WO2011099662A1 - Système à déplacement variable utilisant deux chenilles d'entraînement et un bras de roue libre - Google Patents

Système à déplacement variable utilisant deux chenilles d'entraînement et un bras de roue libre Download PDF

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Publication number
WO2011099662A1
WO2011099662A1 PCT/KR2010/000908 KR2010000908W WO2011099662A1 WO 2011099662 A1 WO2011099662 A1 WO 2011099662A1 KR 2010000908 W KR2010000908 W KR 2010000908W WO 2011099662 A1 WO2011099662 A1 WO 2011099662A1
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WO
WIPO (PCT)
Prior art keywords
drive
track
motor
fuselage frame
gear
Prior art date
Application number
PCT/KR2010/000908
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English (en)
Korean (ko)
Inventor
김병수
Original Assignee
주식회사 한울로보틱스
Priority date (The priority date 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 date listed.)
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Application filed by 주식회사 한울로보틱스 filed Critical 주식회사 한울로보틱스
Priority to PCT/KR2010/000908 priority Critical patent/WO2011099662A1/fr
Publication of WO2011099662A1 publication Critical patent/WO2011099662A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/20—Tracks of articulated type, e.g. chains
    • B62D55/205—Connections between track links
    • B62D55/21—Links connected by transverse pivot pins

Definitions

  • the present invention relates to a variable driving system using a dual drive track and a freewheel arm, and to install an endless track each of which is controlled at an angle by a predetermined distance from both front and rear ends of the fuselage frame of the driving system, and between arms spaced apart.
  • the present invention relates to a variable driving system having a freewheel having a shape, which improves obstacle overcoming and running properties of a traveling system.
  • a traveling device configured to move the ground by using rotational power such as a motor or an engine is divided into a method using a track and a method using a wheel.
  • using the caterpillar sometimes called Caterpillar
  • the surface contact with the ground has a large area so that the road can be freely driven on uneven roads or muddy ground.
  • unmanned robots capable of remote control such as unmanned surveillance of buildings, civil surveillance of dangerous areas where nuclear reactors or dangerous goods exist, civilian use such as exploration and data collection, military exploration, mine detection and removal, etc. (Or self-propelled robots) are used a lot of crawler.
  • the traveling device of the unmanned robot used for such a purpose is required to climb the stairs.
  • the driving device of the unmanned robot is composed of wheels, the stability when climbing stairs is largely insufficient, and when configured as an infinite track, there is a difficulty in configuring the first stairs to climb up.
  • Crawler conveying device for stairway climbing in Korea No. 177,545, stairway lifting device in No. 374,755, staircase, ramp, rough road traveling device, 2004-8373 stairway climbing The four-wheel linkage traveling system of the six-wheeled traveling robot, the link type track device of 2004-8374, and the like are disclosed.
  • the Patent Publication Nos. 2003-22172 and 2004-8373 are configured to connect the six or eight wheels by a plurality of links to sequentially climb the stairs while changing the height and relative position of the front and rear wheels.
  • the traveling device since the traveling device is constituted by the wheels, the radius of rotation increases, and there is a problem in that a link structure connecting six or eight wheels is complicated and lacks stability in climbing stairs. If the rotation radius of the traveling device is increased in the above, there is a problem that the direction change or U-turn can not be more than 90 ° in a narrow space.
  • the patent No. 177,545 is configured to deform and support the shape of the belt according to the situation when climbing the stairs using the belt support device and jack consisting of two divided front and rear active members.
  • the belt support device contacts the inner surface of the belt, power loss occurs while driving, and it is impossible to apply it when it is used in a place where the height is low because it requires space for installing a jack on the upper part of the belt. There is a problem.
  • Patent No. 374,755 is configured to travel with wheels and to climb stairs using endless tracks.
  • the front and rear wheels are erected so that the endless track does not come into contact with the ground during driving and the front and rear wheels are folded when climbing stairs.
  • the eccentricity of the caterpillar is larger than that of the conventional caterpillar, it is difficult to climb the first stairs as in the case of the conventional caterpillar.
  • the Patent Publication No. 2004-8374 discloses a stair climbing process by dividing a track part forward and backward and installing it in two parts and connecting a link part to change a relative position of the front and rear track part using the link part.
  • the structure of the link portion for changing the relative position of the front and rear track portions is complicated, and it requires space for installing the link portion above the track portion, it is impossible to apply it when used in a place with a low height. have.
