02-25 | 2022-06-03 | 中铁第五勘察设计院集团有限公司 | Advancing support leg, mortar paver, plate paving machine and full-flow paving and plate paving equipment |
| CN114575221B (en) * | 2022-02-25 | 2023-10-24 | 中铁第五勘察设计院集团有限公司 | Method of paving a plank |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101890986B (en) | Deformable all-terrain adaptable robot walking mechanism | |
| CN201760877U (en) | Deformable robot travelling mechanism suitable for all landforms | |
| CN103935410B (en) | All-dimensional steering obstacle crossing vehicle based on hub motor | |
| CN105151153A (en) | Wheel-foot hybrid mode hexapod robot moving platform | |
| CN212828739U (en) | Wheel-track composite trolley | |
| CN112519913B (en) | All-terrain self-adaptive wheel-walking robot | |
| CN1450965A (en) | Working vehicle with travesing system | |
| CN112298397B (en) | Wheel-walking robot foot end mechanism suitable for all-terrain road conditions | |
| CN212123315U (en) | Kiwi fruit picking robot moving platform | |
| CN112373594A (en) | Wheel-leg hybrid drive type mining metamorphic robot | |
| CN209382135U (en) | One kind six takes turns adaptive cross-country trolley | |
| CN115285250A (en) | Six-wheel leg composite moving action robot with leg and arm multiplexing function | |
| CN109334793B (en) | Wheel-track alternating all-terrain vehicle | |
| CN101428652A (en) | Movable robot for ice and snow surface | |
| CN108454717B (en) | Wheel-track type switchable novel excavator | |
| CN207292192U (en) | Deform the full landform robot running gear of pleiotaxy | |
| CN208085848U (en) | A kind of four-footed wheeled robot | |
| CN201148179Y (en) | Mobile robot for ice and snow surface | |
| CN107336574A (en) | A kind of liftable robot of changeable wheelbase | |
| CN207077969U (en) | A kind of liftable robot of changeable wheelbase | |
| CN113212479B (en) | Multi-functional electronic track work platform in greenhouse | |
| CN114074723A (en) | Wheel-track type mobile robot based on Mecanum wheels | |
| CN219750865U (en) | But spin movement flexible every single move belt conveyor | |
| CN207345965U (en) | One kind rolling robot | |
| CN219837814U (en) | Travelling line changing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |