CN113022726B - Wheel-track composite mobile platform for complex terrain - Google Patents
Wheel-track composite mobile platform for complex terrain Download PDFInfo
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- CN113022726B CN113022726B CN202110412185.7A CN202110412185A CN113022726B CN 113022726 B CN113022726 B CN 113022726B CN 202110412185 A CN202110412185 A CN 202110412185A CN 113022726 B CN113022726 B CN 113022726B
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- 239000002131 composite material Substances 0.000 title claims abstract description 49
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 230000000712 assembly Effects 0.000 claims abstract description 23
- 238000000429 assembly Methods 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000001360 synchronised effect Effects 0.000 claims description 30
- 230000008878 coupling Effects 0.000 claims description 22
- 238000010168 coupling process Methods 0.000 claims description 22
- 238000005859 coupling reaction Methods 0.000 claims description 22
- 230000033001 locomotion Effects 0.000 claims description 18
- 238000013016 damping Methods 0.000 claims description 12
- 239000000725 suspension Substances 0.000 claims description 12
- 230000036544 posture Effects 0.000 claims description 4
- 238000007789 sealing Methods 0.000 description 6
- 150000001875 compounds Chemical class 0.000 description 3
- 238000002955 isolation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
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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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- 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
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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
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
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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
- B62D55/08—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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- 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
- B62D55/30—Track-tensioning means
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention discloses a wheel-track composite mobile platform for complex terrains. The wheel-track composite mobile platform structurally comprises four wheel-track driving mechanisms, two rocker arm pitching motor assemblies, two wheel driving motor assemblies, two bevel gear assemblies for rocker arm pitching, a frame and the like. According to the mobile platform, driving of four wheels/tracks is achieved through the two motor assemblies, and pitching of four rocker arms is achieved through the two motor assemblies; the wheel driving motor assemblies are symmetrically arranged on a vehicle body, the rocker arm pitching motor assemblies are symmetrically arranged on the vehicle body, and the four wheel-track driving mechanisms are the same in transmission mechanism; and according to the wheel-track composite mobile platform, through constant-speed and differential driving of the wheel driving motor assemblies, advancing, retreating, turning and the like of the mobile platform can be achieved. According to the wheel-track composite mobile platform, different driving modes (wheel driving, track driving and wheel-track composite driving) are selected according to the different terrains, and thus rapid moving of the wheel-track composite mobile platform in the complex terrains is achieved.
Description
Technical Field
The invention relates to a ground moving platform combining wheel drive and crawler drive, belongs to the technical field of robots, and can be used in platforms or devices with moving function requirements, such as industrial equipment, ground robots, space robots and the like.
Background
With the development of the robot technology, increasingly high requirements are provided for terrain adaptability, obstacle crossing capability, moving speed and the like of the mobile robot, and the mobile robot is required to move in complex terrains, quickly cross obstacles and have high moving speed. For a mobile robot in an unstructured environment such as the earth surface, irregular obstacles such as broken stones, pits, steep slopes, jungles and the like may exist in the moving path of the mobile robot, and the moving capability of the mobile robot is adversely affected. For an extraterrestrial celestial (moon, mars and the like) surface mobile robot, the moving capability of the robot is greatly challenged due to the existence of rock, meteorite pits, soft easily-sunk star soil and other harsh terrains on the surface of the celestial. In order to improve the moving capability of the robot in the complex terrain, and ensure the moving speed, obstacle crossing capability, anti-sinking capability and the like, a platform with quick moving capability in the complex terrain needs to be designed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention designs a wheel-track composite mobile platform for complex terrains, which has the wheel-running capability and the fulfillment capability, and can realize the rapid movement on the surfaces of the complex terrains such as the earth or extraterrestrial stars.
The technical scheme of the wheel-track composite mobile platform for the complex terrain, which can solve the technical problems, comprises four wheel-track driving mechanisms, two rocker arm pitching motor assemblies, two wheel driving motor assemblies, four synchronous belt wheels for driving the wheels, two synchronous belts for driving the wheels, two bevel gear assemblies for pitching the rocker arms, a frame, two synchronous belt tensioning mechanisms and the like.
