CN107651030B - Buffer shaking crawler moving platform with built-in drive and robot with buffer shaking crawler moving platform - Google Patents
Buffer shaking crawler moving platform with built-in drive and robot with buffer shaking crawler moving platform Download PDFInfo
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- CN107651030B CN107651030B CN201711012977.5A CN201711012977A CN107651030B CN 107651030 B CN107651030 B CN 107651030B CN 201711012977 A CN201711012977 A CN 201711012977A CN 107651030 B CN107651030 B CN 107651030B
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- 238000007906 compression Methods 0.000 claims description 28
- 230000006835 compression Effects 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 230000003139 buffering effect Effects 0.000 claims description 5
- 238000013016 damping Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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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
- B62D55/06—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
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention discloses a buffer shake crawler mobile platform with a built-in drive and a robot with the same, wherein the mobile platform comprises an intermediate vehicle body, a crawler unit and a buffer differential balancing device; the middle vehicle body comprises a frame, a driving motor and a rotating assembly; the rotating assembly includes: the rotary seat, the rotary cylinder, the intermediate shaft and the first flexible piece wheel; the crawler unit comprises a crawler frame, a first crawler driving wheel, a second flexible member wheel, a first flexible member, a first crawler wheel and a first crawler; the buffer differential balancing device comprises a transverse swing rod, a first connecting rod, a second connecting rod and an elastic element; the drive motor is internally arranged, so that the crawler unit structure is simplified, and the drive motor and electric elements are more convenient to install and arrange; the buffer type differential balancing device is provided with the buffer device, so that the impact and vibration of the crawler belt when the crawler belt passes through an obstacle are well relieved, and the stable operation of an electrical system of the robot is ensured.
Description
Technical Field
The invention relates to a buffer shaking crawler mobile platform arranged in a driving mode and a robot with the buffer shaking crawler mobile platform, and belongs to the technical field of mobile robot mechanisms.
Background
The crawler-type travelling mechanism has the advantages of strong terrain adaptability, good obstacle crossing performance and the like, and is widely applied to the field of mobile robots. In order to obtain better mobility performance, researchers have researched deformable crawler-type travelling mechanisms and have also put forward some fine technical schemes, for example, chinese mining university has put forward a rocker-type double-trapezoid crawler robot (application number: CN 201310728759.7), the driving motor of the robot is external, locate on the crawler unit, make the crawler unit structure relatively complicated, and need the motor to carry on the separate protective design, and also need to introduce the motor power cord, encoder cable into the main car body. The robot is provided with the differential balancing device, but has no buffering effect, and larger impact and vibration can occur when the single-side crawler passes through the obstacle, so that the stable operation of an electric system of the robot is greatly influenced. Therefore, it is of great importance to design a shaking tracked robot moving platform which is built-in driving and has a buffer function.
Disclosure of Invention
The invention aims to: in order to solve the problems, a buffer shake crawler mobile platform with built-in driving and a robot with the buffer shake crawler mobile platform are provided.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
drive built-in buffering and shake track moving platform, include: the device comprises an intermediate vehicle body, a crawler unit and a buffer differential balancing device; the intermediate vehicle body includes: a frame, a driving motor and a rotating assembly; the number of the driving motors is two, and the two driving motors are connected with the frame; the rotation subassembly is two, and two rotation subassemblies symmetry sets up in the both sides of frame, and rotation subassembly includes: the rotary seat, the rotary cylinder, the intermediate shaft and the first flexible piece wheel; one end of the rotating seat is fixed with the frame, and the rotating seats of the two rotating assemblies are coaxial; the rotary cylinder is pivotally connected with the rotary seat to form a revolute pair, and an opening is formed in the cylindrical surface of the rotary cylinder; the intermediate shaft is arranged in the rotary drum, is pivotally connected with the rotary drum to form a revolute pair, is connected with an output shaft of the driving motor, and is driven to rotate by the driving motor; the first flexible piece wheel is coaxially connected with the intermediate shaft and is positioned at the opening of the rotary cylinder;
the track unit is two, and two track units symmetry sets up in the both sides of middle automobile body, and the track unit includes: the crawler belt comprises a crawler belt frame, a first crawler belt driving wheel, a second flexible member wheel, a first flexible member, a first crawler belt wheel and a first crawler belt; the inner side of the crawler frame is connected with the rotary cylinder; the first crawler driving wheel is connected with the crawler frame; the second flexible piece wheel is coaxially connected with the first crawler belt driving wheel; the first flexible piece passes through an opening on the rotary cylinder and is connected with the first flexible piece wheel and the second flexible piece wheel to realize flexible piece transmission; the first crawler wheel is connected with the crawler frame; the first track surrounds the first track wheel and the outside of the first track driving wheel.
