CN213620011U - All-terrain crawler-type mobile base - Google Patents

All-terrain crawler-type mobile base Download PDF

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Publication number
CN213620011U
CN213620011U CN202022803454.6U CN202022803454U CN213620011U CN 213620011 U CN213620011 U CN 213620011U CN 202022803454 U CN202022803454 U CN 202022803454U CN 213620011 U CN213620011 U CN 213620011U
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CN
China
Prior art keywords
swing arm
crawler
wheel
motor
shaft
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Active
Application number
CN202022803454.6U
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Chinese (zh)
Inventor
张晓荣
李誉国
迟硕
闫自立
李宇涵
林子恒
张志晓
王杨龙
王占胜
张雨
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Hebei University of Engineering
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Hebei University of Engineering
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Application filed by Hebei University of Engineering filed Critical Hebei University of Engineering
Priority to CN202022803454.6U priority Critical patent/CN213620011U/en
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Publication of CN213620011U publication Critical patent/CN213620011U/en
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Abstract

The utility model discloses a full topography crawler-type removes base, including frame chassis, frame chassis below is equipped with main track actuating mechanism, main track actuating mechanism both sides are equipped with swing arm track complementary unit. The beneficial effects of the utility model are that, the angle that can in time change the track through swing arm track complementary unit's effect makes the track more laminate the road surface, can also adjust the focus of whole device simultaneously, strengthens the obstacle crossing ability of track.