Furthermore, the wheel-track composite mobile platform adopts two wheel driving motor assemblies to realize the driving of four wheels/tracks, and two rocker arm pitching motor assemblies realize the pitching of four rocker arms; the wheel driving motor assembly and the rocker arm pitching motor assembly are respectively and symmetrically arranged on the frame; the four wheel-track driving mechanisms are identical, and the wheel-track driving mechanisms positioned at the diagonal positions on the wheel-track composite mobile platform can be interchanged.
Further, the wheel-track driving mechanism comprises a coupler, a quadrilateral suspension, wheels, a sealing baffle, a track supporting assembly, a rocker arm driving assembly, a driving wheel, a track and the like; the wheel-track composite mobile platform selects different driving modes (wheel driving, track driving and wheel-track composite driving) according to different terrains, so that the vehicle body can rapidly move in a complex terrain.
Further, the wheel-track composite moving platform has moving modes of wheel-walking, fulfillment, wheel-track composite walking and the like; on a flat ground, the moving speed is improved by adopting wheel-driving; on a complex ground, the obstacle crossing capability is improved by adopting wheel-track composite walking; on the easily-sunk ground, the wheel-track composite walking is adopted to improve the anti-sinking capability; when the wheel is in fault, the rocker arm can be used for lifting the wheel, and the crawler belt is adopted for moving, so that the fault isolation of the wheel is realized; when the crawler belt breaks down, the rocker arm is used for lifting the crawler belt, and the wheels are adopted for moving, so that the fault isolation of the crawler belt is realized. When the vehicle moves on a complex ground, the vehicle frame can be lifted through the rocker arm, the ground clearance of the vehicle body is improved, and the clamping stagnation of the protrusions on the platform is prevented.
Furthermore, a quadrilateral suspension is arranged between the wheel-track driving mechanism and the frame; when the mobile platform moves rapidly, the impact of the frame can be reduced by the quadrilateral suspension, and the stability of rapid movement of the platform is improved.
Further, the rocker arm driving assembly comprises a rocker arm driving shaft, an angular contact ball bearing, a rocker arm fixing nut, a rocker arm and the like.
Furthermore, the wheel driving shaft and the rocker driving shaft are coaxially designed, so that the driving mechanism is more compact; the rocker arm can rotate around the axis of the wheel in a unidirectional and continuous way.
Further, the linear velocity of the outer ring of the wheel is the same as the linear velocity of the movement of the crawler belt, so that the matching of the speed between the wheel and the crawler belt is ensured when the wheel and the crawler belt move in a combined manner.
Further, the distance between the front wheel and the rear wheel is not less than the length of the crawler belt on the rocker arm, so that the crawler belt can be folded to two sides of the frame.
Furthermore, the moving platform can adjust the posture of the vehicle body through different lifting heights of the front rocker arm and the rear rocker arm, so that different working postures of equipment on the vehicle frame can be realized.
Furthermore, labyrinth seals are formed between the sealing baffle plates and the inner rings of the wheels, and a shaft system in the wheel-track composite driving mechanism is ensured to be in a sealed environment, so that the wheel-track composite driving mechanism has certain waterproof and dustproof capabilities.
Furthermore, the wheel-track composite mobile platform has the capabilities of linear movement, turning, differential steering and the like; the wheel-track composite mobile platform is used for realizing the movement in the complex uneven terrain, and the forward and backward turning of the mobile platform can be realized through the constant speed and differential driving of the wheel driving motor assembly.
Furthermore, the wheel-track composite mobile platform has multiple motion modes such as an all-wheel mode, an all-track mode, an all-wheel track mode, a front-wheel rear-track mode and the like, and in order to reduce the volume envelope, the track in the wheel-track driving mechanism can be folded between the front wheel and the rear wheel.
