WO2014043836A1

WO2014043836A1 - Omnibearing moving track

Info

Publication number: WO2014043836A1
Application number: PCT/CN2012/001639
Authority: WO
Inventors: 张豫南; 黄涛; 颜南明; 张健; 尚颖辉; 李年裕; 李瀚飞; 蔡志远; 王双双; 田鹏; 闫永宝; 赵玉慧; 孙晓雨; 吴中坚; 李辉; 张舒阳; 王恒
Original assignee: Zhang Yunan
Priority date: 2012-09-19
Filing date: 2012-12-07
Publication date: 2014-03-27
Also published as: CN103043128B; CN103043128A

Abstract

An omnibearing moving track is mainly composed of a driving wheel (12), track plates (13), a roller (14), a loading wheel (15), a towing wheel (16), and an induction wheel (17). The roller (14) is fixed on a roller bracket (23) of each track plate, and the rotation axis thereof forms a certain angle with the axis of the driving wheel (12) of the omnibearing moving track so as to form an offset angle of the roller (14). The offset angle of the roller (14) ranges from 0° to 90° or -90° to 0°, and preferably is ±45°.

Description

Description Field of the Invention The present invention relates to the field of mobile mechanical devices, and in particular to a mobile crawler having omnidirectional motion characteristics. Background technique

For the moving mechanism, the omnidirectional motion refers to the motion of the object having three degrees of freedom in the XY plane in the space coordinate system XYZ, that is, the translation along the X-axis and the Y-axis and the rotation around the z-axis. Therefore, a moving mechanism that can achieve omnidirectional motion is also called an omnidirectional moving mechanism. The moving mechanism can be generally divided into a wheel type, a crawler type and a leg foot type according to its structure, and there are also stepping, peristaltic and snake forms suitable for a specific occasion. At present, most omnidirectional mobile mechanisms are wheeled, mainly including Mecanum wheel, Alternate wheel, Orthogonal wheel, ball wheel and Rover. Round and so on. Among them, the McCann wheel is one of the most widely used structures in engineering.

However, the research on the crawler-type omnidirectional mobile mechanism is relatively lagging. It was not until the early 1990s that research results in this area began to appear. The existing crawler omnidirectional mobile mechanisms are designed and developed by foreign countries, mainly including Omnidirectional Spherical Tire Mechanisnu "VUTO" Crawler.

Crawler-Roller Running Mechanism and Omni - Crawler with Circular Cross - Section, etc., but they are not currently widely used in engineering. Domestic research on crawler-type omni-directional mobile mechanisms is still in the blank.

In the early 1990s, American engineers Mark West and Haruhiko Asada invented the Omnidirectional Spherical Tire Mechanism. The structure consists mainly of two parallel round bars and a number of spherical wheels. The point contact between the round bar and the spherical wheel, the spherical wheel It is possible to move in a direction parallel to the axis of the round bar, while the rotation of the round bar in turn drives the spherical wheel to move in a direction perpendicular to the axis of the round bar. Therefore, the crawler mechanism has two degrees of freedom of movement on the plane, i.e., translation along the X-axis and the y-axis.

The "VUTON" Crawler was invented by Professor Shigeo Hirose of Japan, and his invention was inspired by a omnidirectional round. Professor Hirose wants to replace the original all-round with a series of free rollers. Description

Wheel, which turns it into a crawler-type omnidirectional moving mechanism. As shown in Fig. 1, its structure is mainly composed of a pair of chains 2, 3 and a plurality of cylindrical free rollers 6, which maintain a fixed spacing between the two chains, which are connected by a rectangular frame 5, free rollers They are then fixed on a rectangular frame that rotates around their own axis but maintains a horizontal attitude. This mechanism is characterized by a flat and compact structure. Compared with the original omnidirectional wheel, the grounding area is increased and the load capacity is also enhanced. At the same time, since there is no slippage between the ground and the grounding area is large, the ground is The degree of damage is small. The "VUT0N" mobile crawler is a scheme similar to the embodiment of the present invention, which has been described in the foregoing. Its physical structure is shown in FIG. 2, which is mainly composed of a driving axle 1, an inner chain. 2. The outer chain 3, the speed control belt 4, the rectangular frame 5, the frame bracket 6, the roller 7 and the tensioning device 8 are formed, wherein the angle between the roller axis and the driving wheel axis is 90°, that is, the offset angle of the roller is 90 ° ( 1 ) Poor obstacle ability. Part of the structural design of the "VUT0N" moving track, such as the 90° offset angle roller and the rectangular frame, results in a poor ability to pass the road with obstacles such as steps and grooves, thus reducing its passability.

