CN110239639A - A kind of crawler type motion platform of variable topological structure - Google Patents
A kind of crawler type motion platform of variable topological structure Download PDFInfo
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- CN110239639A CN110239639A CN201910586855.XA CN201910586855A CN110239639A CN 110239639 A CN110239639 A CN 110239639A CN 201910586855 A CN201910586855 A CN 201910586855A CN 110239639 A CN110239639 A CN 110239639A
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- crawler
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- 230000033001 locomotion Effects 0.000 title claims abstract description 51
- 230000007306 turnover Effects 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims description 30
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000008859 change Effects 0.000 claims description 2
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000004888 barrier function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000035800 maturation Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
A kind of crawler type motion platform of variable topological structure is related to field of mobile equipment, including car body, preceding flip-arm group, rear flip-arm group；The car body includes vehicle body frame, driving motor, the main crawler belt for being symmetrically arranged on the vehicle body frame two sides；The preceding flip-arm group, rear flip-arm group respectively include two crawler-type turnover arms for being symmetrically disposed on vehicle body frame front and back ends two sides, the driving motor is connect with main crawler belt, the crawler-type turnover arm can rotate around rotary shaft and be positioned at any angular position, and the vehicle body frame can be realized its chassis height consecutive variations by crawler-type turnover arm；This motion platform can be realized horizontal length variation by crawler-type turnover arm, and the application provides a kind of crawler type motion platform of variable topological structure, and structure is simple, have good obstacle detouring and climbing ability.
Description
Technical field
The present invention relates to field of mobile equipment, and in particular to a kind of crawler type motion platform of variable topological structure.
Background technique
Motion platform be it is a kind of can be used in battlefield landform investigation, enemy's situation collect etc. work robot, in land
Its walking manner of the motion platform of application mainly has the combination etc. of wheeled, crawler type and the two.
Application number 2010102013949, title are as follows: a kind of China of the robot running gear of deformable all-terrain adaptable
Patent, including frame, ratcheting mechanism and overturning arm mechanism.Ratcheting mechanism is a four wheel mechanism, driven using active wheel drive
Wheel is driven using synchronous belt, and the ratcheting mechanism of left and right side uses a motor driven respectively, connects the same of driving wheel and driven wheel
Step band is encapsulated within robot cavity.Auxiliary propelling machine is an overturning arm mechanism, by fast connected components, shearer ranging arm and overturning
Arm wheel composition, can be used fast connected components and is installed on ratcheting mechanism two sides, the fast connected components are quickly installed to flip-arm
On robot chassis or fast quick-detach；Another application number 2010202268657, title are as follows: portable multiple freedom small-sized quick-fried
The Chinese patent of fried object process intelligent mobile robot system, including control unit module, mobile platform module, energy module,
Mechanical arm module, image sensor module and remote control module etc..The interface phase of standard is used between separate functional blocks
It connects, standard interface contains mechanical connection and electrical connection.Interface contains power supply and communication bus, using standard interface
Power supply is shared between the module of connection and is communicated by STD bus, and any aerial lug is not needed；But above-mentioned robot is crossed over
The poor ability of barrier and the trench of large span.
In addition, application number 2017211496989, title are as follows: a kind of Chinese patent of motion platform, comprising: car body；Overturning
Arm group includes two or four flip-arms, is symmetrically disposed on car body two sides, and by being set to the intracorporal motor driven of vehicle,
Flip-arm can be rotated around rotary shaft；Drive module group, including two drive modules are symmetrically disposed on car body two sides, each driving mould
Block includes crawler belt and two driving wheels, and the drive module is by being set to the intracorporal motor driven of vehicle；The flip-arm group is located at
On the outside of drive module group；The size of the driving wheel is greater than the size of drive module crawler belt and flip-arm；But its structure is whole
It is more complicated, and speeling stairway ability is weaker.
Summary of the invention
In order at least solve one of above-mentioned problems of the prior art, the application provides a kind of shoe of variable topological structure
Belt motion platform, structure is simple, has good obstacle detouring and climbing ability.
In order to realize that above-mentioned technical effect, the specific technical solution of the present invention are as follows:
A kind of crawler type motion platform of variable topological structure, including car body, preceding flip-arm group, rear flip-arm group；The vehicle
Body includes vehicle body frame, driving motor, the main crawler belt for being symmetrically arranged on the vehicle body frame two sides；The preceding flip-arm group, after
Flip-arm group respectively includes two crawler-type turnover arms for being symmetrically disposed on vehicle body frame front and back ends two sides, the driving motor
It is connect with main crawler belt, the crawler-type turnover arm can rotate around rotary shaft and be positioned at any angular position, the vehicle body frame
It can be realized its chassis height consecutive variations by crawler-type turnover arm, this motion platform can be realized by crawler-type turnover arm
Horizontal length variation.