Furthermore, the wheel-track driving mechanism is of a dual-drive input and dual-output structure, a power source transmitted by the wheel-track driving mechanism is derived from the rocker arm pitching motor assembly, and the wheel drives the motor assembly.
Further, the track support assembly includes a secondary support wheel and a primary support wheel; the tensioning of the crawler belt is realized by the auxiliary supporting wheels and the main support at the same time; the main supporting wheel mainly keeps the shape of an outer envelope of the crawler belt and prevents the crawler belt from falling off the driving wheel; the auxiliary supporting wheels mainly tension the crawler belt and ensure the crawler belt to be attached to the ground.
The invention has the beneficial effects that:
(1) the four-wheel four-track four-arm four-wheel four-track four-machine adopts two groups of driving mechanisms, and adopts the other two groups of driving mechanisms to realize the four-track four-track four-track four-track four-track; the wheels and the crawler belts are adopted for driving, so that various moving modes such as wheel walking, fulfillment, wheel and crawler belt compounding and the like can be realized, and the fault isolation of the wheels or the crawler belts can also be realized;
(2) the invention is provided with a suspension system, and improves the moving capability of the driving mechanism in uneven terrain. The damper for suspension and the damping spring are positioned outside the suspension system, so that replacement and maintenance are facilitated.
(3) The four-wheel-track compound driving mechanism adopts a modular design, and the transmission mechanisms are identical or mirror-symmetrical and are easy to interchange.
(4) The wheel-track composite driving mechanism adopts a hollow double-shaft transmission design and has a compact structure.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a three-dimensional cross-sectional view of the wheel-track compound drive mechanism of the embodiment of fig. 1.
Fig. 3 is a schematic three-dimensional structure diagram of the wheel-track compound driving mechanism in the embodiment of fig. 1.
Fig. 4 is a schematic view of the embodiment of fig. 1 in a different configuration.
In the figure: a wheel-track driving mechanism (1, 2, 3, 4); a rocker arm pitch motor assembly (5-1, 5-2); a wheel drive motor assembly (6-1, 6-2); synchronous pulleys (7-1, 7-2, 7-3, 7-4); synchronous belts (8-1, 8-2); a bevel gear assembly (9-1, 9-2); a frame 10; a synchronous belt tensioning mechanism (11-1, 11-2); couplings (wheel couplings 1-1-1, rocker couplings 1-1-2); a quadrilateral suspension (a left side plate 1-2-1, an upper connecting rod 1-2-2, a lower connecting rod 1-2-3, a right side plate 1-2-4, a damper 1-2-5 and a damping spring 1-2-6); the wheel assembly (wheel 1-3-1, sealing baffle 1-3-2); the wheel driving assembly (angular contact ball bearing 1-4-1, wheel driving shaft 1-4-2, pinion 1-4-3, bull gear 1-5-1, angular contact ball bearing 1-5-2, supporting shaft 1-5-3, belt wheel 1-6-1, angular contact ball bearing 1-6-2 and driving belt 1-6-3); the rocker arm driving component (a rocker arm driving shaft 1-7-1, an angular contact ball bearing 1-7-2, a rocker arm fixing nut 1-7-3 and a rocker arm 1-7-4); 1-8 of driving wheels; the crawler belt supporting assembly (auxiliary supporting wheels 1-9-1 and 1-9-2, main supporting wheels 1-10-1 and 1-10-2 and 1-10-3); tracks 1-11.
Detailed Description
The technical solution of the present invention will be further explained with reference to the embodiments shown in the drawings.