Peng Chen et al. of Mie University designed the Crawler-Roller Running Mechanism for the problem that most omni-directional mobile devices can only be used on flat roads and cannot be used on complex uneven roads. The mechanism adds a number of free wheels to a chain drive. Each of the two free wheels is a set that is mounted perpendicular to the direction of transmission of the chain. These freewheels allow the mechanism to not only have the freedom of lateral motion, but also climb obstacles such as steps, so that it can not only achieve all-round motion, but also has a certain ability to overcome obstacles.

Japanese engineers Kenjiro Tadakuma, Ri ichiro Tadakuma and Hiroaki Kinoshita and others have developed a crawler-type omnidirectional moving mechanism with a circular cross section. The mechanism is circular in cross section. In addition to its longitudinal movement, it also has an active axis of rotation along the longitudinal axis for lateral movement. The crawler omnidirectional moving mechanisms described above all utilize free rollers. Since the free rollers are passively driven and their dimensions are relatively small relative to the entire track, the crawler can overcome obstacles such as steps and discontinuous road surfaces. poor ability. The crawler mechanism does not have a free roller, so it can effectively overcome the shortcomings of the above several structures, but its structural design is more complicated.

The Mecanum wheel is a typical wheeled omnidirectional moving mechanism. As shown in Fig. 3, it is mainly composed of a hub 9 and a series of uniformly distributed drum rollers 11 fixed to the hub. The outer envelope 10 of the roller Instruction manual

Coincident with the theoretical circumference of the wheel, the roller is free to rotate about its axis. The angle between the roller axis and the hub axis is the offset angle of the roller, typically ±45°.

The Mecanum wheel has three degrees of freedom of motion on the plane: one is to rotate around the axis of the wheel; the other is to move in the direction perpendicular to the axis of the grounding roller; the third is to rotate around the point of contact between the wheel and the ground. The Mecanura wheel is a kind of rigid wheel. The grounding roller is in point contact with the ground. It is usually one or two points of contact. The grounding area is very small, so it is easy to generate vibration and slip during the movement, especially under high speed. More obvious, thus affecting the stability of the movement. In addition, the point contact also determines that the Mecanum wheel can only be applied to a flat road surface, and the accuracy of motion on a random uneven road surface is difficult to guarantee. At the same time, due to the small grounding area of the Mecanum wheel and the strong pressure on the ground, it is also easy to cause damage to the ground. The key to the Mecanum wheel structure is the design of the roller, because it is theoretically required that the envelope of the roller should be a standard circumference, and the outer contour of the roller mainly determines the roundness error of the envelope of the roller. However, the calculation method of the outer contour curve of the existing roller is complicated and still has certain errors, and errors may occur during the processing. In addition, the machining accuracy of the hub needs to be guaranteed. The above factors are likely to cause a large roundness error of the outer envelope of the roller, thereby generating a large vibration during the movement, affecting the stability and accuracy of the movement. All in all, the Mecanum wheel has a complex structural design and requires high machining accuracy. SUMMARY OF THE INVENTION In order to solve the problem that the existing Mecanum wheel is bumpy, the road surface adaptability is poor, and the problem of the "VUT0N" moving track obstacle is poor, and the stability and accuracy of the omnidirectional moving mechanism are improved, the embodiment of the present invention provides An all-round moving crawler, which is mainly composed of a driving wheel (12), a track shoe (13), a roller (14), a road wheel (15), a towing wheel (16) and an inducer wheel (17), and is composed of a plurality of The track shoes (13) are spliced, and the rollers (14) are fixed on the roller brackets (23) of each of the track shoes, and the rotation axis thereof and the axis of the driving wheel (12) of the omnidirectional moving track are set. At an angle, the offset angle of the roller (14) is formed. The track shoe is composed of a plate body (19), a guiding tooth (20), an engaging shaft (21), a pin hole (22), and a roller bracket (23), wherein the meshing shaft (21) and the driving wheel (12) teeth on Description

