CN107472385A - It is a kind of can rapid translating form wheel-track combined robot - Google Patents
It is a kind of can rapid translating form wheel-track combined robot Download PDFInfo
- Publication number
- CN107472385A CN107472385A CN201710640628.1A CN201710640628A CN107472385A CN 107472385 A CN107472385 A CN 107472385A CN 201710640628 A CN201710640628 A CN 201710640628A CN 107472385 A CN107472385 A CN 107472385A
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- China
- Prior art keywords
- wheel
- crawler belt
- driven pulley
- crawler
- rapid translating
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses it is a kind of can rapid translating form wheel-track combined robot, including vehicle frame, controller, the both sides of the vehicle frame are each provided with a wheel and carry out compound drive system, described wheel, which carries out compound drive system, includes two wheels each via transmission axis connection dynamical system, crawler belt driving wheel is connected with by clutch on the power transmission shaft of one of wheel, crawler belt driven pulley is connected with by rolling bearing on the power transmission shaft of another Mecanum wheel, simultaneously, between two wheels and front and back are provided with crawler tensioning driven pulley, described crawler tensioning driven pulley and the linear drive apparatus drive connection being fixed on vehicle frame；Described crawler tensioning driven pulley, crawler belt driving wheel, the crawler belt that W shapes are wound with crawler belt driven pulley, described controller are connected with dynamical system, linear drive apparatus circuit.The wheel of the invention that can be achieved carries out modality conversion, while the obstacle of also adjustable crawler belt Morphological plasticity different gradient, available for fields such as field rescue, field explorations.
Description
Technical field
The present invention relates to the robot for requiring to have concurrently obstacle detouring and highway ability, mainly in conjunction with wheeled and carry out answering for formula feature
The Caterpillar structure that box-like chassis structure and crawler belt adjust immediately.
Background technology
Mecanum wheel has action flexibly, energy omnibearing movable, realizes forward, traversing, diagonal, rotation and combinations thereof etc.
The advantages that motion mode, but its obstacle performance is poor, is not suitable for the motion in the landform of field, and crawler belt has obstacle performance superior
Advantage, underaction on Dan Qi highways, if the two combined use can will can be greatly improved into robot to different sections of highway
Adaptability.
Existing wheel-track combined structure exists complicated, and transfer process change disadvantage, the present invention such as complexity adopt
With w formula crawler tensioning structures, crawler belt shares a set of dynamical system with wheel, with clutch control caterpillar drive, without deforming just
Conversion that is wheeled and carrying out formula can be realized simultaneously.
The obstacle present invention to adapt to different also provides a kind of caterpillar belt structure that can adjust crawler belt form immediately, is to pass through
Linear electric motors adjust the relative height differentials of three driven pulleys to realize.
The content of the invention
The purpose of the present invention be for combine wheeled construction with carry out formula structure the advantages of, and put forward one kind can rapid translating shape
The wheel-track combined robot of state.
The purpose of the present invention is realized by following technical proposals：
It is a kind of can rapid translating form wheel-track combined robot, including vehicle frame, controller, the both sides of the vehicle frame respectively set
There is a wheel to carry out compound drive system, described wheel, which carries out compound drive system, includes two each via transmission axis connection dynamical system
The wheel of system, crawler belt driving wheel is connected with by clutch on the power transmission shaft of one of wheel, on the power transmission shaft of another wheel
Crawler belt driven pulley is connected with by rolling bearing, meanwhile, between two wheels and front and back are provided with crawler tensioning driven pulley,
Described crawler tensioning driven pulley and the linear drive apparatus drive connection being fixed on vehicle frame；Described crawler tensioning is driven
The crawler belt of W shapes, described controller and dynamical system, linear drive apparatus electricity are wound with wheel, crawler belt driving wheel, crawler belt driven pulley
Road connects.
Further, described wheel is Mecanum wheel.
Further, described dynamical system is either-rotation motor.
Further, the crawler belt is rubber belt track.
Further, the linear drive apparatus is linear electric motors.
Further, described clutch is electromagnetic clutch.
Compared with prior art, rubber belt track of the invention shares a set of dynamical system with wheel, is carried out by clutch control
The motion and stopping of band, modality conversion adaptation different terrain is carried out to realize to take turns；A kind of also subsidiary crawler belt experiment material side of the present invention
Method, crawler belt is allowed to keep changing and ground inclination angle in the case that tensile force is constant by the linkage of unilateral three linear electric motors
To adapt to the obstacle of different gradient；The present invention is applied to field rescue, field exploration etc. and requires that chassis adapts to the machine of different terrain
Device people field.
Brief description of the drawings
Fig. 1 is the device connection diagram of the embodiment of the present invention.
Fig. 2 is the schematic side view (being free of linear electric motors) of the embodiment of the present invention.
Fig. 3 is the schematic perspective view (being free of linear electric motors) of the embodiment of the present invention.
