CN114013524B - Wheel-track-leg combined type mobile robot - Google Patents
Wheel-track-leg combined type mobile robot Download PDFInfo
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- CN114013524B CN114013524B CN202111406272.8A CN202111406272A CN114013524B CN 114013524 B CN114013524 B CN 114013524B CN 202111406272 A CN202111406272 A CN 202111406272A CN 114013524 B CN114013524 B CN 114013524B
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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
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/006—Attaching arms to sprung or unsprung part of vehicle, characterised by comprising attachment means controlled by an external actuator, e.g. a fluid or electrical motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The invention relates to the field of mobile robots, in particular to a wheel-track-leg combined mobile robot. Comprises a frame, a power device, a swing arm mechanism, a transmission mechanism, a battery and wheels. Compared with the prior art, the invention has the following characteristics: the invention has the characteristics of three basic movement modes of wheel type, crawler type and leg type, has more degrees of freedom, can realize seven movement modes of wheel type, crawler type, leg type, wheel leg type, crawler leg type, wheel crawler type and crawler leg type, has stronger movement capability and obstacle surmounting capability compared with other mobile robots, and can complete dangerous tasks of complex road conditions; the swing arm mechanisms and the transmission mechanisms are symmetrically distributed at four corners of the frame, and the mobile robot has strong self-adaptive balancing capability by controlling the movement of the swing arms, so that the stability of the mobile robot in the movement process is ensured; the transmission mechanism adopts the form of an inner shaft and an outer shaft, the crawler wheels and the wheels are driven by the inner shaft, and the crawler is in a triangular configuration, so that the crawler movement mode and the wheel movement mode can be flexibly switched, and the mobile robot has stronger flexibility. The wheel-track-leg combined mobile robot disclosed by the invention is reliable in operation, can traverse complex and changeable road conditions, replaces people to finish rescue and information exploration of dangerous areas, and has very important significance.
Description
Technical Field
The invention relates to a device in the field of mobile robots, in particular to a wheel-track-leg combined mobile robot with a multi-mode motion characteristic.
Background
In order to solve the problems of unstable underground and shielding space structures, unknown information and the like caused by serious natural disasters such as earthquakes, rescue workers can possibly encounter danger during trade, and some mobile robots are needed to replace people to complete various tasks such as searching and rescuing, information collection and the like. The underground and shielding space has the characteristics of narrow, small, dangerous, messy and the like, and the mobile robot is required to have stronger environmental adaptability and maneuverability and can cope with various complex road conditions. The main structural forms of mobile robots are divided into four types: the wheel type, crawler type, leg type and compound type mobile robots are difficult to meet task demands on complex and changeable road conditions, the compound type mobile robots are formed by combining the three basic structures, and compared with the single type mobile robots, the compound type mobile robots have more excellent performance and obstacle surmounting capability, and are main selection objects of rescue tasks.
Looking for related documents, there are many different forms of composite mobile robots, such as a wheeled legged mobile robot Hylos developed by the sixth university of france, which combines a legged mechanism and a wheeled mechanism, and in general, the robot can use a wheel to perform movement, and when encountering a higher obstacle, the robot uses the legged mechanism to realize obstacle surmounting; the Iran university of science and technology developed a track-leg type mobile robot, which consists of two main tracks and four track arms, can achieve the obstacle crossing purpose through the assistance of the four track arms, but the robots cannot integrate the advantages of three basic movement modes, and have the defects in obstacle crossing performance, movement capability and flexibility.
Chinese patent No.: 201510819928.7A wheel-track-leg combined mobile robot comprises a vehicle body, track legs, supporting legs and a wheel type lifting mechanism, wherein track arms are connected with a vehicle frame through an inner shaft and an outer shaft, and four sets of track arms are symmetrically distributed at four corners of the vehicle frame; the support legs are connected with the frame through support leg transmission shafts, and the two support legs are symmetrically distributed on the front and rear sides of the frame; the wheel type lifting mechanism is connected with the frame through a connecting plate and is arranged in the middle of the frame. The crawler arm, the supporting leg and the wheel type lifting mechanism are driven by the motor to move, so that the robot has different postures.