The rings engage to effect power conversion, and the pin holes (22) are used to splicing a plurality of track shoes into a complete track. The axis of the roller bracket (23) of the track shoe is at a fixed angle to the axis of the drive wheel (12) such that the rollers (14) on the entire track form a uniform fixed offset angle. The rollers (14) are evenly distributed over the entire track, and the rollers (14) have a fixed offset angle with an offset angle ranging from (0°, 90°) or (-90°, 0°). between. Preferably, the roller (14) has an offset angle of ±45°. The induction wheel (17) of the omnidirectional moving track has the same structure as the driving wheel (12), and the inducer wheel (17) can simultaneously provide a driving force with the driving wheel (12). The roller (14) is free to rotate and its outer contour is cylindrical. The driving wheel (12) is a double ring gear structure. The load wheel (15) has a guide groove that engages with the guide teeth (20) on the track shoe (13) so that the road wheel (15) does not deviate from the plate track of the track shoe (13). The omnidirectional moving crawler of the embodiment of the present invention has the following advantages over the prior art mobile crawler:

(1) Improve the stability of the movement of the omnidirectional moving mechanism; (2) Improve the accuracy of the movement of the omnidirectional moving mechanism; (3) Improve the passability of the omnidirectional moving mechanism; (4) Simple structural design, processing accuracy The requirements are not high; (5) Change the sport mode of the tracked vehicle and greatly enhance the flexibility of its movement. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a structural schematic diagram of a "VUTON" moving crawler in the prior art; FIG. 2 is a schematic structural view of a "VUTON" moving crawler in the prior art; FIG. 3: Mecanum axle in the prior art Projection diagram; FIG. 4: Schematic diagram of the omnidirectional moving crawler structure of the embodiment of the present invention; Instruction manual