Fig. 4 is the driving wheel and power set of the embodiment of the present invention, clutch, wheel mechanism connection diagram.
Fig. 5 is the structural scheme of mechanism of the crawler belt principal and subordinate wheel of the embodiment of the present invention.
Fig. 6 is the linear electric motors and crawler tensioning driven pulley connection diagram of the embodiment of the present invention.
Fig. 7 is the unilateral rubber belt track schematic diagram of the embodiment of the present invention.
It is shown in figure：1- wheels；2- crawler belt driving wheels；3- clutches；4- dynamical systems；5- crawler tensioning driven pulleys；
6- crawler belts；7- rolling bearings；8- linear drive apparatus；9- crawler belt driven pulleys；10- power transmission shafts.
Embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples, but the scope of protection of present invention is not
It is confined to the scope of embodiment expression.
As shown in Figures 1 to 7, it is a kind of can rapid translating form wheel-track combined robot, including vehicle frame, controller,
The both sides of the vehicle frame are each provided with a wheel and carry out compound drive system, and described wheel, which carries out compound drive system, includes two each
By the wheel 1 of the connection dynamical system 4 of power transmission shaft 1, crawler belt is connected with by clutch 3 on the power transmission shaft of one of wheel 1
Driving wheel 2, crawler belt driven pulley 9 is connected with by rolling bearing 7 on the power transmission shaft of another wheel 1, meanwhile, between two wheels 1
And front and back are provided with crawler tensioning driven pulley 5, described crawler tensioning driven pulley 5 and the linear drives being fixed on vehicle frame
The drive connection of device 8；Described crawler tensioning driven pulley 5, crawler belt driving wheel 2, the crawler belt 6 that W shapes are wound with crawler belt driven pulley 9,
Described controller is connected with dynamical system 4, the circuit of linear drive apparatus 8.
Specifically, the present embodiment China, described wheel 1 is Mecanum wheel；Described dynamical system is two-way electricity
Machine；The crawler belt 6 is rubber belt track；The linear drive apparatus 8 is linear electric motors；Described clutch 3 is electromagnetic clutch.
As shown in Figure 1 to Figure 3, the described structure of W shapes crawler belt 6 can have both the advantages of wheeled and Lv Shi robots, wheat simultaneously
Ke Namu wheels are lower than the most lower edge of crawler belt 6, and in-wheel driving can be directly used on level road, and the crawler belt 6 of W types then allows car to run into
Chassis will not be snapped into when the slight out-of-flatness in road surface or barrier traversable by wheel, can not by Mecanum wheel running into
During the barrier crossed, as shown in figure 4, control clutch 3 makes crawler belt 6 be synchronized with the movement with wheel 1, got over by the way that crawler belt 6 is superior
Hinder performance with leaping over obstacles, control clutch 3 that crawler belt 6 can be made to be separated with power set again after obstacle detouring, in the form of this realizes wheel shoe
Rapid translating.
As shown in figures 1 to 6：Unilateral 3 crawler tensioning driven pulleys 5 link with the linear electric motors 8 being fixed on vehicle frame, from
And the gradient for changing each several part of crawler belt 6 in the case where keeping crawler belt 6 to be tensioned adapts to different barriers.Run into it is wheeled across
Control clutch 3 moves crawler belt 6 during roadblock more not, while the stretching, extension of linear electric motors 8 close to driving wheel side makes to connect therewith
The crawler tensioning driven pulley 5 connect is moved down so as to increase pressure and frictional force of the crawler belt 6 to ground, and linear electric motors 8 are with leaning at center
The linear electric motors 8 of nearly driven pulley side, which then shrink, moves up crawler tensioning driven pulley 5 so that the holding tensioning of crawler belt 6, is realized with this
Front-wheel carries out formula obstacle detouring.Exemplified by the higher step of the height of the above one, the gradient of crawler belt 6 is caused to increase when front-wheel is up the steps, and trailing wheel
When the partial structure of crawler belt 6 can not provide body after enough frictional force lifting cars, the linear electric motors 8 of front-wheel and rear wheel-side shrink,
The linear electric motors at middle part stretch out, and the frictional force that adjustment w types crawler belt 6 increases in the middle part of crawler belt realizes trailing wheel obstacle detouring.
Mecanum wheel contacts ground again after smooth obstacle detouring, and crawler belt 6 is hanging, realizes that shoe formula turns to wheeled automatically
Change, now can select to loosen the clutch 3 to stop track drive, can also select to continue to keep crawler belt 6 to run, maintain obstacle detouring
SBR.
Four-wheel drive structure is used to improve wheeled performance, to avoid front and rear dynamical system from impacting caterpillar drive,
Crawler belt driven pulley 9 as shown in Figure 5 connects power transmission shaft by rolling bearing 7, so as to which crawler belt driven pulley 9 and dynamical system be separated
Open.