It further, further include a variable transmission mechanism, the variable transmission mechanism is connect with driving motor, main crawler belt.
By setting variable transmission mechanism, it can be achieved that motion platform makes the different speeds of travel for various walking environment, walking is improved
Efficiency reduces energy consumption.
Further, the crawler-type turnover arm include driving wheel, follower, flip-arm bindiny mechanism and with the active
The secondary crawler belt that wheel, follower engage.
Further, the size of the driving wheel is greater than the size of follower.
Further, the preceding flip-arm group, rear flip-arm group pass through motor driven different in vehicle body frame.
It further, further include for providing the power supply mould group of the energy.
According to above-mentioned technical proposal, the present invention is a kind of crawler type motion platform of variable topological structure, including vehicle body frame,
Main walking mechanism, auxiliary propelling machine.Main walking mechanism is symmetrical two main crawler belts, is carried out using independent driving motor
Driving, and the main crawler belt variable motion of bilateral can be realized by variable transmission mechanism.Auxiliary propelling machine is by two groups of (four) shoes
Belt flip-arm is constituted, and is respectively symmetrically mounted on the rear and front end of motion platform, is driven by the motor being arranged in vehicle body frame
It is dynamic.Vehicle body frame is the support section of motion platform, is the main part of motion platform, main walking mechanism and auxiliary propelling machine
It constitutes and connect with it respectively, form the crawler type motion platform of complete variable topological structure.It is flat that the structure type realizes movement
Platform chassis height continuously adjustable, to improve the passability of motion platform；When the shoe of the two groups of auxiliary propelling machines in front and back
When the horizontal topology of belt flip-arm swings expansion, the ability of the more trench of motion platform can be improved；In addition, due to the change of use
Topological motion structure form can be convenient the anteroposterior dimension variation for realizing motion platform, save transport space.
Detailed description of the invention
The application is described in further detail below by specific embodiment combination attached drawing.
Fig. 1 is the one overall structure appearance schematic diagram of motion platform in the present invention；
Fig. 2 is part-structure connection schematic diagram in the present invention；
Fig. 3 crosses the schematic diagram of a barrier for the motion platform in the present invention；
Motion platform in Fig. 4 present invention crosses the schematic diagram of a trench；
Wherein, 1, vehicle body frame；2, driving motor；3, main crawler belt；4, crawler-type turnover arm；41, driving wheel；42, passive
Wheel；43, secondary crawler belt；5, variable transmission mechanism.
Specific embodiment
To keep the purposes, technical schemes and advantages of present embodiment clearer, below in conjunction in present embodiment
The technical solution in present embodiment is clearly and completely described in attached drawing, it is clear that described embodiment is this Shen
Please a part of embodiment, rather than whole embodiment.Based on the embodiment in the present invention, ordinary skill people
Member's every other embodiment obtained without creative efforts, shall fall in the protection scope of this application.
Embodiment one
As shown in Figure 1 and Figure 2, the crawler type motion platform of a kind of variable topological structure, including car body, preceding flip-arm group, after turn over
Pivoted arm group；The car body includes vehicle body frame 1, driving motor 2, variable transmission mechanism 5, is symmetrically arranged on the vehicle body frame 1
The main crawler belt 3 of two sides；The preceding flip-arm group, rear flip-arm group respectively include two and are symmetrically disposed on 1 front and back ends of vehicle body frame
The crawler-type turnover arm 4 of two sides, the variable transmission mechanism 5 are connect with driving motor 2, main crawler belt 3, the crawler-type turnover arm
4 can rotate around rotary shaft and be positioned at any angular position, and the vehicle body frame 1 can be realized it by crawler-type turnover arm 4
Chassis height consecutive variations, this motion platform can be realized horizontal length variation by crawler-type turnover arm 4；Above-mentioned gear
Mechanism 5 is a kind of general name with different drive ratios mechanism and power transmission mechanism, and wherein different drive ratios mechanism can be used
Existing no rank speed reducer or without rank gearbox etc., the existing conveyer of machinery field maturation can be used in power transmission mechanism
Structure.
Wherein, the crawler-type turnover arm 4 include driving wheel 41, follower 42, flip-arm bindiny mechanism and with the master
The secondary crawler belt 43 that driving wheel 41, follower 42 engage, the size of the driving wheel 41 are greater than the size of follower 42；Above-mentioned flip-arm
Bindiny mechanism uses the existing bindiny mechanism of machinery field maturation.
Wherein, the preceding flip-arm group, rear flip-arm group pass through motor driven different in vehicle body frame 1.
In addition, this motion platform further includes for providing the power supply mould group (not shown) of the energy.