The buffer type differential balancing device is connected with the middle vehicle body and the two crawler units, and comprises: a transverse swing rod, a first connecting rod, a second connecting rod and an elastic element; the middle part of the yaw rod is pivotally connected with the middle part of one end of the middle vehicle body to form a revolute pair; one end of the first connecting rod is connected with one end of the transverse swinging rod through a ball pair, and the other end of the first connecting rod is connected with a track frame of one track unit through a ball pair; one end of the second connecting rod is connected with the other end of the transverse swinging rod through a ball pair, and the other end of the second connecting rod is connected with a track frame of the other track unit through a ball pair; the two elastic elements are symmetrically arranged at two ends of the transverse swinging rod, one end of each elastic element is connected with the transverse swinging rod, the other end of each elastic element is connected with the frame, and the frame limits two ends of the transverse swinging rod through the two elastic elements.
Further, a shaft neck is arranged at one end of the rotary cylinder, the shaft neck is arranged in the shaft hole of the rotary seat, an axial limiting baffle is arranged at the front end of the shaft neck, a shaft shoulder is formed between the rear end of the shaft neck and the rotary cylinder, the axial limiting baffle and the shaft shoulder are attached to two sides of the rotary seat, and the rotary cylinder is axially positioned through the axial limiting baffle and the shaft shoulder.
Further, a bearing is arranged between the rotary cylinder and the intermediate shaft; the middle shaft is a hollow shaft, and an output shaft of the driving motor extends into the middle shaft and is connected with the middle shaft through a key; the rear end of the output shaft of the driving motor is provided with a limiting shaft shoulder, the limiting shaft shoulder is attached to the end face of one end of the intermediate shaft, the front end of the output shaft is provided with a nut, the nut is located in a limiting groove at the other end of the intermediate shaft, and the intermediate shaft is axially positioned through the limiting shaft shoulder of the output shaft and the nut.
Further, the crawler unit further includes: a second crawler driving wheel, a third flexible member wheel, a fourth flexible member wheel, a second flexible member, a second crawler wheel and a second crawler; the second crawler driving wheel is connected with the crawler frame; the third flexible piece wheel is coaxially connected with the first crawler belt driving wheel; the fourth flexible piece wheel is coaxially connected with the second crawler belt driving wheel; the second flexible piece is connected with the third flexible piece wheel and the fourth flexible piece wheel to realize flexible piece transmission; the second crawler wheel is connected with the crawler frame; the second crawler belt surrounds the second crawler wheel and the outer surface of the second crawler belt driving wheel.
Further, the first flexible member wheel, the second flexible member wheel, the third flexible member wheel and the fourth flexible member wheel are all chain wheels, and the first flexible member and the second flexible member are all chains.
Furthermore, the first flexible member wheel, the second flexible member wheel, the third flexible member wheel and the fourth flexible member wheel are synchronous pulleys, and the first flexible member and the second flexible member are synchronous belts.
Further, the elastic element comprises a spring connecting seat, a compression spring and a spring compression cylinder, wherein the spring connecting seat is connected with the yaw rod, and one end of the compression spring is connected with the spring connecting seat; the spring compression cylinder is connected with the frame of the middle vehicle body, the spring compression cylinder is provided with a blind hole, and the other end of the compression spring is arranged in the blind hole of the spring compression cylinder.
Further, the elastic element comprises a spring hanging seat, a spring connecting ring and an extension spring, wherein the spring hanging seat is connected with the frame of the middle car body, the spring connecting ring is connected with the spring hanging seat, one end of the extension spring is connected with the spring connecting ring, and the other end of the extension spring is connected with the yaw rod.
The mobile robot comprises the buffer shake crawler mobile platform with the built-in drive.
The technical scheme of the invention has the following beneficial effects: (1) The drive motor is internally arranged, so that the crawler unit structure is simplified, and the drive motor and electric elements are more convenient to install and arrange; (2) The buffer type differential balancing device is provided with the buffer device, so that the impact and vibration of the crawler belt when the crawler belt passes through an obstacle are well relieved, and the stable operation of an electrical system of the robot is ensured.