Description

All-terrain crawler-type mobile base
Technical Field
The utility model relates to an all-terrain crawler belt technical field, more specifically say, relate to an all-terrain crawler belt type mobile base.
Background
The main function of the all-terrain crawler is to assist the fruit picking machine to move, so as to provide a larger obstacle crossing degree of freedom for the machine body, and although the existing crawler base, for example, the patent with the patent number of CN201922391816.2 named as a robot crawler transmission mechanism, can provide effective traction force for the machine body, when meeting obstacles, the existing crawler base cannot pass through the machine body quickly and smoothly, the obstacle crossing capability is lower, and particularly in hilly areas, the frequently fluctuated terrain has a larger influence on the whole movement.
SUMMERY OF THE UTILITY MODEL
To above defect, the utility model provides a full topography crawler-type removes base solves above-mentioned problem.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an all-terrain crawler-type moving base comprises a frame chassis, wherein a main crawler driving mechanism is arranged below the frame chassis, and swing arm crawler auxiliary mechanisms are arranged on two sides of the main crawler driving mechanism;
the main crawler driving mechanism comprises a rectangular box on the lower surface of a frame chassis, through shafts are arranged on the side surface of the rectangular box, two through shafts are arranged on the through shafts, bearings I are arranged at two ends of each through shaft, two pairs of bearings I are arranged, a main crawler hub is arranged on the outer ring of each bearing I, a gear I is arranged on the side surface of the main crawler hub, a double-shaft driving motor is arranged at the lower end of the rectangular box, a gear II meshed with the gear I is arranged at the rotating end of the double-shaft driving motor, and a crawler I is arranged on the side;
the swing arm crawler auxiliary mechanism comprises spoke motors at two ends of a through shaft, a first swing arm crawler wheel is mounted on the surface of the spoke motor side, second bearings are mounted at two ends of the through shaft, a rotating ring is mounted on the outer ring of each second bearing, a worm wheel is mounted on one side of the rotating ring, a swing arm is mounted on the side surface of the ring of the rotating ring, a second swing arm crawler wheel is mounted at one end of the swing arm, a second crawler is mounted between the first swing arm crawler wheel and the second swing arm crawler wheel, a motor support is mounted at the lower end of the through shaft, a stepping motor is mounted at one end of the motor support, a worm meshed with the worm wheel is mounted at the rotating end of the stepping motor, a bearing; the torsion motor is installed at logical axle both ends, and the reduction gear is installed to the torsion motor output, and swing arm wheel arm is installed to the reduction gear output, and swing arm wheel is installed to swing arm wheel arm one end.
Furthermore, a circular through hole is formed in the side surface of the rectangular box, and the rotating end of the double-shaft driving motor extends out of the circular through hole.
Further, the side surface of the chassis of the frame is provided with an anti-collision pad.
The utility model has the advantages that: the angle of the crawler can be changed in time under the action of the swing arm crawler auxiliary mechanism, so that the crawler is more attached to the road surface, the gravity center of the whole device can be adjusted, and the obstacle crossing capability of the crawler is enhanced.
Drawings
Fig. 1 is a schematic structural view of an all-terrain crawler-type mobile base according to the present invention;
FIG. 2 is a side schematic view of a swing arm track assist mechanism;
FIG. 3 is a schematic front view of the main track drive mechanism;
FIG. 4 is a partial schematic view of a swing arm track assist mechanism;
in the figure, 1, a frame chassis; 2. a rectangular box; 3. passing through the shaft; 4. a first bearing; 5. a main track hub; 6. a first gear; 7. a dual-axis drive motor; 8. a second gear; 9. a first crawler belt; 10. a spoke motor; 11. a first swing arm crawler wheel; 12. a second bearing; 13. a rotating ring; 14. a worm gear; 15. a swing arm; 16. a second swing arm crawler wheel; 17. a second crawler belt; 18. a motor bracket; 19. a stepping motor; 20. a worm; 21. a bearing support; 22. a third bearing; 23. a torque motor; 24. a speed reducer; 25. a swing arm wheel arm; 26. a swing arm wheel; 27. a circular through hole; 28. an anti-collision cushion.
Detailed Description
The utility model is described in detail with reference to the accompanying drawings, as shown in fig. 1-4, an all-terrain crawler-type mobile base comprises a frame chassis, a main crawler driving mechanism is arranged below the frame chassis 1, and swing arm crawler auxiliary mechanisms are arranged on two sides of the main crawler driving mechanism;
the main crawler driving mechanism comprises a rectangular box 2 on the lower surface of a frame chassis 1, through shafts 3 are arranged on the side surfaces of the rectangular box 2, two through shafts 3 are arranged, bearings I4 are arranged at two ends of each through shaft 3, two pairs of bearings I4 are arranged, a main crawler hub 5 is arranged on the outer ring of each bearing I4, a gear I6 is arranged on the side surface of each main crawler hub 5, a double-shaft driving motor 7 is arranged at the lower end of the rectangular box 2, a gear II 8 meshed with the gear I6 is arranged at the rotating end of the double-shaft driving motor 7, and a crawler 9 is arranged on the side surface of;
the swing arm crawler auxiliary mechanism comprises spoke motors 10 at two ends of a through shaft 3, a first swing arm crawler wheel 11 is mounted on the side surface of each spoke motor 10, second bearings 12 are mounted at two ends of the through shaft 3, a rotating ring 13 is mounted on the outer ring of each second bearing 12, a worm wheel 14 is mounted on one side of the rotating ring 13, a swing arm 15 is mounted on the annular side surface of the rotating ring 13, a second swing arm crawler wheel 16 is mounted at one end of the swing arm 15, a second crawler 17 is mounted between the first swing arm crawler wheel 11 and the second swing arm crawler wheel 16, a motor support 18 is mounted at the lower end of the through shaft 3, a stepping motor 19 is mounted at one end of the motor support 18, a worm 20 meshed with the worm wheel 14 is mounted at the rotating end of the stepping motor 19, a bearing support 21 is mounted at the upper end of; the two ends of the through shaft 3 are provided with a torque motor 23, the output end of the torque motor 23 is provided with a speed reducer 24, the output end of the speed reducer 24 is provided with a swing arm wheel arm 25, and one end of the swing arm wheel arm 25 is provided with a swing arm wheel 26.
The side surface of the rectangular box 2 is provided with a circular through hole 27, and the rotating end of the double-shaft driving motor 7 extends out of the circular through hole 27.
The side surface of the frame chassis 1 is provided with a crash pad 28.
In the embodiment, the electric equipment of the equipment is controlled by an external controller, a fruit picking robot is fixed on a frame chassis 1 before use, then the controller controls a double-shaft driving motor 7 to rotate, the rotation of the double-shaft driving motor 7 drives a gear II 8 to rotate, the rotation of the gear II 8 drives a gear I6 to rotate, the rotation of the gear I6 drives a main crawler hub 5 to rotate, the rotation of the main crawler hub 5 drives a crawler I9 to rotate, so that the whole frame chassis 1 can move, and when the road condition is good, the controller only controls the double-shaft driving motor 7 to be in a working state;
the controller controls the spoke motor 10 to rotate, the rotation of the spoke motor 10 directly drives the swing arm crawler wheel I11 to rotate, the swing arm crawler wheel I11 drives the crawler belt II 17 to rotate, and the crawler belt II 17 can stably rotate through the support of the swing arm crawler wheel II 16; the controller controls the stepping motor 19 to rotate, the rotation of the stepping motor 19 directly drives the worm 20 to rotate, the worm 20 rotates to drive the worm wheel 14 to rotate, the worm wheel 14 rotates to drive the rotating ring 13 to rotate, the side surface of the rotating ring 13 drives the swinging arm 15 to swing at a certain angle (within a certain range), and the worm 20 can stably rotate under the supporting action of the bearing support 21 and the bearing III 22; the controller controls the torque motor 23 to rotate, the torque motor 23 rotates to drive the speed reducer 24 to rotate, the output end of the speed reducer 24 drives the swing arm wheel arm 25 to rotate, the swing arm wheel arm 25 drives the swing arm wheel 26 to do circular motion (rotate in a certain range) by taking the torque motor 23 as a circle center, when the swing arm wheel 26 moves to the lowest end, the swing arm wheel 26 contacts the ground and supports the frame chassis 1, so that the swing arm crawler wheel I11 is temporarily emptied, and the escaping capability is improved;
under the condition of good road conditions and when high-speed movement is needed, the controller controls the stepping motor 19 to rotate, the rotation of the stepping motor 19 indirectly drives the swing arm 15 to rotate upwards by 90 degrees, so that the swing arm 15 is perpendicular to the ground, the friction force between the second crawler belt 17 and the ground is reduced, the energy consumption is reduced, the rotating speed of the double-shaft driving motor 7 is increased, and the purpose of high-speed movement is achieved; when the road surface fluctuates, the controller controls the stepping motors 19 to rotate in real time, so that the lower surfaces of the second caterpillar tracks 17 are attached to the road surface in real time, stable support is provided for the frame chassis 1, the gravity center is prevented from being greatly deviated, and the frame chassis 1 can climb over a certain obstacle through the matched rotation of the stepping motors 19 on the two sides of the frame chassis 1.
Above-mentioned technical scheme has only embodied the utility model discloses technical scheme's preferred technical scheme, some changes that this technical field's technical personnel probably made to some parts wherein have all embodied the utility model discloses a principle belongs to within the protection scope of the utility model.

