CN107472385B - Wheel-track composite robot capable of rapidly converting form - Google Patents
Wheel-track composite robot capable of rapidly converting form Download PDFInfo
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- CN107472385B CN107472385B CN201710640628.1A CN201710640628A CN107472385B CN 107472385 B CN107472385 B CN 107472385B CN 201710640628 A CN201710640628 A CN 201710640628A CN 107472385 B CN107472385 B CN 107472385B
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- wheel
- track
- driving
- crawler belt
- wheels
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a wheel-track composite robot capable of rapidly converting forms, which comprises a frame and a controller, wherein two sides of the frame are respectively provided with a set of wheel-track composite driving system, the wheel-track composite driving system comprises two wheels which are respectively connected with a power system through transmission shafts, the transmission shaft of one wheel is connected with a track driving wheel through a clutch, the transmission shaft of the other Mecanum wheel is connected with a track driven wheel through a rolling bearing, and simultaneously, a track tensioning driven wheel is arranged between the two wheels and in the front and the rear, and is in driving connection with a linear driving device fixed on the frame; the crawler tensioning driven wheel, the crawler driving wheel and the crawler driven wheel are wound with W-shaped crawlers, and the controller is connected with the power system and the linear driving device through circuits. The invention can realize the transformation of the track form, can adjust the track form to adapt to the obstacles with different slopes, and can be used in the fields of field rescue, field exploration and the like.
Description
Technical Field
The invention relates to a robot with obstacle crossing and highway capabilities, in particular to a novel crawler belt structure which combines a composite chassis structure with wheel type and crawler belt characteristics and is capable of realizing instant adjustment of a crawler belt.
Background
The Mecanum wheel has the advantages of flexible action, omnibearing motion, realization of forward motion, transverse motion, oblique motion, rotation, combination thereof and the like, but has poor obstacle crossing performance, is not suitable for motion on outdoor terrain, and the crawler belt has the advantage of excellent obstacle crossing performance, but is not flexible enough on roads, and can greatly improve the adaptability of the robot to different road sections if the Mecanum wheel and the crawler belt are combined.
The existing wheel-track composite structure has the disadvantages of complex structure, complex change of the conversion process and the like, and the invention adopts the w-type track tensioning structure, and the tracks and wheels share a set of power system so as to control the movement of the tracks by the clutch, thus the wheel-type and track-type conversion can be realized without deformation.
The invention also provides a crawler belt structure capable of adjusting the form of the crawler belt in real time in order to adapt to different obstacles, which is realized by adjusting the relative height difference of three driven wheels through a linear motor.
Disclosure of Invention
The invention aims to provide a wheel-track composite robot capable of quickly changing forms in order to combine the advantages of a wheel type structure and a track type structure.
The aim of the invention is realized by the following technical scheme:
the wheel-track composite robot comprises a frame and a controller, wherein two sides of the frame are respectively provided with a set of wheel-track composite driving system, the wheel-track composite driving system comprises two wheels which are respectively connected with a power system through transmission shafts, the transmission shaft of one wheel is connected with a track driving wheel through a clutch, the transmission shaft of the other wheel is connected with a track driven wheel through a rolling bearing, simultaneously, track tensioning driven wheels are arranged between the two wheels and in the front and the rear, and the track tensioning driven wheels are in driving connection with a linear driving device fixed on the frame; the crawler tensioning driven wheel, the crawler driving wheel and the crawler driven wheel are wound with W-shaped crawlers, and the controller is connected with the power system and the linear driving device through circuits.
Further, the wheels are Mecanum wheels.
Further, the power system is a bidirectional motor.
Further, the crawler belt is a rubber crawler belt.
Further, the linear driving device is a linear motor.
Further, the clutch is an electromagnetic clutch.
Compared with the prior art, the rubber crawler belt and wheels share one set of power system, and the movement and the stop of the crawler belt are controlled through the clutch, so that the mode conversion of the crawler belt is realized and the crawler belt is adapted to different terrains; the invention also provides a track form adjusting method, wherein the track changes the inclination angle with the ground to adapt to obstacles with different gradients under the condition of keeping the tension unchanged by the linkage of three linear motors at one side; the invention is applied to the field of robots requiring the chassis to adapt to different terrains, such as field rescue, field exploration and the like.