Drawings
FIG. 1 is a schematic three-dimensional structure of a mobile platform according to a first embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of the portion I of FIG. 1;
FIG. 3 is a top view of the embodiment of FIG. 1;
FIG. 4 is a partial cross-sectional view of the embodiment shown in FIG. 1;
FIG. 5 is an enlarged view of a portion of the portion at II in FIG. 4;
FIG. 6 is a schematic view of a three-dimensional structure of a track unit of the mobile platform of FIG. 1;
FIG. 7 is another three-dimensional schematic view of the track unit of FIG. 6;
FIG. 8 is a three-dimensional block diagram of another embodiment of the track unit of the present invention;
FIG. 9 is a schematic three-dimensional structure of a second embodiment of the mobile platform of the present invention;
FIG. 10 is an enlarged view of a portion of III in FIG. 9;
FIG. 11 is a state diagram of the embodiment of FIG. 9 as it passes over undulating terrain;
FIG. 12 is an enlarged view of a portion of the portion IV of FIG. 11;
fig. 13 is an enlarged view of a portion v in fig. 11;
FIG. 14 is a schematic view of a robot having the mobile platform of FIG. 1;
reference numerals:
100-moving a platform;
1-an intermediate vehicle body;
11-a frame;
12-driving a motor;
121-a motor output shaft, 122-a key, 123-a nut and 124-a connecting plate;
13-a rotating assembly;
131-rotating seat, 132-rotating cylinder, 133-intermediate shaft, 134-first flexible piece wheel, 135-axial limit baffle, 136-bearing, 137-positioning end cover, 138-screw;
1321-opening, 1322-journal; 1323-shoulder;
1331-a limit groove;
1361-bearing one, 1362-bearing two;
2-track units;
20-track assembly; 201-a first track assembly; 202-a second track assembly;
21-track frame, 22-first track drive wheel, 23-first flexure wheel, 24-first flexure, 25-first track wheel, 26-first track, 27-third flexure wheel, 28-fourth flexure wheel, 29-second flexure, 210-second track drive wheel, 211-second track wheel, 212-second track;
3-buffer differential balancing device;
31-a transverse swing rod, 32-a first connecting rod, 33-a second connecting rod and 34-an elastic element;
341-spring connecting seat, 342-compression spring, 343-spring compression cylinder, 344-spring hanging seat, 345-spring connecting ring, 346-tension spring;
4-cloud platform, 5-sensing unit.
The specific embodiment is as follows:
the following describes in detail a drive built-in buffer shake track moving platform and a robot having the same according to an embodiment of the present invention with reference to fig. 1 to 14, and further illustrates the present invention, and the embodiment described by referring to the drawings is merely illustrative of the present invention and not to be construed as limiting the present invention.
As shown in fig. 1, a first embodiment of the present invention provides a track-moving platform with built-in buffer shake, the moving platform 100 comprising: an intermediate vehicle body 1, a crawler unit 2 and a buffer type differential balancing device 3.
In fig. 3, 4, and 5, the intermediate vehicle body 1 includes: a frame 11, a driving motor 12 and a rotating assembly 13; the number of the driving motors 12 is two, and the two driving motors 12 are connected with the frame 11; specifically, the driving motor 12 is connected to the frame 11 through a connection plate 124; the number of the rotating assemblies 13 is two, and the two rotating assemblies are symmetrically arranged at two sides of the frame; the rotating assembly 13 comprises a rotating base 131, a rotating cylinder 132, an intermediate shaft 133, a first flexure wheel 134; one end of the rotating seat 131 is fixed with the frame 11, and the rotating seats 131 of the two rotating assemblies 13 are coaxial; the rotary cylinder 132 is pivotally connected with the rotary seat 131 to form a revolute pair, and an opening 1321 is formed in the cylindrical surface of the rotary cylinder 132; the intermediate shaft 133 is arranged inside the rotary cylinder 132, and the intermediate shaft 133 is pivotally connected with the rotary cylinder 132 to form a revolute pair; the intermediate shaft 133 is connected with the output shaft 121 of the driving motor 12, and is driven to rotate by the driving motor; the first flexure wheel 134 is coaxially coupled to the intermediate shaft 133, and the first flexure wheel 134 is at the opening of the rotary drum 132.