The wheel-track composite mobile platform is used for realizing the movement in complex uneven terrain, a wheel-track driving mechanism (1, 2, 3, 4) is arranged on a vehicle frame 10, and a rocker arm pitching motor assembly (5-1, 5-2) and a wheel driving motor assembly (6-1, 6-2) are arranged on the vehicle frame 10. The rocker arm pitching motor component 5-1 realizes synchronous pitching of the wheel track driving mechanisms 3 and 4 through a rocker arm pitching bevel gear component 9-1; the rocker arm pitching motor component 5-2 realizes synchronous pitching of the wheel-track driving mechanisms 1 and 2 through the rocker arm pitching bevel gear component 9-2. The output end of the wheel driving motor assembly 6-2 is fixedly connected with a synchronous belt wheel 7-3 for driving the wheel, and the synchronous belt wheel 7-3 is fixedly connected with a wheel coupling 1-1-1 of the wheel-track driving mechanism 1; the synchronous pulley 7-3 for driving the wheel is connected with the synchronous pulley 7-1 through a synchronous belt 8-2 for driving the wheel, and the synchronous pulley 7-1 is fixedly connected with a wheel coupling of the wheel-track driving mechanism 3; the output end of the wheel driving motor assembly 6-1 is fixedly connected with a synchronous belt wheel 7-2 for driving the wheel, and the synchronous belt wheel 7-2 is fixedly connected with a wheel coupling of the wheel-track driving mechanism 4; the synchronous pulley 7-2 for driving the wheel is connected with the synchronous pulley 7-4 through a synchronous belt 8-1 for driving the wheel, and the synchronous pulley 7-4 is fixedly connected with a wheel coupling of the wheel-track driving mechanism 2. The forward and backward turning of the mobile platform can be realized by the constant-speed and differential-speed driving of the wheel driving motor assemblies 6-1 and 6-2. The power source of the wheel-track driving mechanism (taking the wheel-track driving mechanism 1 as an example) is derived from the rocker arm pitching motor components 5-1 and 5-2 and the wheel driving motor components 6-1 and 6-2. The left side plate 1-2-1 of the quadrilateral suspension (the left side plate 1-2-1, the upper connecting rod 1-2-2, the lower connecting rod 1-2-3, the right side plate 1-2-4, the damper 1-2-5 and the damping spring 1-2-6) is fixedly connected with the frame 10, and the right side plate 1-2-4 provides support for components such as the wheels 1-3-1 and the like. The left side plate 1-2-1, the upper connecting rod 1-2-2, the lower connecting rod 1-2-3 and the right side plate 1-2-4 form a quadrilateral mechanism, the damper 1-2-5 and the damping spring 1-2-6 are respectively installed on two sides of the quadrilateral mechanism, and the quadrilateral mechanism, the damper and the damping spring form a suspension system for realizing damping when the wheel 1-3-1 and the crawler 1-11 move on uneven terrain; the support shaft 1-5-3 is fixedly connected with the right side plate 1-2-4 and provides support for power transmission shafting of the wheel 1-3-1, the rocker arm 1-7-4 and the like; the wheel coupling 1-1-1 is fixedly connected with a wheel driving shaft 1-4-2, power is transmitted to a small gear 1-4-3, the small gear 1-4-3 and a large gear 1-5-1 form a transmission pair for reducing speed and increasing torque, the large gear 1-5-1 is fixedly connected with a wheel 1-3-1, the wheel 1-3-1 is fixedly connected with a belt wheel 1-6-1 at the same time, and the rotating large gear 1-5-1 can drive the wheel 1-3-1 and the belt wheel 1-6-1 to rotate synchronously. The rocker coupling 1-1-2 is fixedly connected with the rocker driving shaft 1-7-1, and the rocker 1-7-4 is fixedly connected with the rocker driving shaft 1-7-1 through the rocker fixing nut 1-7-3. The angular contact ball bearings 1-4-1, 1-5-2, 1-6-2 and 1-7-2 play a role in supporting and reducing friction of each revolute pair. The belt wheel 1-6-1 transmits the driving force to the driving wheel 1-8 through the transmission belt 1-6-3, and the driving wheel 1-8 drives the crawler belt 1-11 to transmit. The track supporting assembly (the auxiliary supporting wheels 1-9-1 and 1-9-2 and the main supporting wheels 1-10-1 and 1-10-2 and 1-10-3) supports and tensions the track 1-11. The wheel-track composite mobile platform has multiple motion modes of all wheels, all tracks, all wheel tracks, front wheel rear tracks and the like, and can fold the tracks 1-11 in the wheel-track driving mechanisms (1, 2, 3 and 4) between the front wheels 1-3-1 and the rear wheels 1-3. As shown in figures 1, 2, 3, 4.