Drawings
FIG. 1 is a schematic diagram of a device connection according to an embodiment of the present invention.
Fig. 2 is a schematic side view of an embodiment of the invention (without the linear motor).
Fig. 3 is a schematic perspective view (without linear motor) of an embodiment of the present invention.
Fig. 4 is a schematic diagram of connection of a driving wheel and a power device, a clutch and a wheel mechanism according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a mechanism of a crawler belt driving wheel according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of a linear motor connected to a track tensioning driven wheel in accordance with an embodiment of the present invention.
FIG. 7 is a schematic view of a single-sided rubber track of an embodiment of the present invention.
The figure shows: 1-wheels; 2-a track driving wheel; a 3-clutch; 4-a power system; 5-tensioning the driven wheel by the crawler belt; 6-caterpillar tracks; 7-rolling bearings; 8-linear driving device; 9-a track driven wheel; 10-a transmission shaft.
Detailed Description
The invention will be further described with reference to the drawings and examples, but the scope of the invention as claimed is not limited to the scope expressed by the examples.
As shown in fig. 1 to 7, a wheel-track composite robot capable of rapidly converting forms comprises a frame and a controller, wherein two sides of the frame are respectively provided with a set of wheel-track composite driving system, the wheel-track composite driving system comprises two wheels 1 which are respectively connected with a power system 4 through a transmission shaft 1, the transmission shaft of one wheel 1 is connected with a track driving wheel 2 through a clutch 3, the transmission shaft of the other wheel 1 is connected with a track driven wheel 9 through a rolling bearing 7, simultaneously, track tensioning driven wheels 5 are arranged between the two wheels 1 and in front of and behind the two wheels, and the track tensioning driven wheels 5 are in driving connection with a linear driving device 8 fixed on the frame; the W-shaped crawler 6 is wound on the crawler tensioning driven wheel 5, the crawler driving wheel 2 and the crawler driven wheel 9, and the controller is in circuit connection with the power system 4 and the linear driving device 8.
Specifically, in the present embodiment, the wheel 1 is a mecanum wheel; the power system is a bidirectional motor; the crawler belt 6 is a rubber crawler belt; the linear driving device 8 is a linear motor; the clutch 3 is an electromagnetic clutch.
As shown in fig. 1 to 3, the W-shaped crawler 6 structure can have the advantages of both wheel type and crawler type robots, the mecanum wheel is lower than the lowest edge of the crawler 6, the wheel type crawler 6 can be directly driven on a flat road, the W-shaped crawler 6 can not be blocked to a chassis when encountering a slight uneven road surface or an obstacle which can be overcome by means of wheels, when encountering an obstacle which can not be overcome by means of the mecanum wheel, as shown in fig. 4, the clutch 3 is controlled to enable the crawler 6 to synchronously move with the wheels 1, the superior obstacle crossing performance of the crawler 6 is utilized to cross the obstacle, and the clutch 3 is controlled to separate the crawler 6 from a power device after obstacle crossing, so that the quick conversion of the wheel-crawler type is realized.
As shown in fig. 1 and 6: the single-side 3 crawler tensioning driven wheels 5 are linked with a linear motor 8 fixed on the frame, so that the inclination of each part of the crawler 6 is changed to adapt to different obstacles under the condition that the crawler 6 is kept tensioned. When encountering a wheel type road obstacle which cannot be spanned, the clutch 3 is controlled to move the track 6, and meanwhile, the linear motor 8 near the driving wheel side stretches to enable the track tensioning driven wheel 5 connected with the clutch to move downwards so as to increase the pressure and friction force of the track 6 to the ground, and the linear motor 8 at the center and the linear motor 8 near the driven wheel side shrink to enable the track tensioning driven wheel 5 to move upwards so as to enable the track 6 to keep tensioning, so that the front wheel track type obstacle crossing is realized. Taking the step with higher height as an example, when the front wheel straddles the step to increase the inclination of the caterpillar band 6 and the caterpillar band 6 structure of the rear wheel part can not provide enough friction force to lift the rear body of the vehicle, the linear motor 8 on the front wheel side and the rear wheel side is contracted, the linear motor in the middle part is extended, and the friction force of the w-shaped caterpillar band 6 at the middle part of the caterpillar band is adjusted to increase so as to realize obstacle crossing of the rear wheel.