Further, as shown in fig. 5, the swivel base 131 is connected to the side of the frame 11 by screws. The rotary cylinder 132 has a shaft neck 1322 at one end, the shaft neck 1322 is disposed in the shaft hole of the rotary seat 131, an axial limiting baffle 135 is disposed at the front end of the shaft neck 1322, a shaft shoulder 1323 is formed between the rear end of the shaft neck 1322 and the rotary cylinder 132, the axial limiting baffle 135 and the shaft shoulder 1323 are attached to two sides of the rotary seat 131, and the rotary cylinder 132 is axially positioned by the axial limiting baffle 135 and the shaft shoulder 1323. In the first embodiment, the axial limit stopper 135 is connected to the front end face of the journal 1322 of the rotary cylinder 132 by a screw 138.
Preferably, as shown in fig. 5, a bearing 136 is disposed between the rotary cylinder 132 and the intermediate shaft 133, specifically, a bearing is disposed at two ends of the intermediate shaft 133, and a bearing one 1361 and a bearing two 1362 are disposed respectively; the middle shaft 133 is a hollow shaft, the output shaft 121 of the driving motor 12 extends into the middle shaft 133 and is connected with the middle shaft 133 through a key, specifically, a key groove is formed in the inner wall of the middle shaft 133, and a key on the outer circle of the output shaft 121 is matched with the key groove of the middle shaft 133; the rear end of the output shaft 121 of the driving motor 12 is provided with a limiting shaft shoulder, the limiting shaft shoulder is attached to the end face of one end of the intermediate shaft 133, the front end of the output shaft 121 is provided with a nut 123, the nut 123 is located in a limiting groove 1331 at the other end of the intermediate shaft 133, and the intermediate shaft 133 is axially positioned through the limiting shaft shoulder of the output shaft 121 and the nut 123.
Alternatively, the hollow shaft 133 and the first flexure wheel 134 may be integrally formed, or may be integrally formed by welding or interference fit, so that the structure is more compact, as in the embodiment shown in fig. 5. In this embodiment, the outer diameter of one end of the rotary cylinder 132 is small, the outer diameter of one end is large, the end of the rotary cylinder 132 with small outer diameter is provided with a journal 1322, and the end is pivotally connected with the rotary seat 131, and the other end of the rotary cylinder 132 can accommodate the first flexible member wheel 134 therein. Bearing one 1361 is located at journal 1322, bearing two 1362 is located at nut 123, bearing one 1361 and bearing two 1362 are respectively engaged with the inner wall of rotary cylinder 132, the diameter of bearing one 1361 is smaller than the diameter of bearing two 1362, and the outer sides of bearing one 1361 and bearing two 1362 are respectively axially restrained by the projection of the inner wall of rotary cylinder 132, so that hollow shaft 133 is positioned within rotary cylinder 132. In this embodiment, the bearing, hollow shaft 133, and first flexure wheel 134 may be assembled from the large diameter end of the rotating cylinder 132.
As shown in fig. 6 to 7, the number of the crawler belt units 2 is two, and the two crawler belt units 2 are symmetrically arranged on both sides of the intermediate vehicle body 1. The crawler belt unit 2 includes: track frame 21, first track drive wheel 22, second flexure wheel 23, first flexure 24, first track wheel 25, and first track 26. The inner side of the crawler frame 21 is connected with the end part of the rotary cylinder 133; the first track drive wheel 22 is connected to the track frame 21; the second flexure wheel 23 is coaxially connected to the first track drive wheel 22; the first flexible piece 24 passes through the opening 1321 to connect the first flexible piece wheel 134 and the second flexible piece wheel 23, so as to realize flexible piece transmission; the first crawler wheel 25 is connected with the crawler frame 21; the first crawler belt 26 surrounds the first crawler wheel 25 and the outside of the first crawler belt driving wheel 22. Preferably, the track unit 2 further comprises a second track drive wheel 210, a third flexure wheel 27, a fourth flexure wheel 28, a second flexure 29, a second track wheel 211, a second track 212. The second track drive wheel 210 is connected to the track frame 21; the third flexure wheel 27 is coaxially coupled to the first track drive wheel 22; the fourth flexure wheel 28 is coaxially coupled to the second track drive wheel 210; the second flexible piece 29 is connected with the third flexible piece wheel and the fourth flexible piece wheel, so that flexible piece transmission is realized; the second crawler wheel 211 is connected with the crawler frame 21; the second crawler belt 212 surrounds the second crawler wheel 211 and the second crawler belt driving wheel 210. With the above-described structure, the first track drive wheel 22, the first track wheel 25, and the first track 26 in the track unit 2 constitute the first track assembly 201; the second track driving wheel 210, the second track wheel 211, and the second track 212 in the track unit 2 constitute a second track assembly 202, and the second track assembly 202 and the first track assembly 20 each have an inverted trapezoid shape. Flexible transmission is realized between the first track assembly 201 and the middle piece shaft 133 through the first flexible piece wheel 134, the second flexible piece wheel 23 and the first flexible piece 24; flexible drive is achieved between the second track assembly 202 and the first track assembly 201 by the third flexure wheel 27, the fourth flexure wheel 28, and the second flexure 29.