5 is a schematic structural view of a driving wheel of an omnidirectional moving crawler according to an embodiment of the present invention; FIG. 6 is a schematic structural view of a crawler slab of an omnidirectional moving crawler according to an embodiment of the present invention; FIG. 7 is a roller of an omnidirectional moving crawler according to an embodiment of the present invention. Schematic diagram of the structure; FIG. 8 is a schematic structural view of a load wheel of an omnidirectional moving crawler according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As is well known, the existing crawler vehicle has the advantages of smooth motion, strong road adaptability, and the like. The embodiment of the present invention is based on the basic structure of the existing crawler vehicle moving mechanism, and a new crawler mechanism developed through improved design— - Full range of moving tracks. The omni-directional moving track not only maintains the advantages of smooth movement of the moving mechanism of the original tracked vehicle, but also has a strong adaptability to the road surface, and has the function of realizing all-round movement. The schematic diagram of the omnidirectional moving crawler structure of the embodiment of the present invention is as shown in FIG. 4, and the mechanism is mainly composed of a driving wheel 12, a track shoe 13, a roller 14, a load wheel 15, a tow pulley 16, and an inducer 17 and the like. The driving wheel 12 adopts a double-row ring gear structure. As shown in FIG. 5, the utility model is that the gear ring is meshed with the track shoe 13 to convert the driving torque outputted by the motor into the tensile force of the track, thereby driving the entire crawler belt. The number and size of the drive wheels can be determined according to the actual required track size. In the design of the track and the driving wheel, the width, pitch, engagement mode, and diameter of the meshing shaft of the track shoe have been determined, and the track shoe 13 is as shown in FIG. Each of the track shoes can be divided into the following parts: a plate body 19, a guide tooth 20, an engagement shaft 21, a pin hole 22, and a roller bracket 23. The plate body 19 is used for supporting the road wheel 15 and the carrier pulley 16, which is equivalent to the main moving track of the moving track; the guiding tooth 20 plays a guiding role, ensuring that the road wheel 15 and the towing wheel 16 do not deviate from the plate body 19 track. The meshing shaft 20 and the ring gear on the driving wheel 12 mesh with each other to realize power conversion. Since the driving wheel 12 has a double ring gear structure, a track plate has a pair of meshing shafts; the pin hole 22 is used for a plurality of crawlers. The connection between the plates finally forms a complete track; the roller bracket 23 is located below the plate for fixing the roller, and its axis 24 is at an angle to the drive wheel axis 18, and the range is (0°, 90°). ) or (-90°, 0°), The instructions are usually designed to be ± 45. . In the embodiment of the invention, the roller is a grounding portion of the crawler belt, and the omnidirectional motion is realized mainly by the interaction with the ground, and the outer contour is a cylinder. Compared with the moving mechanism using the Mecanum wheel in the prior art described above, the smoothness of the omnidirectional moving crawler movement is greatly improved. The grounding portion of the omnidirectional moving track is a series of cylindrical rollers that are in line contact with the ground, which effectively increases the grounding area of the platform and increases as the length of the track increases. In addition, during the movement, the all-round track roller maintains a contact time after each grounding (this time depends on the length of the track and the driving wheel speed), which is likely to make the grounding roller and the ground short. The static balance, which effectively slows down the degree of bumps and improves the stability of the platform movement. The roller is mounted on the roller bracket and is freely rotatable about its own axis. Since the axis of the roller bracket forms a certain angle with the axis of the driving wheel, the roller has a certain offset angle, and the range is (0°, 90°). Or (-90°, 0°), usually ± 45°. In addition, as shown in FIG. 8, the loading wheel of the omnidirectional track of the embodiment of the present invention is provided with a guiding groove 25 which is engaged with the guiding teeth 20 on the track shoe 13 so that the road wheel 15 does not deviate from the plate body of the track shoe 13. track. The function of the load wheel is to support the body to roll on the track grounding section and distribute the gravity of the platform more evenly over the entire track grounding section. Generally, a crawler belt has a plurality of load wheels, and the number of load wheels is increased, so that the pressure distribution on the track support surface is uniform, so that the passage of the mechanism on the ground with poor carrying capacity becomes better, and the ground is reduced. destruction level. The selection, structure and size of the road wheel can be designed according to actual needs. In addition, the omnidirectional moving crawler of the embodiment of the present invention further includes a tow wheel, which is similar in structure to the load wheel, but has a relatively small size. It supports the upper track section, which reduces the swing of the upper track section, thereby reducing the power loss at the hinge of the track shoe. Generally, a crawler belt also has a plurality of tow pulleys, and the specific number can be determined according to the length of the upper track section. A preferred omnidirectional moving track of an embodiment of the invention further includes an inducer wheel. Usually, the function of the inducer is to support the upper track section and change the direction of movement of the upper track section, which is related to the structure of the tow wheel Description

Similar, but larger in size. However, the inducer wheel as shown in Fig. 4, although identical in structure to the drive wheel, does not have an active drive capability. However, if the driving force of the crawler is to be increased, the induction wheel can be directly converted into the driving wheel, and the entire crawler is driven by the two driving wheels, which can be determined according to actual needs. The omnidirectional moving crawler of the embodiment of the present invention has the following advantages over the prior art mobile crawler:

(1) Improve the stability of the movement of the omnidirectional moving mechanism. The grounding portion of the omnidirectional moving track is a series of cylindrical rollers that are in line contact with the ground, which effectively increases the ground contact area and increases as the length of the track increases. In addition, during the movement, the omnidirectional track rollers maintain a contact time after each grounding (this time depends on the length of the track and the drive wheel speed), which is likely to make the ground roller and the ground short. The static balance, which effectively slows down the vibration and improves the smoothness of the movement.

(2) Improve the accuracy of the movement of the omnidirectional moving mechanism. Since the grounding portion of the omnidirectional moving track is a series of line contacts, the entire mechanism has more contact points with the ground, so that it can still achieve omnidirectional motion on a random uneven road surface and can ensure better motion accuracy. (3) Improve the passability of all-round mobile institutions. The omni-directional moving track maintains the good mobility of the moving mechanism of the tracked vehicle, so it has a certain ability to overcome obstacles, such as through 30 degree slopes, steps and grooves. It should be noted here that some of the road surfaces described above are hard road surfaces, and the all-way moving track has a large grounding area and a small pressure on the ground, so it also has the ability to pass a certain degree of soft road surface. In addition, moving the rollers on the track in all directions while passing the soft road can also function as a rib on the moving mechanism of the tracked vehicle. For example, the grounding roller on the dirt road will be partially pressed into the soil to increase the adhesion to the ground and prevent the track from slipping.