Claims (3)

1. An all-terrain crawler-type moving base comprises a frame chassis (1) and is characterized in that a main crawler driving mechanism is arranged below the frame chassis (1), and swing arm crawler auxiliary mechanisms are arranged on two sides of the main crawler driving mechanism;
the main track driving mechanism comprises a rectangular box (2) on the lower surface of a frame chassis (1), through shafts (3) are arranged on the side surfaces of the rectangular box (2), two through shafts (3) are arranged, bearings (4) are arranged at two ends of the through shafts (3), two pairs of bearings (4) are arranged, a main track hub (5) is arranged on the outer ring of the bearing (4), a gear I (6) is arranged on the side surface of the main track hub (5), a double-shaft driving motor (7) is arranged at the lower end of the rectangular box (2), a gear II (8) meshed with the gear I (6) is arranged at the rotating end of the double-shaft driving motor (7), and a track I (9) is arranged on the side surface of the main track hub;
the swing arm crawler auxiliary mechanism comprises spoke motors (10) at two ends of a through shaft (3), a first swing arm crawler wheel (11) is installed on the side surface of each spoke motor (10), a second bearing (12) is installed at two ends of the through shaft (3), a rotating ring (13) is installed on the outer ring of the second bearing (12), a worm wheel (14) is installed on one side of the rotating ring (13), a swing arm (15) is installed on the annular side surface of the rotating ring (13), a second swing arm crawler wheel (16) is installed at one end of the swing arm (15), a second crawler belt (17) is installed between the first swing arm crawler wheel (11) and the second swing arm crawler wheel (16), a motor support (18) is installed at the lower end of the through shaft (3), a stepping motor (19) is installed at one end of the motor support (18), a worm (20) meshed with the worm wheel (14) is installed at the rotating, a third bearing (22) is arranged on the lower surface of the bearing support (21), and the inner ring of the third bearing (22) is fixedly connected with the worm (20); torque motors (23) are installed at two ends of the through shaft (3), a speed reducer (24) is installed at the output end of each torque motor (23), a swing arm wheel arm (25) is installed at the output end of each speed reducer (24), and a swing arm wheel (26) is installed at one end of each swing arm wheel arm (25).
2. The all-terrain crawler-type moving base as claimed in claim 1, wherein a circular through hole (27) is formed in the side surface of the rectangular box (2), and the rotating end of the double-shaft driving motor (7) extends out of the circular through hole (27).
3. An all-terrain tracked mobile base as claimed in claim 1, wherein crash pads (28) are mounted to the side surfaces of the frame chassis (1).
CN202022803454.6U 2020-11-28 2020-11-28 All-terrain crawler-type mobile base Active CN213620011U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202022803454.6U CN213620011U (en) 2020-11-28 2020-11-28 All-terrain crawler-type mobile base

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202022803454.6U CN213620011U (en) 2020-11-28 2020-11-28 All-terrain crawler-type mobile base

Publications (1)

Publication Number Publication Date
CN213620011U true CN213620011U (en) 2021-07-06

Family

ID=76637271

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202022803454.6U Active CN213620011U (en) 2020-11-28 2020-11-28 All-terrain crawler-type mobile base

Country Status (1)

Country Link
CN (1) CN213620011U (en)

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