When the wheel-track composite mobile platform moves, the wheel driving motor assembly 6-1 drives the wheel-track driving mechanisms 2 and 4 to move, and meanwhile, the wheel driving motor assembly 6-2 drives the wheel-track driving mechanisms 1 and 3 to move. When the running directions of wheels 1-3-1 (or tracks 1-11) in the wheel-track driving mechanisms 2 and 4 and the wheels 1 and 3-3 (or tracks 1-11) in the wheel-track driving mechanisms 1 and 3 are the same and the running speeds are equal, the mobile platform moves linearly; when the running directions of wheels 1-3-1 (or tracks 1-11) in wheel-track driving mechanisms 2 and 4 and wheels 1 and 3-3 are the same but the running speeds are different, the moving platform performs differential steering motion; when the running directions of the wheel-track driving mechanisms 2 and 4 and the wheels 1-3-1 (or the track 1-11) in the wheels 1 and 3 are opposite and the running speeds are equal, the mobile platform performs pivot steering.
The rocker arms 1-7-4 of the wheel-track composite mobile platform have a lifting function. The rocker arm pitching motor component 5-1 realizes synchronous lifting of the rocker arms 1-7-4 in the wheel track driving mechanisms 2 and 4 through the bevel gear component 9-1; the rocker arm pitching motor component 5-2 realizes synchronous lifting of the rocker arms 1-7-4 in the wheel track driving mechanisms 1 and 3 through the bevel gear component 9-2.
The wheel-track composite mobile platform can move in complex ground environments such as flat ground, uneven ground, swamp ground and the like. When the vehicle moves in a flat ground, in order to improve the moving speed, a wheel-walking mode is adopted, the rocker arm pitching motor assemblies 5-1 and 5-2 lift the rocker arms 1-7-4 in the wheel-track driving mechanisms 1, 2, 3 and 4 off the ground, and the wheel driving motor assemblies 6-1 and 6-2 drive the wheels 1-3-1 in the wheel-track driving mechanisms 1, 2, 3 and 4 to move; when the vehicle moves in uneven ground, in order to improve obstacle crossing capability, a wheel-track composite moving mode is adopted, the rocker arm pitching motor assemblies 5-1 and 5-2 adjust the pitching heights of the rocker arms 1-7-4 in the wheel-track driving mechanisms 1, 2, 3 and 4 in real time according to the height of ground obstacles, and the wheel driving motor assemblies 6-1 and 6-2 drive the wheels 1-3-1 and the tracks 1-11 in the wheel-track driving mechanisms 1, 2, 3 and 4 to move; when the subsidence-resistant environment such as a marshland and a weathered layer moves, in order to improve the subsidence resistance, a wheel-track composite moving mode is adopted, the rocker arm pitching motor assemblies 5-1 and 5-2 drive the rocker arms 1-7-4 in the wheel-track driving mechanisms 1, 2, 3 and 4 to enable the tracks 1-11 to be attached to the ground, and the wheel driving motor assemblies 6-1 and 6-2 drive the wheels 1-3-1 and the tracks 1-11 in the wheel-track driving mechanisms 1, 2, 3 and 4 to move.
The wheel-track composite mobile platform has wheel and track fault avoidance capability. When the wheels in the wheel-track driving mechanisms 1 and 2 are in failure, the rocker arm pitching motor assembly 5-2 presses down the rocker arms 1-7-4 in the wheel-track driving mechanisms 1 and 2 to lift the wheels 1-3-1 off the ground, and the wheel-track driving mechanisms 1 and 2 move by adopting the tracks 1-11; when the tracks in the wheel-track driving mechanisms 1 and 2 are in failure, the rocker arm pitching motor assembly 5-2 lifts the rocker arms 1-7-4 in the wheel-track driving mechanisms 1 and 2, the tracks 1-11 are lifted off the ground, and the wheel-track driving mechanisms 1 and 2 move by adopting the wheels 1-3-1.