  • Patent Registration No. 0596483 filed by the applicant of the present invention, the above problems can be solved to some extent, but the driving force of the driving motor is transmitted to the roller shaft by a belt, and the rotation of the roller shaft is prevented. As a result, the rollers protruding outward from the deformation block are rotated to drive the caterpillar, so that the width (distance from the roller shaft to the roller) of the traveling system is designed to be wide. That is, Patent Registration No.
  • 0596483 has a gap between the fuselage (frame) and the caterpillar when the crawler is installed in the roller, it may cause the jamming of obstacles, and the caterpillar is installed on the protruding roller Therefore, there is a problem in that the overall width of the traveling system becomes wider than necessary.
  • Patent No. 0596483 has a plurality of rollers are connected by a single track, and is moved by the drive of the track connected in this way, between the rollers installed in the front of the body (frame) and the rollers installed in the rear end When obstacles are located in the road, even if there is a track, obstacles may come into contact with the body (frame) to interfere with driving.
  • the present invention is to solve the above problems, the object is to install the drive tracks of the endless track respectively in the front and rear end of the body, so that the installed drive tracks are deformed at an angle symmetrical with each other, obstacle climbing and runability It is to provide an improved variable driving system.
  • Another object of the present invention is to receive the driving force of the driving motor by the gear coupling to minimize the width of the drive track, and to minimize the separation distance between the fuselage and the caterpillar of the traveling system to smooth the running To provide a system.
  • Still another object of the present invention is to install a freewheel having a female shape between the drive tracks installed at the front and rear ends of the travel system body, thereby preventing obstacles from being inserted between the drive tracks and making contact with the body. It is to provide a variable driving system that enables the smooth running of.
  • Still another object of the present invention is to allow the freewheel having an arm shape to be rotated indefinitely between the driving track portions, thereby enabling driving by increasing the contact force between the driving track and the floor surface regardless of the position and state of the driving system. It is to provide a variable driving system.
  • Still another object of the present invention is to provide a variable driving system that can simplify the configuration of the driving system body for driving, to easily secure a space in the body and to further install additional necessary materials.
  • Still another object of the present invention is to provide a variable traveling system having excellent climbing performance of the first stair by forming an inclined front track in contact with a stairway by changing the relative position of the roller supporting the track.
  • Another object of the present invention is that it is possible to configure the system to a minimum height because it does not require a space for installing a separate mechanism or link to the top of the track in order to improve the climbing ability of the stairs, Since it is possible to symmetrically deform the upper and lower shapes, it is to provide a variable driving system that can exhibit the same running performance even when the rollover.
  • the present invention provides a fuselage frame having grooves on both sides, two pairs of front and rear drive tracks arranged in parallel to both front and rear ends of the fuselage frame, and a pair of front and rear drive tracks installed in the fuselage frame.
  • the present invention is to be installed in the front and rear end of the fuselage frame of the traveling system, respectively, it is possible to ensure the driving stability when passing the obstacle compared to the traveling system having one endless track.
  • the present invention is to be rotated in the shape of the trackless drive tracks located in the front and rear of the fuselage of the traveling system symmetrical with each other, to improve the step climbing ability through the up and down of the fuselage frame according to the angle deformation of the drive track Can be.
  • a pair of front and rear driving tracks are operated by the driving force of the same motor, and two pairs of front and rear driving tracks are rotated by one motor, thereby simplifying the configuration in the driving system body.
  • the present invention is provided with a freewheel portion is adjusted between the front and rear drive tracks, the rotation angle is adjusted, when overcoming the stairs or rough ground, due to the space between the front and rear drive tracks unspecific obstacles in contact with the body Can be prevented.
  • the present invention is to be rotated 360 ° freewheel portion, it is possible to contact the driving track portion and the bottom surface of one side irrespective of the state of the fuselage or the driving track portion, it is possible to improve the running ability of the traveling system In addition, the driving track of one side is lifted to enable high-speed driving of the traveling system.
  • the present invention can be driven independently of the rotation of the drive track and the rotation of the freewheel can be overcome the obstacles through various forms of deformation even in the case of various complex terrain and rough terrain, stairs or unspecified obstacles.
  • the present invention can minimize the width of the driving track to reduce the overall width of the driving system, and minimize the distance between the driving track and the driving system body to prevent the insertion of foreign matter and obstacles.