In the first embodiment, the flexible member is driven by a chain. Namely: the first flexible piece wheel, the second flexible piece wheel, the third flexible piece wheel and the fourth flexible piece wheel are all chain wheels, and the first flexible piece and the second flexible piece are all chains. As shown in fig. 8, the flexure drive may also be a synchronous belt drive. Namely: the first flexible piece wheel, the second flexible piece wheel, the third flexible piece wheel and the fourth flexible piece wheel are synchronous pulleys, and the first flexible piece and the second flexible piece are synchronous belts.
As shown in fig. 1, 2, 9, and 10, the buffer differential balancer 3 is connected to a frame 11 of the intermediate vehicle body 1 and the two crawler units 2, and the buffer differential balancer 3 includes: the middle part of the transverse swing rod 31 is pivotally connected with the middle part of one end of the middle vehicle body 1 to form a revolute pair; one end of the first connecting rod 32 is connected with one end of the yaw bar 31 in a ball pair, and the other end of the first connecting rod 32 is connected with the track frame 21 of one track unit 2 in a ball pair; one end of the second connecting rod 33 is connected with the other end of the yaw bar 31 by a ball pair, and the other end of the second connecting rod 33 is connected with the track frame 21 of the other track unit 2 by a ball pair; the two elastic elements 34 are symmetrically arranged at two ends of the yaw bar 31, one end of the elastic element 34 is connected with the yaw bar 31, the other end of the elastic element 34 is connected with the frame 11, and the frame 11 limits two ends of the yaw bar 31 through the two elastic elements 34.
In the first embodiment shown in fig. 1 and 2, the elastic element 34 includes a spring connection seat 341, a compression spring 342, and a spring compression cylinder 343, the spring connection seat 341 is connected to one end of the yaw bar 31, and one end of the compression spring 342 is connected to the spring connection seat 341; the spring compression cylinder 343 is connected with the frame 11 of the intermediate vehicle body 1, the spring compression cylinder 343 is provided with a blind hole, and the other end of the compression spring 342 is arranged in the blind hole of the spring compression cylinder 343. With this technical solution, when the yaw bar 31 swings, the compression spring 342 of the elastic element 34 on one side compresses, so as to generate damping and buffering effects on the swing of the yaw bar 31, and the compression spring 342 of the elastic element 34 on the other side is separated from the bottom of the blind hole of the spring compression cylinder 343 and is guided by the inner wall of the spring compression cylinder 343 so as not to separate from the spring compression cylinder 343.
In the second embodiment shown in fig. 9 to 13, the elastic member 34 includes a spring hanger 344, a spring connecting ring 345, and an extension spring 346, the spring hanger 344 is connected to the frame 11 of the intermediate vehicle body 1, the spring connecting ring 345 is connected to the spring hanger 344, one end of the extension spring 346 is hung on the spring connecting ring 345, and the other end of the extension spring 34 is hung on one end of the yaw bar 31. With this technical solution, when the mobile platform 100 moves on uneven terrain, the crawler unit 2 drives the buffer differential balancing device 3 to move, so as to cause the swing rod 31 to swing, as shown in fig. 11, when the swing rod 31 swings, the tension spring 346 of the elastic element 34 on one side stretches between the spring mount 344 and the swing rod 31 (see fig. 11 for details at v), so as to generate a damping buffer effect on the swing of the swing rod 31; one end of the tension spring 346 of the other side elastic member 34 moves toward the spring link 345 without tension movement, and the tension spring 346 does not disengage from the spring link 345 (see fig. 12 for details at iv in fig. 11).
