WO2014043836A1 - Chenille omnidirectionnelle - Google Patents

Chenille omnidirectionnelle Download PDF

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Publication number
WO2014043836A1
WO2014043836A1 PCT/CN2012/001639 CN2012001639W WO2014043836A1 WO 2014043836 A1 WO2014043836 A1 WO 2014043836A1 CN 2012001639 W CN2012001639 W CN 2012001639W WO 2014043836 A1 WO2014043836 A1 WO 2014043836A1
Authority
WO
WIPO (PCT)
Prior art keywords
track
wheel
roller
crawler
omnidirectional
Prior art date
Application number
PCT/CN2012/001639
Other languages
English (en)
Chinese (zh)
Inventor
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 (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.)
Filing date
Publication date
Application filed by Zhang Yunan filed Critical Zhang Yunan
Publication of WO2014043836A1 publication Critical patent/WO2014043836A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • 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
    • 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
    • B62D55/26—Ground engaging parts or elements

Definitions

  • the present invention relates to the field of mobile mechanical devices, and in particular to a mobile crawler having omnidirectional motion characteristics. Background technique
  • 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.
  • most omnidirectional mobile mechanisms are wheeled, mainly including Mecanum wheel, Alternate wheel, Orthogonal wheel, ball wheel and Rover. Round and so on.
  • the McCann wheel is one of the most widely used structures in engineering.
  • 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.
  • a crawler-type omnidirectional moving mechanism which turns it into a crawler-type omnidirectional moving mechanism.
  • 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.
  • the grounding area is increased and the load capacity is also enhanced.
  • 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.
  • the 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 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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
  • FIG. 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.
  • 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.
  • 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.
  • 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°).
  • 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.
  • 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°.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Abstract

La chenille omnidirectionnelle selon l'invention est principalement composée d'une roue motrice (12), de tuiles (13), d'un galet (14), d'une roue de chargement (15), d'une roue de traction (16) et d'une roue d'induction (17). Le galet (14) est fixé sur un support de galet (23) de chaque tuile et l'axe de rotation de celui-ci forme un certain angle avec l'axe de la roue motrice (12) de la chenille omnidirectionnelle de manière à former un angle de décalage du galet (14). L'angle de décalage du galet (14) est compris dans une plage de 0° à 90° ou de -90° à 0° et est de préférence de plus ou moins 45°.
PCT/CN2012/001639 2012-09-19 2012-12-07 Chenille omnidirectionnelle WO2014043836A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201210347201.XA CN103043128B (zh) 2012-09-19 2012-09-19 全方位移动履带
CN201210347201.X 2012-09-19

Publications (1)

Publication Number Publication Date
WO2014043836A1 true WO2014043836A1 (fr) 2014-03-27

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CN (1) CN103043128B (fr)
WO (1) WO2014043836A1 (fr)

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KR102451381B1 (ko) * 2021-06-29 2022-10-06 충남대학교산학협력단 이동로봇의 횡방향 이동 장치

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KR101877837B1 (ko) * 2014-08-04 2018-07-13 한화에어로스페이스 주식회사 차량용 캐터필러
CN104386154B (zh) * 2014-11-17 2016-10-05 张豫南 一种高效转向履带及其平台
CN104494720A (zh) * 2014-12-12 2015-04-08 张豫南 一种基于履带车辆运动模式的高效转向平台
CN106627823A (zh) * 2016-12-06 2017-05-10 哈工大机器人集团上海有限公司 一种全向运动的机器人传动履带
CN109368565A (zh) * 2018-12-11 2019-02-22 中联重科股份有限公司 高空作业设备

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US20040026996A1 (en) * 2002-08-12 2004-02-12 Woody Albert L. Tracked mobile machine with star carrier roller and method of assembly
JP2004359136A (ja) * 2003-06-05 2004-12-24 Furukawa Co Ltd クローラ装置
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Publication number Priority date Publication date Assignee Title
US20040026996A1 (en) * 2002-08-12 2004-02-12 Woody Albert L. Tracked mobile machine with star carrier roller and method of assembly
JP2004359136A (ja) * 2003-06-05 2004-12-24 Furukawa Co Ltd クローラ装置
CA2496232A1 (fr) * 2005-02-02 2006-08-02 Agritrac Equipment Ltd. Deflecteur de debris pour chenille de vehicule
CN101223039A (zh) * 2005-08-09 2008-07-16 库卡罗伯特有限公司 车轮
CN201707607U (zh) * 2010-07-09 2011-01-12 亿江(北京)科技发展有限公司 履带式无人车
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