When the Mecanum wheels contact the ground again after the obstacle is smoothly cleared, the crawler belt 6 is suspended, the conversion from the crawler belt to the wheel type is automatically realized, the clutch 3 can be selectively released to stop the crawler belt driving, and the crawler belt 6 can be selectively kept to run to maintain the obstacle cleared preparation state.
In order to improve the wheel type performance, a four-wheel drive structure is adopted, and in order to avoid the influence of a front power system and a rear power system on the crawler motion, a crawler driven wheel 9 is connected with a transmission shaft through a rolling bearing 7 as shown in fig. 5, so that the crawler driven wheel 9 is separated from the power system.
The above description of the embodiments of the invention has been presented in connection with the drawings but these descriptions should not be construed as limiting the scope of the invention, which is defined by the appended claims, and any changes based on the claims are intended to be covered by the invention.
Claims (4)
1. The utility model provides a but wheel-track combined type robot of quick conversion form, includes frame, controller, its characterized in that: the two sides of the frame are respectively provided with a set of wheel-track composite driving system, the wheel-track composite driving system comprises two wheels (1) which are respectively connected with a power system (4) through transmission shafts, wherein the transmission shaft of one wheel (1) is connected with a track driving wheel (2) through a clutch (3), the transmission shaft of the other wheel (1) is connected with a track driven wheel (9) through a rolling bearing (7), meanwhile, track tensioning driven wheels (5) are arranged between the two wheels (1) and at the front and rear sides, and the track tensioning driven wheels (5) are in driving connection with a linear driving device (8) fixed on the frame; the W-shaped crawler belt (6) is wound on the crawler belt tensioning driven wheel (5), the crawler belt driving wheel (2) and the crawler belt driven wheel (9), and the controller is in circuit connection with the power system (4) and the linear driving device (8);
the wheel (1) is a Mecanum wheel;
the power system is a bidirectional motor.
2. The wheel-track compound robot capable of rapidly switching modes according to claim 1, wherein: the crawler belt (6) is a rubber crawler belt.
3. The wheel-track compound robot capable of rapidly switching modes according to claim 1, wherein: the linear driving device (8) is a linear motor.
4. The wheel-track compound robot capable of rapidly switching modes according to claim 1, wherein: the clutch (3) is an 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 |
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| Publication Number | Publication Date |
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| CN107472385A CN107472385A (en) | 2017-12-15 |
| CN107472385B true CN107472385B (en) | 2023-06-20 |
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| CN201710640628.1A Active CN107472385B (en) | 2017-07-31 | 2017-07-31 | Wheel-track composite robot capable of rapidly converting form |
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Families Citing this family (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 |
| CN114475116B (en) * | 2022-01-29 | 2024-02-27 | 复旦大学 | Triphibian 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 |
| 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200183672Y1 (en) * | 1999-12-13 | 2000-06-01 | 노수업 | Wheel and rail track driving equipment |
| CN2416008Y (en) * | 2000-01-18 | 2001-01-24 | 周作才 | Rubber wheels and rubber track combined vehicle running chassis |
| CN102476663B (en) * | 2010-11-29 | 2013-07-31 | 中国科学院沈阳自动化研究所 | Crawler leg compound movable robot based on differential mechanisms |
| RU139450U1 (en) * | 2013-11-13 | 2014-04-20 | Общество с ограниченной ответственностью "Арктик Инжиниринг" (ООО "Арктик Инжиниринг") | Small-sized all-season tracked all-terrain vehicle |
| CN105340439B (en) * | 2015-11-25 | 2018-02-02 | 云南烟草机械有限责任公司 | A kind of multifunction caterpillar tobacco planting manages Operation Van |
| CN106039619B (en) * | 2016-06-28 | 2019-04-23 | 新昌县焕宏农业有限公司 | A kind of substation's fire rescue robot |
| 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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