Above-mentioned patent, wheeled motion switches through controlling wheeled elevating system, and wheeled elevating system structure is complicated, and weight is big, and adopts independent motor drive, leads to whole weight big, motor quantity too much, has not only increased the cost of robot, has increased the energy consumption moreover. The left crawler arm and the right crawler arm are driven by one motor, the swing arm has little degree of freedom and insufficient flexibility, various movement modes are mutually independent, tasks are executed under complex and changeable road conditions, the coordination work of the modes is difficult, and the self-adaptive balance of the vehicle body cannot be flexibly realized in the movement process.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a wheel-track-leg combined type mobile robot which has the characteristics of three basic movement modes, can coordinate the movement among the modes, realizes seven movement modes of wheel type, crawler type, leg type, wheel-leg type, track-leg type and wheel-track-leg type, has stronger movement capability, obstacle surmounting capability and self-adaptive balancing capability, and is suitable for various complex and changeable task environments.
In order to achieve the above purpose, the invention provides a wheel-track-leg combined type mobile robot which comprises a vehicle body, a power device, a swing arm mechanism, a transmission mechanism, a battery and wheels.
The power device comprises four servo driving motors, two outer swing arm motors and two inner swing arm motors;
the frame is the carrier of drive mechanism, swing arm mechanism, the frame includes battery support, interior swing arm motor support, outer axle bearing support, driving motor support, wherein: the battery support is fixed at the middle position of the frame through an aluminum profile, four servo driving motors are connected with the frame through driving motor supports, the servo driving motors are used for driving the inner shafts to perform rotary motion, the driving tracks and the wheels to perform motion, the four swing arm motors are connected with the frame through swing arm motor supports, and the swing arm motors are used for performing rotary motion with a driving swing arm mechanism;
the four sets of transmission mechanisms are arranged, the axes of the inner shaft and the outer shaft are overlapped, wheels and crawler wheels are fixed on the inner shaft, swing arm flanges are fixed on the outer shaft, the crawler wheels are fixed on the inner sides of the wheels, and the motor provides power for the inner shaft and the outer shaft in a gear transmission mode, so that leg type, crawler type and wheel type movements and other modes of movements are realized, and the transmission mechanisms are arranged on a frame through outer shaft bearing supports and are symmetrically distributed at four corners of the frame;
the four swing arm mechanisms are triangular, are arranged on the inner sides of the wheels and are connected with the transmission mechanism through swing arm plate couplings and symmetrically distributed at four corners of the frame;
the four wheels are connected with the inner shaft of the transmission mechanism and positioned at the outer side of the swing arm, and the rotation of the wheels can be controlled through the driving motor to realize wheeled movement.
Preferably, the frame adopts I-shaped aluminum plate, four driving motors are symmetrically fixed at four corners of the frame and connected with the transmission mechanism, four swing arm motors are distributed on two sides of the transmission mechanism in a staggered manner, the battery support is connected with the transmission mechanism through gear engagement, the battery support is distributed in the middle of the frame, and the battery support is connected with the frame through aluminum profiles.
Preferably, each set of swing arm mechanism includes track, two follow driving wheel, two bearing wheels, drive wheel, overspeed device tensioner connecting plate, track driven wheel board, two fastening pieces, swing arm board, driven wheel axle, bearing wheel axle, wherein: the two driven wheels are arranged on a crawler driven wheel plate through a driven wheel shaft; the two bearing wheels are arranged on the swing arm plate through bearing wheel shafts; the crawler connecting plate is connected with the swing arm plate, and the swing arm is swung by driving the crawler connecting plate to rotate; the swing arm plate is connected with the track driven wheel plate through the connecting plate of the tensioning device, and the tensioning degree is adjusted through screws on the two fastening blocks to achieve the effect of tensioning the track.
Preferably, each set of transmission mechanism comprises an inner shaft, an outer shaft, an inner shaft gear, an outer shaft gear, a crawler connection plate coupler and an outer shaft bearing support, wherein the inner shaft is connected with the outer shaft through a bearing, the outer shaft is connected with the outer shaft bearing support through a bearing, the crawler connection plate coupler is arranged on the outer shaft, and the transmission mechanism is fixed at four corners of the frame through the outer shaft bearing.
More preferably, the driving motor on the frame is connected with the crawler driving wheel and the wheel through the inner shaft, the driving motor rotates to drive the inner shaft to rotate, the inner shaft drives the wheel and the crawler driving wheel to move, and the crawler driving wheel transmits power to the driven wheel and the bearing wheel through the crawler, so that the crawler moves, and crawler movement and wheel movement of the mobile robot are realized.
More preferably, swing arm driving motors on two sides of the transmission mechanism on the frame are connected with an outer shaft of the transmission mechanism, the swing arm driving motors rotate to drive the outer shaft to rotate, and a crawler connection plate coupler on the outer shaft drives the crawler connection plate to move, so that the whole swing arm mechanism moves, and the swing arm of the robot moves.