When the wheel-track composite driving mechanisms 1, 2, 3 and 4 move by adopting wheels 1-3-1, firstly, the rocker arm driving source drives the rocker arm driving shaft 1-7-1 to rotate through the rocker arm coupling 1-1-2, and the rocker arm 1-7-4 rotates for a certain angle to leave the ground; then the driving force of the wheel driving source is transmitted to the small gear 1-4-3 through the wheel coupling 1-1-1, the small gear 1-4-3 decelerates and increases the moment through the large gear 1-5-1 to transmit the power to the wheel 1-3-1, and the movement of the moving platform is realized. In the working mode, only the wheels 1-3-1 are in contact with the ground, and the crawler belts 1-11 are not in contact with the ground.
When the wheel-track composite driving mechanism 1, 2, 3, 4 moves by adopting the track 1-11, the rocker driving source drives the rocker driving shaft 1-7-1 to rotate through the rocker coupling 1-1-2, so that the rocker 1-7-4 rotates and the track 1-11 is contacted with the ground; then the driving source of the wheel transmits the driving force to the small gear 1-4-3 through the wheel coupling 1-1-1, the small gear 1-4-3 transmits the power to the wheel 1-3-1 through the deceleration and torque increase of the big gear 1-5-1, and the movement of the vehicle is realized. The wheels 1-3-1 rotate and simultaneously drive the belt wheels 1-6-1 to rotate, the belt wheels transmit motion to the driving wheels 1-8 through the transmission belts 1-6-3, and the driving wheels 1-8 drive the crawler belts 1-11 to rotate. When the crawler belt moves on uneven ground, the rocker arms 1-7-4 can follow the ground in real time according to the terrain, so that the crawler belt 1-11 is well attached to the ground, and high traction force is guaranteed.
The quadrilateral suspension is composed of a left side plate 1-2-1, an upper connecting rod 1-2-2, a lower connecting rod 1-2-3, a right side plate 1-2-4, a damper 1-2-5 and a damping spring 1-2-6, so that a spring-damping vibration damping system is formed. When the carriage moves at high speed on the non-platform ground and is subjected to impact load, the relative position between the left side plate 1-2-1 and the right side plate 1-2-4 changes, the damper 1-2-5 and the damping spring 1-2-6 are compressed, impact energy is absorbed by the damper 1-2-5, and the damping spring realizes the resetting of the damper 1-2-5.
The tensioning of the crawler 1-11 is realized by the auxiliary supporting wheels 1-9-1 and 1-9-2 and the main supporting wheels 1-10-1, 1-10-2 and 1-10-3 at the same time. The main supporting wheels 1-10-1, 1-10-2 and 1-10-3 mainly realize the shape maintenance of the outer envelope of the crawler belt and prevent the crawler belt from falling off from the driving wheels 1-8; the auxiliary supporting wheels 1-9-1 and 1-9-2 mainly realize tensioning of the crawler belts 1-11 and ensure that the crawler belts 1-11 are attached to the ground.
The wheel assembly comprises a wheel 1-3-1 and a sealing baffle 1-3-2, the sealing baffle 1-3-2 is fixedly connected with a right side plate 1-2-4, and a labyrinth seal is formed between the sealing baffle 1-3-2 and an inner ring of the wheel 1-3-1, so that a shaft system in the wheel-track composite driving mechanism is ensured to be in a sealed environment.