Through the technical scheme, one end of the rotary cylinder 132 of the rotating assembly 13 and the rotary seat 131 form a rotary pair, so that the rotating assembly 13 rotates relative to the middle part of the middle vehicle body 1; the other end of the rotary drum 132 is connected to the track unit 2 so that the track unit 2 can be relatively rotated with the intermediate housing by the rotating assembly 13. The hollow shaft 133 is supported and axially positioned by the bearing one 1361, the bearing 1362 and the positioning end cover 137 and the rotary cylinder 132; the driving motor 12 is fixed in the frame 11 of the intermediate vehicle body 1, and the output shaft 121 can drive the hollow shaft 133 and the first flexible piece wheel 134 to rotate in the rotary cylinder 132; also, since the rotating cylinder 132 is provided with the opening 1321, the first flexure may transmit power from the first flexure wheel 134 to the first track assembly 201 of the track unit 2 through the opening 1321; in turn, power is transferred to the first track assembly 202 via the second flexure drive, effecting movement of the track units. The buffer differential balancing device 3 is connected with the middle vehicle body 1 and the two crawler units 2, and realizes the linkage of the two crawler units 2 and the middle vehicle body 1. The elastic element 34 of the buffer differential balancing device 3 can generate damping buffer action on the swing of the yaw bar 31, namely, the damping buffer action of the middle vehicle body 1 on the two crawler belt units 2 is realized. With this scheme, when the mobile platform moves on uneven terrain, the two crawler units 2 swing relative to the middle vehicle body 1 through the rotating component 13 due to uneven terrain, and a certain damping buffer effect exists; the shock due to the rapid swing of the track unit 2 can be reduced. Therefore, through the technical scheme of the invention, the driving motor can be arranged in the middle vehicle body, so that the structure of the crawler belt unit is simplified, the driving motor and electric elements are more convenient to install and arrange, and the power can be transmitted to the two crawler belt units which swing relative to the main vehicle body; the damping buffer effect of the crawler unit is realized when the mobile platform moves on complex terrain, so that a good damping effect can be provided for the mobile platform.
In addition, the invention also provides a robot which comprises the buffer shake crawler moving platform with the built-in drive; as shown in fig. 14, the mobile robot using the mobile platform 100 shown in fig. 1 is provided with a power supply unit, a control unit, a cradle head 4, a sensor unit 5, and the like. Other configurations for mobile robots are known in the art and are well known to those of ordinary skill in the art and will not be described in detail. The buffer rocking track moving platform with built-in driving can realize built-in driving, buffer and shock absorption of the robot.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (7)
1. Drive built-in buffering and shake track moving platform, its characterized in that includes:
an intermediate vehicle body, the intermediate vehicle body comprising:
a frame;
the two driving motors are connected with the frame;
the rotating assembly, the rotating assembly is two, and two rotating assembly symmetry sets up in the both sides of frame, and rotating assembly includes:
one end of the rotating seat is fixed with the frame, and the rotating seats of the two rotating assemblies are coaxial;
the rotary cylinder is pivotally connected with the rotary seat to form a revolute pair, and an opening is formed in the cylindrical surface of the rotary cylinder;
the intermediate shaft is arranged in the rotary drum, is pivotally connected with the rotary drum to form a revolute pair, is connected with an output shaft of the driving motor, and is driven to rotate by the driving motor;
the first flexible piece wheel is coaxially connected with the intermediate shaft and is positioned at the opening of the rotary drum;
the track unit, track unit is two, and two track unit symmetry set up in the both sides of middle automobile body, and track unit includes:
the inner side of the crawler frame is connected with the rotary cylinder;
the first crawler belt driving wheel is connected with the crawler belt frame;
a second flexure wheel coaxially coupled to the first track drive wheel;
the first flexible piece passes through the opening on the rotary cylinder and is connected with the first flexible piece wheel and the second flexible piece wheel to realize flexible piece transmission;
the first crawler wheel is connected with the crawler frame;
a first track surrounding the first track wheel and the first track drive wheel;
the buffering type differential balancing device is connected with the middle vehicle body and the two crawler units, and comprises:
the middle part of the transverse swing rod is pivotally connected with the middle part of one end of the middle vehicle body to form a revolute pair;
one end of the first connecting rod is connected with one end of the transverse swinging rod through a ball pair, and the other end of the first connecting rod is connected with a track frame of one track unit through a ball pair;