  • the present invention is simple in the fuselage configuration, not only to facilitate maintenance, but also to easily secure space in the fuselage, it is possible to further install additional necessary materials.
  • the present invention has a structure that is vertically symmetrical, it is possible to continue running even if the rollover phenomenon of the traveling system occurs during driving.
  • the present invention enables driving through deformation of the body if power is supplied to the remaining driving part and deformation of the freewheel is possible.
  • the present invention is composed of a caterpillar prefabricated, it is possible to replace the part at the time of partial damage, it can be applied by modifying according to the size of the drive track.
  • the present invention is possible to deform the front / rear drive track portion as long as possible in the horizontal longitudinal direction after climbing the first stairs, it is possible to continue climbing the stairs, it is possible to obtain excellent climbing performance.
  • the present invention is to form each drive track portion in an endless track, it is possible to maintain the same tension due to a short interval, does not require a separate tension control device, and to change the length of the endless track Does not cause.
  • the present invention does not require a space for installing a separate mechanism or link to the top of the caterpillar to improve the climbing ability of the first staircase, it is possible to configure the system to a minimum height. Therefore, by installing a control device, a camera, a sensor, etc. in accordance with the height of the caterpillar, it is possible to exhibit the same performance even at the time of overturning, and to achieve the object sufficiently even in a bad terrain or a bad driving condition.
  • the present invention when installed so as to have a freewheel having an arm type synchronous with the front drive track portion, the front drive track portion having an endless track and the rear drive track portion and the freewheel portion of the arm structure is rotated by one motor
  • the internal configuration of the mobile robot can be simple and can facilitate maintenance.
  • the present invention when installed so as to have a freewheel having a female shape that is synchronized with the front end drive track portion, the freewheel portion is synchronized with the front end drive track portion is operated integrally, the freewheel portion between the front end drive track portion and the rear end drive track portion It is always in the position to prevent the intrusion of obstacles between the drive track.
  • the present invention is installed so as to have a freewheel having an arm shape that is synchronized with the shear drive track portion, the rotation radius of the shear drive track portion and the rotation radius of the freewheel portion is the same, the freewheel portion is always in contact with the bottom surface, This minimizes the contact between the obstacle and the fuselage.
  • the present invention when installed so as to have a freewheel having an arm form synchronous with the shear drive track portion, the freewheel portion is to be rotated by the deformable motor portion, to simplify the configuration in the travel system body frame and to install another equipment It is easy to secure space for.
  • the present invention when installed so as to have a freewheel having an arm form synchronous with the shear drive track portion, the freewheel portion is always in contact with the bottom surface, to improve the running stability of the mobile robot during driving, and the shear drive track portion It is possible to prevent contact between the body frame and the obstacle caused by the space between the rear drive track.
  • FIG. 1 is an exemplary view showing a configuration according to the present invention
  • Figure 2 is an exemplary view showing the internal configuration of the shear drive track portion according to the present invention
  • Figure 3 is an exemplary view showing the configuration of the drive track portion according to the present invention
  • Figure 4 is an exemplary view showing the drive of the drive track portion and the freewheel according to the invention
  • Figure 5 is another exemplary view showing the operation of the freewheel portion according to the present invention
  • FIG. 7 is an exemplary view showing a staircase climbing in accordance with the present invention
  • FIG. 9 is an exemplary view showing the driving of the front and rear drive track and the freewheel according to the modified configuration of the present invention
  • FIG. 10 is an exemplary view showing a staircase climbing according to a modified configuration of the present invention
  • 50a first connecting wheel 50b: second connecting wheel
  • FIG. 1 is an exemplary view showing a configuration according to the present invention
  • Figure 2 is an exemplary view showing an internal configuration of the drive track according to the invention
  • Figure 3 is an exemplary view showing a configuration of the drive track according to the present invention
  • Figure 4 is an exemplary view showing the drive of the freewheel portion other than the drive track portion according to the present invention
  • Figure 5 is another exemplary view showing the operation of the wheely wheel portion according to the present invention
  • Figure 6 is a configuration of the endless track according to the present invention
  • the present invention provides a fuselage frame 10 having grooves 11 on both sides, and two pairs of front and rear drives respectively disposed in parallel with both front and rear ends of the fuselage frame 10.
  • the drive motor part 40 which is installed in the fuselage frame 10, and drives the pair of front / rear drive track parts 20 and 30 simultaneously, and in the fuselage frame 10.