The embodiment of the present invention is described above in association with accompanying drawing, but these explanations can not be understood to limit
The scope of the present invention, protection scope of the present invention are limited by appended claims, any in the claims in the present invention base
Change on plinth is all protection scope of the present invention.
Claims (6)
1. it is a kind of can rapid translating form wheel-track combined robot, including vehicle frame, controller, it is characterised in that：The car
The both sides of frame are each provided with a wheel and carry out compound drive system, and described wheel, which carries out compound drive system, includes two each via biography
Moving axis (1) connects the wheel (1) of dynamical system (4), is connected with the power transmission shaft of one of wheel (1) by clutch (3)
Crawler belt driving wheel (2), crawler belt driven pulley (9) is connected with by rolling bearing (7) on the power transmission shaft of another wheel (1), meanwhile, two
Between individual wheel (1) and front and back are provided with crawler tensioning driven pulley (5), and described crawler tensioning driven pulley (5) is with fixing
Linear drive apparatus (8) drive connection on vehicle frame；Described crawler tensioning driven pulley (5), crawler belt driving wheel (2), crawler belt
The crawler belt (6) of W shapes is wound with driven pulley (9), described controller connects with dynamical system (4), linear drive apparatus (8) circuit
Connect.
2. it is according to claim 1 can rapid translating form wheel-track combined robot, it is characterised in that：Described car
It is Mecanum wheel to take turns (1).
3. it is according to claim 1 can rapid translating form wheel-track combined robot, it is characterised in that：Described is dynamic
Force system is either-rotation motor.
4. it is according to claim 1 can rapid translating form wheel-track combined robot, it is characterised in that：The crawler belt
(6) it is rubber belt track.
5. it is according to claim 1 can rapid translating form wheel-track combined robot, it is characterised in that：The straight line
Drive device (8) is linear electric motors.
6. it is according to claim 1 can rapid translating form wheel-track combined robot, it is characterised in that：It is described from
Clutch (3) is electromagnetic clutch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710640628.1A CN107472385B (en) | 2017-07-31 | 2017-07-31 | Wheel-track composite robot capable of rapidly converting form |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710640628.1A CN107472385B (en) | 2017-07-31 | 2017-07-31 | Wheel-track composite robot capable of rapidly converting form |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107472385A true CN107472385A (en) | 2017-12-15 |
| CN107472385B CN107472385B (en) | 2023-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710640628.1A Active CN107472385B (en) | 2017-07-31 | 2017-07-31 | Wheel-track composite robot capable of rapidly converting form |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109109989A (en) * | 2018-09-10 | 2019-01-01 | 华南理工大学 | A kind of full landform chassis based on crawler belt and Mecanum wheel |
| CN114475116A (en) * | 2022-01-29 | 2022-05-13 | 复旦大学 | Triphibian robot |
| CN114704712A (en) * | 2022-04-15 | 2022-07-05 | 哈工大机器人（合肥）国际创新研究院 | Multi-drive shafting water detection robot |
| CN115848491A (en) * | 2022-12-22 | 2023-03-28 | 浙江九奇机械有限公司 | Crawler-type automatic collection tea-leaf picker |
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| CN2416008Y (en) * | 2000-01-18 | 2001-01-24 | 周作才 | Rubber wheels and rubber track combined vehicle running chassis |
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| CN105340439A (en) * | 2015-11-25 | 2016-02-24 | 云南烟草机械有限责任公司 | Multifunctional crawler type tobacco planting and managing operation vehicle |
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| CN207274798U (en) * | 2017-07-31 | 2018-04-27 | 华南理工大学 | It is a kind of can rapid translating form wheel-track combined robot |
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| US6408964B1 (en) * | 1999-12-13 | 2002-06-25 | Su-Eub Roh | Wheel and track driving equipment |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109109989A (en) * | 2018-09-10 | 2019-01-01 | 华南理工大学 | A kind of full landform chassis based on crawler belt and Mecanum wheel |
| CN114475116A (en) * | 2022-01-29 | 2022-05-13 | 复旦大学 | Triphibian robot |
| CN114475116B (en) * | 2022-01-29 | 2024-02-27 | 复旦大学 | Triphibian robot |
| CN114704712A (en) * | 2022-04-15 | 2022-07-05 | 哈工大机器人（合肥）国际创新研究院 | Multi-drive shafting water detection robot |
| CN114704712B (en) * | 2022-04-15 | 2023-06-13 | 哈工大机器人（合肥）国际创新研究院 | Multi-drive-shaft lacing water detection robot |
| CN115848491A (en) * | 2022-12-22 | 2023-03-28 | 浙江九奇机械有限公司 | Crawler-type automatic collection tea-leaf picker |
| CN115848491B (en) * | 2022-12-22 | 2023-06-13 | 浙江九奇机械有限公司 | Crawler-type automatic collection tea-leaf picker |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107472385B (en) | 2023-06-20 |
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