The basic working principle of the wheel-track composite mobile platform for complex terrains is as follows:
the wheel driving motor assembly 6-1 drives the wheel-track driving mechanisms 2 and 4 to move, and meanwhile, the wheel driving motor assembly 6-2 drives the wheel-track driving mechanisms 1 and 3 to move. When the running directions of wheels 1-3-1 (or tracks 1-11) in the wheel-track driving mechanisms 2 and 4 and the wheels 1 and 3-3 (or tracks 1-11) in the wheel-track driving mechanisms 1 and 3 are the same and the running speeds are equal, the mobile platform moves linearly; when the running directions of wheels 1-3-1 (or tracks 1-11) in wheel-track driving mechanisms 2 and 4 and wheels 1 and 3-3 are the same but the running speeds are different, the moving platform performs differential steering motion; when the running directions of the wheel-track driving mechanisms 2 and 4 and the wheels 1-3-1 (or the track 1-11) in the wheels 1 and 3 are opposite and the running speeds are equal, the mobile platform performs pivot steering.
The wheel-track composite mobile platform for complex terrains has the following working modes:
when the crawler belt is in failure, the crawler belt is driven by wheels. Firstly, a rocker driving source drives a rocker driving shaft 1-7-1 to rotate through a rocker coupling 1-1-2, and a rocker 1-7-4 is rotated by a certain angle to leave the ground; then the driving force of the wheel driving source is transmitted to the small gear 1-4-3 through the wheel coupling 1-1-1, the small gear 1-4-3 is decelerated and torque-increased through the large gear 1-5-1 to transmit the power to the wheel 1-3-1, and the platform is moved. In the working mode, only the wheels 1-3-1 are in contact with the ground, and the crawler belts 1-11 are not in contact with the ground.
When the wheels are in failure, the caterpillar tracks are adopted for driving. Firstly, a rocker arm driving source drives a rocker arm driving shaft 1-7-1 to rotate through a rocker arm coupling 1-1-2, a rocker arm 1-7-4 rotates, a crawler belt 1-11 is in contact with the ground, and wheels are lifted to be not in contact with the ground; then a wheel driving source transmits driving force to a small gear 1-4-3 through a wheel coupling 1-1-1, the small gear 1-4-3 decelerates and increases torque through a large gear 1-5-1 to transmit power to a wheel 1-3-1, the wheel 1-3-1 rotates to drive a belt pulley 1-6-1 to rotate, the belt pulley 1-6-1 transmits motion to a driving wheel 1-8 through a transmission belt 1-6-3, and the driving wheel 1-8 drives a track 1-11 to rotate; the rotating track can realize driving.
When moving on rough ground, the wheels and the caterpillar tracks are adopted for driving simultaneously, so that high obstacle crossing capability is realized. Firstly, a rocker arm driving source drives a rocker arm driving shaft 1-7-1 to rotate through a rocker arm coupling 1-1-2, so that a rocker arm 1-7-4 rotates and a crawler 1-11 is contacted with the ground; then the driving source of the wheel transmits the driving force to the small gear 1-4-3 through the wheel coupling 1-1-1, the small gear 1-4-3 decelerates and increases the moment through the big gear 1-5-1 to transmit the power to the wheel 1-3-1, and the rotation of the vehicle is realized. The wheels 1-3-1 rotate and simultaneously drive the belt wheels 1-6-1 to rotate, the belt wheels transmit motion to the driving wheels 1-8 through the transmission belts 1-6-3, and the driving wheels 1-8 drive the crawler belts 1-11 to rotate. When the crawler belt moves on uneven ground, the rocker arms 1-7-4 can follow the ground in real time according to the terrain, so that the crawler belt 1-11 is well attached to the ground, and high traction force is guaranteed. In the working mode, the wheels 1-3-1 and the crawler belts 1-11 are both contacted with the ground.