  • Two pairs of front and rear drive tracks (20, 30) to be rotated at the same time Deformation motor unit 50 for rotating the rack units 20 and 30 so as to be symmetrical with each other, and a freewheel unit installed in the fuselage frame 10 so as to be positioned between the front drive track unit 20 and the rear drive track unit 30 ( 60 and a rotating motor unit 70 provided in the body frame 10 to rotate the freewheel unit 60.
  • the fuselage frame 10 is a part constituting the body of the traveling system, and has a space 12 in which the driving motor and the driving motor are installed therein, and the groove part 11 in which the freewheel part 60 is installed in the middle portions of both sides. Is concave inwardly.
  • the front drive track portion 20 is installed at both front ends of the fuselage frame 10
  • the rear end drive tracks 30 are respectively installed at both rear ends of the fuselage frame
  • the front end drive track portion 20 has a main shaft 21 having a power transmission gear 22 at the other end so that one side is bearing-supported to the fuselage frame 10 and positioned outside the fuselage frame 10, and the fuselage frame.
  • the power transmission gear 22, the connecting gear 25, the drive gear 26 is geared to each other such that the central axis is located on the same line, the connecting gear 25 and the drive gear 26 are deformed frame
  • the bearing is supported by 24 to be rotatable.
  • the main shaft 21 has a hollow structure
  • the power transmission wheel 23 is made of a sprocket or roller or pulley.
  • the caterpillar 28 has a prefabricated structure in which a plurality of parts, not integral parts, are connected to each other to form an entire track. That is, the crawler track 28 according to the present invention includes a track base 281, a tread 283 connected to a track base upper surface by a tread connecting joint 282, and one track base and another adjacent thereto. And a track connecting joint 285 for connecting the track base 281 and the track connecting board 284 between the track bases 284 provided between the track bases.
  • the driving wheel 27 has a structure in which the crawler 28 can be installed, and the structure of the drive wheel corresponds to a known technique used when installing the crawler, and thus detailed description thereof will be omitted.
  • the front end drive track unit 20 and the rear end drive track unit 30 respectively positioned at one side of the fuselage frame 10 are connected to each other by a power transmission belt or a chain 80. That is, the power transmission wheel 23 of the front drive track portion and the power transmission wheel 33 of the rear drive track portion are connected by a power transmission belt or a chain 80.
  • the traveling motor unit 40 drives a pair of front and rear driving tracks 20 and 30 located at one side of the fuselage frame 10 simultaneously, and the traveling motor 41 is fixed in the fuselage frame 10. And a motor transmission 42 integrally installed on the shaft of the traveling motor, and a power transmission reduction gear 43 integrally installed on the main shaft 21 of the front drive track portion such that one side of the motor gear is engaged with the motor gear and is located inside the fuselage frame. ) Is included. That is, the traveling motor unit 40 is provided with two pairs in the fuselage frame (10).
  • the driving force of the driving motor 41 is the power transmission reduction gear 43, the main shaft 21, the power transmission gear 22, and the connecting gear 25. It is transmitted to the drive gear 26 to rotate the endless track 28 of the front drive track portion 20, and is transmitted to the main shaft 31 of the rear drive track portion through the power transmission wheel 23 to the endless drive track portion Rotate the trajectory 38.
  • the deformable motor unit 50 rotates the front drive track unit 20 and the rear drive track unit 30 in a direction opposite to each other to deform the angles of the front and rear drive track units 20 and 30 into a substantially trapezoidal shape. It is used for climbing stairs, passing obstacles, and driving at high speeds.
  • the deformable motor unit 50 is fixed to the deformable frame 24 by both ends thereof penetrating the main shaft 21 of the shear drive track unit located at both sides of the fuselage frame 10, and being bearing-supported to the main shaft 21.
  • the front strain shaft 51 and the rear strain shaft which are fixed to the strain frame 34 through the main shaft 31 of the rear end drive track portion located on both sides of the fuselage frame 10 and are supported by the main shaft ( 52, a front driving wheel 53 integrally installed on the front deformation shaft 51, a rear drive gear 54 integrally installed on the rear deformation shaft 52, and a fuselage frame of the traveling system 100.
  • Deformation motor 55 provided in (10), the motor gear 56, which is integrally installed on the shaft of the deformation motor 55, and one side is engaged with the rear drive gear 54, and the shaft of the deformation motor 55 It is configured to include a rear end driving wheel (57) integrally installed in the front drive wheel 53 and connected by a belt or chain (58).