Embodiment two
A kind of crawler type motion platform of variable topological structure, including car body, preceding flip-arm group, rear flip-arm group；The vehicle
Body includes vehicle body frame 1, driving motor 2, the main crawler belt 3 for being symmetrically arranged on 1 two sides of vehicle body frame；The preceding flip-arm
Group, rear flip-arm group respectively include two crawler-type turnover arms 4 for being symmetrically disposed on 1 front and back ends two sides of vehicle body frame, the drive
Dynamic motor 2 is connect with main crawler belt 3, and the crawler-type turnover arm 4 can rotate around rotary shaft and be positioned at any angular position, described
Vehicle body frame 1 can be realized its chassis height consecutive variations by crawler-type turnover arm 4, this motion platform passes through crawler-type turnover
Arm 4 can be realized horizontal length variation.
Wherein, the crawler-type turnover arm 4 include driving wheel 41, follower 42, flip-arm bindiny mechanism and with the master
The secondary crawler belt 43 that driving wheel 41, follower 42 engage, the size of the driving wheel 41 are greater than the size of follower 42.
In addition, this motion platform further includes for providing the power supply mould group (not shown) of the energy.
Wherein, this motion platform movement relies primarily on two main crawler belts 3, and crawler-type turnover arm 4 plays synkinesia and makes to move
The effect of platform deformation.
The part walking posture of this motion platform is as follows:
(1) across obstacle
As shown in figure 3, four crawler-type turnover arms 4 of front and back end are rotated down, are returned when motion platform encounters barrier
Turn, until vehicle body frame 1 entirely progressively disengages ground, makes somebody a mere figurehead, when 1 chassis height of vehicle body frame is greater than obstacle height, fortune
Moving platform is turned round by the secondary crawler belt 43 on crawler-type turnover arm 4 across barrier, this motion platform is set with existing only one end
There is the robot of flip-arm to compare, effect is considerably better in across obstacle.
(2) trench of large span is crossed over
As shown in figure 4, four crawler-type turnover arms 4 of front and back end are rotated down, are returned when motion platform encounters trench
Turn, until four crawler-type turnover arms 4 of front and back end expand horizontally entirely, the crawler-type turnover arm 4 of front end takes trench another side
When edge, motion platform is walked forward on one side, until motion platform is straight, safety strides across a trench.
Due to using the structure of front and back crawler-type turnover arm 4, the trench span that this motion platform can pass through is compared to existing
Robot it is bigger, maximum span can reach the front and back end crawler-type turnover arm 4 of the same side horizontal full expansion when front end shoe
The half of distance between 4 front end of belt flip-arm and 4 rearmost end of crawler-type turnover arm of rear end.
Motion platform of the invention can also be realized existing other than it can be realized the across obstacle of foregoing description, trench
Motion platform have the function of deformation, climbing, speeling stairway, rise lift etc., particular content can refer to application number
2010102013949, title are as follows: a kind of publication of the robot running gear of deformable all-terrain adaptable is not done herein
It is described in detail.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (6)
1. a kind of crawler type motion platform of variable topological structure, which is characterized in that including car body, preceding flip-arm group, rear flip-arm
Group；The car body includes vehicle body frame (1), driving motor (2), the main crawler belt for being symmetrically arranged on the vehicle body frame (1) two sides
(3)；The preceding flip-arm group, rear flip-arm group respectively include two shoes for being symmetrically disposed on vehicle body frame (1) front and back ends two sides
Belt flip-arm (4), the driving motor (2) connect with main crawler belt (3), and the crawler-type turnover arm (4) can turn around rotary shaft
Any angular position is moved and is positioned at, the vehicle body frame (1) can be realized its chassis height company by crawler-type turnover arm (4)
Continuous variation, this motion platform can be realized horizontal length variation by crawler-type turnover arm (4).
2. a kind of crawler type motion platform of variable topological structure as described in claim 1, which is characterized in that further include a speed change
Transmission mechanism (5), the variable transmission mechanism (5) connect with driving motor (2), main crawler belt (3).
3. a kind of crawler type motion platform of variable topological structure as described in claim 1, which is characterized in that the crawler type is turned over
Pivoted arm (4) include driving wheel (41), follower (42), flip-arm bindiny mechanism and with the driving wheel (41), follower (42)
The secondary crawler belt (43) of engagement.
4. a kind of crawler type motion platform of variable topological structure as claimed in claim 3, which is characterized in that the driving wheel
(41) size is greater than the size of follower (42).
5. a kind of crawler type motion platform of variable topological structure as described in claim 1, which is characterized in that the preceding flip-arm
Group, rear flip-arm group pass through motor driven different in vehicle body frame (1).
6. a kind of crawler type motion platform of variable topological structure as described in any one of claims 1 to 5, which is characterized in that
It further include for providing the power supply mould group of the energy.
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| CN201910586855.XA CN110239639A (en) | 2019-07-01 | 2019-07-01 | A kind of crawler type motion platform of variable topological structure |
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| CN201910586855.XA CN110239639A (en) | 2019-07-01 | 2019-07-01 | A kind of crawler type motion platform of variable topological structure |
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