Claims (6)
1. The wheel-track composite mobile platform facing to the complex terrain comprises four wheel-track driving mechanisms, two rocker arm pitching motor assemblies, two wheel driving motor assemblies, four synchronous belt wheels for driving the wheels, two synchronous belts for driving the wheels, two rocker arm pitching bevel gear assemblies, a frame and two synchronous belt tensioning mechanisms;
the wheel track driving mechanism is arranged on the frame, and the rocker arm pitching motor assembly and the wheel driving motor assembly are arranged on the frame; the rocker arm pitching motor component realizes synchronous pitching of the wheel track driving mechanism through a rocker arm pitching bevel gear component; the output end of the wheel driving motor assembly is fixedly connected with a synchronous belt wheel for driving the wheel, and the synchronous belt wheel is fixedly connected with a wheel coupling of the wheel-track driving mechanism; the front and the rear wheel driving synchronous pulleys are connected by a wheel driving synchronous belt; the power source of the wheel-track driving mechanism is from a rocker arm pitching motor component and a wheel driving motor component; a quadrilateral suspension is designed between the wheel-track driving mechanism and the frame, a left side plate of the quadrilateral suspension is fixedly connected with the frame, a right side plate provides support for the wheel assembly, the left side plate, the upper connecting rod, the lower connecting rod and the right side plate form a quadrilateral mechanism, and a damper and a vibration damping spring are respectively installed on two sides of the quadrilateral mechanism; the support shaft is fixedly connected with the right side plate and provides support for a power transmission shaft system of the wheel and the rocker arm; the wheel coupling is fixedly connected with a wheel driving shaft, power is transmitted to the small gear, the small gear and the large gear form a transmission pair for reducing speed and increasing torque, the large gear is fixedly connected with the wheel, the wheel is simultaneously and fixedly connected with the belt wheel, and the rotating large gear can drive the wheel and the belt wheel to synchronously rotate; the rocker arm coupling is fixedly connected with the rocker arm driving shaft, and the rocker arm is fixedly connected with the rocker arm driving shaft through a rocker arm fixing nut; the belt wheel transmits driving force to a driving wheel through a transmission belt, and the driving wheel drives a crawler belt to transmit; the wheel-track composite mobile platform has the wheel-walking capability and the fulfillment capability, and can realize the rapid movement of the surface of a complex terrain.
2. The complex terrain-oriented wheel-track composite mobile platform of claim 1, wherein: the driving of four wheels is realized by adopting a wheel driving motor component, and the pitching of four rocker arms is realized by two groups of rocker arm pitching motor components; the wheel driving motor assembly and the rocker arm pitching motor assembly are symmetrically arranged on the frame respectively.
3. The complex terrain-oriented wheel-track composite mobile platform of claim 1, wherein: the wheel-track composite moving platform has a wheel-row, fulfillment and wheel-track composite walking moving mode; the moving speed can be improved by adopting wheel walking on the flat ground; the wheel-track composite walking is adopted on the complex ground to improve the obstacle crossing capability; the wheel-track composite walking is adopted on the easily-sunk ground to improve the anti-sinking capability; when the wheels are in failure, the rocker arms can be used for lifting the wheels, and the crawler belt is adopted for moving; when the crawler belt is in failure, the crawler belt is lifted by using the rocker arm and moved by using wheels; when the vehicle moves on a complex ground, the vehicle frame can be lifted through the rocker arm, the ground clearance of the vehicle frame is improved, and the clamping stagnation of the protrusions on the movement of the platform is prevented.
4. The complex terrain-oriented wheel-track composite mobile platform of claim 1, wherein: the linear velocity of the outer ring of the wheel is the same as the linear velocity of the track movement, so that the wheel and the track are matched in speed when the wheel and the track move in a combined manner.
5. The complex terrain-oriented wheel-track composite mobile platform of claim 1, wherein: the distance between the front wheel and the rear wheel is not less than the length of the crawler belt on the rocker arm, so that the crawler belt can be folded to two sides of the frame.
6. The complex terrain-oriented wheel-track composite mobile platform of claim 1, wherein: the wheel-track composite mobile platform can adjust the posture of the vehicle body through different lifting heights of the front rocker arm and the rear rocker arm, and different working postures of equipment on the vehicle frame are realized.
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| CN202110412185.7A CN113022726B (en) | 2021-04-16 | 2021-04-16 | Wheel-track composite mobile platform for complex terrain |
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| CN113022726A (en) | 2021-06-25 |
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