  • the front drive wheel 53 and the rear drive wheel 57 is appropriate to the pulley, roller, sprocket, etc. according to the connection method.
  • the driving force of the deformation motor 55 is the motor gear 56, the rear drive gear 54, and the rear drive wheel 57.
  • the connection drive wheel 57, belt or chain 58, shear drive wheel 53, shear deformation It is transmitted to the deformation frame 24 of the shear drive track 20 through the shaft (51).
  • the driving force of the deformation motor 55 the deformation frame 24 of the front drive track portion and the deformation frame 34 of the rear drive track portion are rotated in a symmetrical direction. That is, the front and rear drive tracks 20 and 30 are rotated at a predetermined angle to have a trapezoidal shape as shown in FIG. 4.
  • the freewheel unit 60 is for preventing the contact of the fuselage frame of the obstacle and the high-speed running of the traveling system, the rotary shaft 61 is installed to penetrate both sides of the fuselage frame, and the drive gear 62 integrally installed on the rotary shaft; And arms 63 provided at both ends of the rotating shaft so as to be located in the groove part of the fuselage frame, and a freewheel 64 provided to be rotatable to the arm.
  • the rotary motor unit 70 includes a rotary motor 71 installed in the fuselage frame 10 and a motor gear 72 integrally installed on the shaft of the rotary motor and engaged with the drive gear 62 of the freewheel unit. It is supposed to be.
  • the driving force of the rotary motor 71 is transmitted to the rotary shaft 61 through the motor gear 72 and the drive gear 62, and the arm 63 is rotated by the rotation of the rotary shaft 61 to freewheel.
  • the position of 64 is changed, and the freewheel 64 is rotated 360 ° in the groove 11 of the fuselage frame by the driving force of the rotation motor 71.
  • a camera for sensing and reconnaissance a sensor unit, an antenna for transmitting and receiving control signals and data, and a driving motor by processing a control signal received through the antenna and It is possible to further install a control device for controlling the deformation motor and the like.
  • fuselage frame 10 of the present invention although not shown in the drawings, it is also possible to install a robot arm, tongs, fork-lane, crane, etc. for performing the work, in addition to a variety of equipment and devices can be installed.
  • Figure 4 shows an exemplary view showing the drive of the drive track and the freewheel according to the present invention
  • the present invention can be transformed into a trapezoidal shape by varying the angle of the front and rear drive tracks by the deformation motor unit.
  • the freewheel part is operated to prevent contact with the fuselage frame by inserting an obstacle into the space between the front drive track part and the rear drive track part due to the deformation of the front and rear drive track parts. To prevent contact with the fuselage frame of obstacles.
  • Figure 5 shows another exemplary view showing the operation of the wheely wheel portion according to the present invention
  • Figure 5 is to drive the freewheel portion by the rotary motor portion when one drive track portion is in the air due to obstacles
  • the contact force of the one side driving track portion can be enhanced, thereby enabling travel.
  • the present invention can selectively lift the front or rear drive track by the bottom contact support of the freewheel portion, it is possible to enable high-speed driving.
  • Figure 7 shows an exemplary view showing a step climbing in accordance with the present invention
  • the present invention is a step using the operation shown in Figures 4 and 5, that is, the front and rear drive track of the deformation and driving, the operation of the freewheel
  • a traveling system that runs in a trapezoidal shape having a front / rear driving track portion as shown in FIG. 7 encounters a stepped obstacle such as a staircase, the endless track of the front driving track portion contacts the stairs and is sheared by the deformation motor portion.
  • the track motor is operated by the traveling motor part to climb the step. Since the method of passing such an obstacle is made through the operation of the present invention described above, a detailed description thereof will be omitted.
  • Figure 8 is an exemplary view showing a modified configuration according to the present invention
  • Figure 9 is an exemplary view showing the drive of the front and rear drive track and the freewheel according to the modified configuration according to the present invention, the present invention grooves on both sides
  • a fuselage frame 10 having 11, two pairs of front and rear drive track portions 20 and 30 disposed in parallel to both front and rear ends of the fuselage frame 10, respectively, and the fuselage frame 10, respectively.
  • a fuselage frame installed between the traveling motor part 40 and the front drive track part 20 and the rear end drive track part 30 which are installed inside the driving motor part 40 and drive the pair of front and rear drive track parts 20 and 30 simultaneously.