(4) The structure design is simple, and the processing precision is not high. The structure of the omnidirectional moving crawler components is relatively simple, wherein the structure of the track shoe is relatively complicated, but only the pitch on the track shoe and the accuracy of the offset angle of the roller bracket can be ensured. In addition, the roller of the embodiment of the present invention is only a cylindrical roller, and a complicated design method is not required for the outer contour curve of the roller and the precision is not high. Visible, all Description

The structure of the azimuth moving crawler is very simple, and the machining accuracy is not high.

(5) Changed the sport mode of tracked vehicles and provided a new way for the development of tracked vehicles. The movement of the moving mechanism of the existing tracked vehicle is often not flexible enough, resulting in a poor ability of the tracked vehicle to adjust its posture, especially when the track is subjected to resistance during steering, resulting in a large power consumption. The all-round mobile crawler has both all-round mobile functions and good performance of the original track. Therefore, it can change the sport mode of the tracked vehicle and greatly enhance its flexibility, providing a new development for the tracked vehicle. Way. Although the present invention has been described with reference to a plurality of embodiments, the present invention is not limited to the above embodiments, and it should be understood that those skilled in the art can appropriately combine the components involved in the above embodiments to form a new embodiment. Various obvious modifications and changes may be made without departing from the spirit and scope of the invention.

Claims

Letter of request for profit

1. An omnidirectional mobile crawler track, which is mainly composed of a driving wheel (12), a track shoe (13), a roller (14), a road wheel (15), a drag wheel (16) and an inducer wheel (17). It is composed of multiple The track shoes (13) are spliced together, and the roller (14) is fixed on the roller bracket (23) of each track shoe, and its rotation axis is consistent with the axis of the driving wheel (12) of the omnidirectionally moving track. Set to a certain included angle to form the offset angle of the roller (14).

2. The omnidirectional mobile crawler track according to claim 1, wherein the crawler plate consists of a plate body (19), a guide tooth (20), a meshing shaft (21), a pin hole (22), and a roller bracket (23 ), wherein the meshing shaft (21) meshes with the ring gear on the driving wheel (12) to achieve power conversion, and the pin hole (22) is used to splice multiple track shoes into a complete track. track.

3. The omnidirectional movable crawler track according to claim 2, wherein the axis of the roller bracket (23) of the crawler plate and the axis of the driving wheel (12) form a fixed angle, so that all parts of the entire crawler belt are The rollers (14) form a uniform fixed offset angle.

4. The omnidirectional moving crawler track according to one of claims 1 or 2, wherein the rollers (14) are evenly distributed on the entire crawler track, and the rollers (14) have a fixed offset angle.

5. The omnidirectional mobile crawler track according to claim 3, wherein the offset angle range of the roller (14) is between (0°, 90°) or (-90°, 0°).

6. The omnidirectional mobile crawler track according to claim 5, wherein the offset angle of the roller (14) is ±45°.

7. The omni-directional movable crawler track according to claim 6, wherein the inducer wheel (17) of the omni-directional movable crawler track has the same structure as the driving wheel (12), and the inducer wheel (17) can be connected to the driving wheel (12). The driving wheel (12) provides driving force at the same time.

8. The omnidirectional moving crawler track according to claim 6, wherein the roller (14) is freely rotatable and its outer contour is in the shape of a cylinder.

Chu Li request letter

9. The omnidirectional mobile crawler track according to claim 8, wherein the driving wheel (12) has a double ring gear structure.

10. The omnidirectional moving crawler track as claimed in claim 9, wherein the road wheel (15) has a guide groove (25) that engages with the guide teeth (20) on the track shoe (13) to make the road wheel (15) Do not deviate from the track of the track shoe (13).