one end of the second connecting rod is connected with the other end of the transverse swinging rod through a ball pair, and the other end of the second connecting rod is connected with a track frame of the other track unit through a ball pair;
the two elastic elements are symmetrically arranged at two ends of the transverse swinging rod, one end of each elastic element is connected with the transverse swinging rod, the other end of each elastic element is connected with the frame, and the frame limits the two ends of the transverse swinging rod through the two elastic elements;
one end of the rotary cylinder is provided with a shaft neck which is arranged in the shaft hole of the rotary seat, the front end of the shaft neck is provided with an axial limiting baffle, a shaft shoulder is formed between the rear end of the shaft neck and the rotary cylinder, the axial limiting baffle plate and the shaft shoulder are clung to two sides of the rotating seat, and the rotating cylinder is axially positioned through the axial limiting baffle plate and the shaft shoulder;
the track unit further includes:
the second crawler belt driving wheel is connected with the crawler belt frame;
a third flexure wheel coaxially coupled to the first track drive wheel;
a fourth flexure wheel coaxially coupled to the second track drive wheel;
the second flexible piece is connected with the third flexible piece wheel and the fourth flexible piece wheel to realize flexible piece transmission;
the second crawler wheel is connected with the crawler frame;
and the second crawler belt surrounds the second crawler belt wheel and the outer surface of the second crawler belt driving wheel.
2. The internally driven, cushioned rocking track movement platform of claim 1, wherein: a bearing is arranged between the rotary cylinder and the intermediate shaft; the middle shaft is a hollow shaft, and an output shaft of the driving motor extends into the middle shaft and is connected with the middle shaft through a key; the rear end of the output shaft of the driving motor is provided with a limiting shaft shoulder, the limiting shaft shoulder is attached to one end face of the intermediate shaft, the front end of the output shaft is provided with a nut, the nut is located in a limiting groove at the other end of the intermediate shaft, and the intermediate shaft is axially positioned through the limiting shaft shoulder of the output shaft and the nut.
3. The internally driven, cushioned rocking track movement platform of claim 1, wherein: the first flexible piece wheel, the second flexible piece wheel, the third flexible piece wheel and the fourth flexible piece wheel are all chain wheels, and the first flexible piece and the second flexible piece are all chains.
4. The internally driven, cushioned rocking track movement platform of claim 1, wherein: the first flexible piece wheel, the second flexible piece wheel, the third flexible piece wheel and the fourth flexible piece wheel are synchronous pulleys, and the first flexible piece and the second flexible piece are synchronous belts.
5. The internally driven, cushioned rocking track movement platform of claim 1, wherein: the elastic element comprises a spring connecting seat, a compression spring and a spring compression cylinder, wherein the spring connecting seat is connected with the yaw rod, and one end of the compression spring is connected with the spring connecting seat; the spring compression cylinder is connected with the frame of the middle vehicle body, the spring compression cylinder is provided with a blind hole, and the other end of the compression spring is arranged in the blind hole of the spring compression cylinder.
6. The internally driven, cushioned rocking track movement platform of claim 1, wherein: the elastic element comprises a spring hanging seat, a spring connecting ring and an extension spring, wherein the spring hanging seat is connected with a frame of the middle car body, the spring connecting ring is connected with the spring hanging seat, one end of the extension spring is connected with the spring connecting ring, and the other end of the extension spring is connected with the yaw rod.
7. A mobile robot comprising a buffer shake track mobile platform with built-in drive according to any one of claims 1 to 6.
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| CN201711012977.5A CN107651030B (en) | 2017-10-26 | 2017-10-26 | Buffer shaking crawler moving platform with built-in drive and robot with buffer shaking crawler moving platform |
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| CN201711012977.5A CN107651030B (en) | 2017-10-26 | 2017-10-26 | Buffer shaking crawler moving platform with built-in drive and robot with buffer shaking crawler moving platform |
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| CN107651030B true CN107651030B (en) | 2024-03-15 |
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| CN110435780B (en) * | 2019-09-06 | 2021-09-07 | 中国科学院合肥物质科学研究院 | Wheel-track composite type stair-climbing cargo transporter |
| CN112977669A (en) * | 2019-12-16 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Take open-air unmanned car of lateral stabilization structure |
| EP4339076A1 (en) * | 2022-09-15 | 2024-03-20 | Exobotic Technologies | Improved robot platform |
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