  • a freewheel portion 60 which is installed at (10) and operates integrally with the front end drive track portion 20, and which is installed in the fuselage frame 10 and has two pairs of front / rear drive track portions 20 and 30 and a freewheel portion ( The side for rotating at the same time 60, the front drive track portion 20 and the rear drive track portion 30 to be symmetrical with each other It is constituted by a motor unit (60).
  • the fuselage frame 10 is a part constituting the body of the traveling system, and has a space 12 in which the traveling motor and the deformation motor are installed therein, and the groove part 11 in which the freewheel part 60 is installed in the middle portions of both sides. Is concave inwardly.
  • the front drive track portion 20 is installed at both front ends of the fuselage frame 10
  • the rear end drive tracks 30 are respectively installed at both rear ends of the fuselage frame
  • the front end drive track portion 20 has a main shaft 21 having a power transmission gear 22 at the other end so that one side is bearing-supported to the fuselage frame 10 and positioned outside the fuselage frame 10, and the fuselage frame.
  • the power transmission gear 22, the connecting gear 25, the drive gear 26 is geared to each other such that the central axis is located on the same line, the connecting gear 25 and the drive gear 26 are deformed frame
  • the bearing is supported by 24 to be rotatable.
  • the main shaft 21 has a hollow structure
  • the power transmission wheel 23 is made of a sprocket or roller or pulley.
  • the caterpillar 28 has a prefabricated structure in which a plurality of parts, which are not integral, are connected to each other to form an entire track. That is, the crawler track 28 according to the present invention includes a track base 281, a tread 283 connected to a track base upper surface by a tread connecting joint 282, and one track base and another adjacent thereto. And a track connecting joint 285 for connecting the track base 281 and the track connecting board 284 between the track bases 284 provided between the track bases.
  • the driving wheel 27 has a structure in which the crawler 28 can be installed, and the structure of the drive wheel corresponds to a known technique used when installing the crawler, and thus detailed description thereof will be omitted.
  • the front end drive track unit 20 and the rear end drive track unit 30 respectively positioned at one side of the fuselage frame 10 are connected to each other by a power transmission belt or a chain 80. That is, the power transmission wheel 23 of the front drive track portion and the power transmission wheel 33 of the rear drive track portion are connected by a power transmission belt or a chain 80.
  • the traveling motor unit 40 drives a pair of front and rear driving tracks 20 and 30 located at one side of the fuselage frame 10 simultaneously, and the traveling motor 41 is fixed in the fuselage frame 10. And a motor transmission 42 integrally installed on the shaft of the traveling motor, and a power transmission reduction gear 43 integrally installed on the main shaft 21 of the front drive track portion such that one side of the motor gear is engaged with the motor gear and is located inside the fuselage frame. ) Is included. That is, the traveling motor unit 40 is provided with two pairs in the fuselage frame (10).
  • the driving force of the driving motor 41 is the power transmission reduction gear 43, the main shaft 21, the power transmission gear 22, and the connecting gear 25. It is transmitted to the drive gear 26 to rotate the endless track 28 of the front drive track portion 20, and is transmitted to the main shaft 31 of the rear drive track portion through the power transmission wheel 23 to the endless drive track portion Rotate the trajectory 38.
  • the freewheel unit 60 is for preventing contact of the fuselage frame with obstacles, and one side is always in contact with the bottom surface, and is installed to penetrate both sides of the fuselage frame, and the rotating shaft 61 is connected to the deformation motor unit 50. And arms 63 provided at both ends of the rotating shaft so as to be located in the groove part of the fuselage frame, and a freewheel 64 provided to be rotatable to the arm.
  • the deformable motor unit 50 rotates the front drive track unit 20 and the rear drive track unit 30 in a direction opposite to each other to deform the angles of the front and rear drive track units 20 and 30 into a substantially trapezoidal shape.
  • the freewheel unit 60 is synchronized with the front end drive track 20, that is, the rotational angle of the front end drive track unit and the free wheel unit 60 are operated to be the same.
  • the deformable motor unit 50 is fixed to the deformable frame 24 by both ends thereof penetrating the main shaft 21 of the shear drive track unit located at both sides of the fuselage frame 10, and being bearing-supported to the main shaft 21.
  • the front strain shaft 51 and the rear strain shaft which are fixed to the strain frame 34 through the main shaft 31 of the rear end drive track portion located on both sides of the fuselage frame 10 and are supported by the main shaft ( 52), a shear drive wheel 53 integrally installed on the shear deformation shaft 51, and a shear drive by a chain or belt 58 which is integrally installed on the rotation axis of the freewheel so as to be in line with the shear drive wheel.
  • the first connecting wheel 50a connected to the wheel, the rear drive gear 54 integrally installed on the rear deformation shaft 52, and the deformation motor 55 installed in the fuselage frame 10 of the traveling system 100.
  • a motor gear 56 integrally installed on the shaft of the deformable motor 55 so that one side is engaged with the rear drive gear 54;
  • the rear end driving wheel 53 is integrally installed on the shaft of the mold motor 55 and the rear end driving wheel 53 is integrally installed on the rotating shaft of the freewheel so as to be located on the same line as the rear driving wheel 53 and driven by the chain or the belt 59.
  • a second connecting wheel 50b connected to the wheel.
  • the front drive wheel 53 and the rear drive wheel 57 is appropriate to the pulley, roller, sprocket, etc. according to the connection method.
  • the driving force of the deformation motor 55 is the motor gear 56, the rear drive gear 54, and the rear drive wheel 57.
  • the second connecting wheel (50b) At the same time as being transmitted to the unit 60, through the first connecting wheel 50a, belt or chain 58, the shear drive wheel 53, the shear deformation shaft 51 and the deformation frame of the shear drive track 20 Is passed to 24.
  • the first and second connection wheels 50a and 50b of the deformation motor unit 50 are fixed to the rotation shaft 61 of the freewheel unit 60, and the rotation shaft 61 is a driving force of the deformation motor 55. Is transmitted by the second connecting wheel (50b) to the arm (63), and at the same time to rotate the first connecting wheel (50a) to transfer the driving force of the deformation motor 55 to the transmission drive wheel (53). .
  • the arm 63 is rotated by the rotation of the rotary shaft 61 as described above, and the position of the freewheel 64 is changed, and the freewheel 64 is the groove 11 of the fuselage frame by the driving force of the deformation motor 55. Is rotated at
  • the deformation frame 24 of the front drive track part and the deformation frame 34 of the rear drive track part are rotated in a symmetrical direction, and the freewheel part 60 is the shear drive track part. It is rotated in synchronization in the same direction as 20. That is, the front and rear drive tracks 20 and 30 are rotated at a predetermined angle to have a trapezoidal shape as shown in FIG. 4, and the freewheel 60 and the front drive track 20 are linked. Like a structure, it works in parallelogram.
  • a camera for sensing and reconnaissance a sensor unit, an antenna for transmitting and receiving control signals and data, and a driving motor by processing a control signal received through the antenna and It is possible to further install a control device for controlling the deformation motor and the like.
  • fuselage frame 10 of the present invention although not shown in the drawings, it is also possible to install a robot arm, tongs, fork-lane, crane, etc. for performing the work, in addition to a variety of equipment and devices can be installed.
  • the present invention can be transformed into a trapezoidal shape by varying the angle of the front and rear drive track portion and the freewheel portion by the deformation motor portion, the front drive track portion and the rear end drive due to the deformation of the front and rear drive track portion and the freewheel portion
  • An obstacle is inserted into the space between the track portions to prevent contact with the fuselage frame.
  • FIG. 10 is an exemplary view showing a staircase climbing according to a modified configuration of the present invention, and the present invention is synchronized with the front and rear drive tracks, that is, the operations shown in FIG. 9, that is, the front and rear drive tracks.
  • the freewheel By using the operation of the freewheel that is operated it is possible to facilitate the stepped obstacle climbing, the passage of obstacles in the groove form. That is, when a mobile robot traveling in a trapezoidal shape having a front / rear drive track part as shown in FIG.
  • the track motor is operated by the traveling motor to climb the step. Since the method of passing such an obstacle is made through the operation of the present invention described above, a detailed description thereof will be omitted.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention se rapporte à un système à déplacement variable utilisant deux chenilles d'entraînement et un bras de roue libre. Dans le système à déplacement variable, des parties chenilles d'entraînement du type continu sont installées aux extrémités avant et arrière d'un châssis de sorte que les parties chenilles d'entraînement puissent être actionnées de façon variable et symétrique, de manière à améliorer les caractéristiques de montée et de déplacement du système à déplacement variable. Le système à déplacement variable comprend : un châssis de carrosserie comprenant des parties rainures des deux côtés de celui-ci ; deux paires de parties chenilles d'entraînement avant et arrière disposées des deux côtés des extrémités avant et arrière du châssis de carrosserie de façon mutuellement parallèle ; une partie moteur de déplacement installée dans le châssis de carrosserie pour entraîner simultanément une paire des parties chenilles d'entraînement avant et arrière ; une partie moteur variable installée dans le châssis de carrosserie pour faire tourner de façon simultanée et symétrique toutes les parties chenilles d'entraînement avant et arrière ; une partie roue libre disposée sur le châssis de carrosserie entre les parties chenilles d'entraînement avant et les parties chenilles d'entraînement arrière ; et une partie moteur de rotation installée dans le châssis de carrosserie pour faire tourner la partie roue libre.
PCT/KR2010/000908 2010-02-12 2010-02-12 Système à déplacement variable utilisant deux chenilles d'entraînement et un bras de roue libre WO2011099662A1 (fr)

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PCT/KR2010/000908 WO2011099662A1 (fr) 2010-02-12 2010-02-12 Système à déplacement variable utilisant deux chenilles d'entraînement et un bras de roue libre

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PCT/KR2010/000908 WO2011099662A1 (fr) 2010-02-12 2010-02-12 Système à déplacement variable utilisant deux chenilles d'entraînement et un bras de roue libre

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103373402A (zh) * 2013-07-12 2013-10-30 上海交通大学 轮-履复合式模块化移动机器人行驶装置
CN103963858A (zh) * 2014-03-31 2014-08-06 刘建 一种矿用机器人一体化履带行驶装置
EP2930088A1 (fr) * 2014-04-09 2015-10-14 BIBA Bremer Institut für Produktion und Logistik GmbH Châssis, véhicule à chenilles et train en étant doté et véhicule doté d'un tel véhicule à chenilles train
CN106695512A (zh) * 2016-12-13 2017-05-24 浙江海洋大学 一种油罐清理设备
CN108303938A (zh) * 2018-04-28 2018-07-20 湖南文理学院 一种用于水田作业的智能化履带式拖拉机
CN108978765A (zh) * 2018-07-17 2018-12-11 广西南宁胜祺安科技开发有限公司 一种换轮式挖掘机及其换轮方法
CN113022726A (zh) * 2021-04-16 2021-06-25 北京邮电大学 面向复杂地形的轮履复合移动平台

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JPH0656057A (ja) * 1991-04-16 1994-03-01 Sumitomo Heavy Ind Ltd アウトリガ−機能を兼ねるクロ−ラ式車両
US6263989B1 (en) * 1998-03-27 2001-07-24 Irobot Corporation Robotic platform
JP2004074980A (ja) * 2002-08-21 2004-03-11 Mitsubishi Heavy Ind Ltd 無軌道走行機関、及び、無軌道走行機関の運動制御方法
KR100596483B1 (ko) * 2004-10-12 2006-07-03 주식회사 한울로보틱스 가변 트랙형 이동시스템
KR100638358B1 (ko) * 2005-03-11 2006-10-25 엘에스전선 주식회사 중간연결기를 이용한 이중 핀 궤도장치

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103373402A (zh) * 2013-07-12 2013-10-30 上海交通大学 轮-履复合式模块化移动机器人行驶装置
CN103963858A (zh) * 2014-03-31 2014-08-06 刘建 一种矿用机器人一体化履带行驶装置
EP2930088A1 (fr) * 2014-04-09 2015-10-14 BIBA Bremer Institut für Produktion und Logistik GmbH Châssis, véhicule à chenilles et train en étant doté et véhicule doté d'un tel véhicule à chenilles train
CN106695512A (zh) * 2016-12-13 2017-05-24 浙江海洋大学 一种油罐清理设备
CN106695512B (zh) * 2016-12-13 2018-11-06 浙江海洋大学 一种油罐清理设备
CN108303938A (zh) * 2018-04-28 2018-07-20 湖南文理学院 一种用于水田作业的智能化履带式拖拉机
CN108978765A (zh) * 2018-07-17 2018-12-11 广西南宁胜祺安科技开发有限公司 一种换轮式挖掘机及其换轮方法
CN113022726A (zh) * 2021-04-16 2021-06-25 北京邮电大学 面向复杂地形的轮履复合移动平台
CN113022726B (zh) * 2021-04-16 2022-01-28 北京邮电大学 面向复杂地形的轮履复合移动平台

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