More preferably, the motions of all parts on the frame are driven by independent motors, and various modes of motion can be realized by controlling different motors, for example, the left side of the frame adopts wheel type motion, the right side adopts leg type motion, the wheel leg type motion mode of the robot is realized, different obstacles are crossed by using different motion modes, so that the mobile robot has stronger environmental adaptability, and the self-balancing effect of the robot is realized by controlling different motors.
Compared with the prior art, the invention has the following beneficial effects:
the wheel-track-leg combined type mobile robot combines three basic modes, overcomes the defects of poor obstacle crossing performance of the wheel-type mobile robot, low running speed of the crawler-type mobile robot, complex structure of the leg-type mobile robot and high control difficulty, and enables the mobile robot to have seven motion modes of wheels, crawler-type, leg-type, wheel-track, leg-type, wheel-leg and wheel-track-leg, thereby ensuring the superior motion capability of the mobile robot and stronger obstacle crossing performance of the mobile robot, and greatly improving the environment adaptability and flexibility of the mobile robot.
Drawings
FIG. 1 is an isometric view of the overall structure of the present invention;
FIG. 2 is a top view of the overall structure of the present invention;
FIG. 3 is a diagram of a swing arm mechanism;
FIG. 4 is a block diagram of a transmission mechanism;
FIG. 5 is a cross-sectional view of the transmission;
wherein: track driven wheel 1, tensioner connecting plate 2, track load-bearing wheel 3, track 4, track connecting plate 5, track drive wheel 6, track connecting plate coupler 7, inner shaft gear engagement 8, outer shaft gear engagement 9, inner swing arm motor mount 10, inner swing arm motor reducer 11, inner swing arm motor 12, drive motor 13, battery 14, battery support 15, frame 16, outer shaft bearing mount 17, drive motor mount 18, drive motor reducer 19, outer swing arm motor 20, outer swing arm motor reducer 21, outer swing arm motor mount 22, track driven axle 23, track driven wheel plate 24, outer fastening block 25, inner fastening block 26, load-bearing axle 27, swing arm plate 28, wheels 29, inner swing arm motor mount 30, outer shaft 31, inner shaft 32
Detailed description of the preferred embodiments
The invention is further described with reference to fig. 1 to 5:
as shown in fig. 1, a wheel-track-leg combined mobile robot comprises a frame, a power device, a swing arm mechanism, a transmission mechanism, a battery and wheels, wherein the frame 16 is a carrier of the swing arm mechanism and the transmission mechanism; four sets of swing arm mechanisms are symmetrically distributed at four corners of the frame 16; four sets of transmission mechanisms are symmetrically distributed at four corners of the frame 16;
the power device comprises four driving motors 13, two outer swing arm motors 20 and two inner swing arm motors 12;
the frame 16 is an i-shaped aluminum plate, and comprises a driving motor support 18, two outer swing arm motors 20, an outer swing arm motor support 22 and a battery bracket 15, as shown in fig. 2, two inner swing arm motors 12 are distributed on the inner side of the transmission mechanism and are connected with the frame 16 through the inner swing arm motor support 10; two outer swing arm motors 20 are distributed outside the transmission mechanism and are connected with the frame 16 through outer swing arm motor supports 22; four driving motors 13 are symmetrically distributed at four corners of the frame 16 and are connected with the frame 16 through driving motor supports 18; the battery support is distributed in the middle of the frame 16 and is connected with the frame 16 through an aluminum profile;
as shown in fig. 3, the swing arm mechanism comprises two track driven wheels 1, a tensioning device connecting plate 2, two track bearing wheels 3, a track 4, a track connecting plate 5, a track driving wheel 6, a track driven wheel shaft 23, a track driven wheel plate 24, an outer fastening block 25, an inner fastening block 26, a bearing wheel shaft 27 and a swing arm plate 28, wherein the two track driven wheels 1 are fixed on the track driven wheel plate 24 through bearings and the track driven wheel shaft 23; the two bearing wheels 3 are fixed on a swing arm plate 28 through bearings and a bearing wheel shaft 27; the left side of the connecting plate 2 of the tensioning device is connected with the track driven wheel plate 24 through a screw nut, the right side of the connecting plate is connected with the swing arm plate 28 through a screw nut, and the screw can slide in a groove of the track driven wheel plate 24; the outer fastening block 25 is fixed on the track driven wheel plate 24 by screws; the inner fastening block 26 is fixed on the swing arm plate 28 through a screw, and the action of tensioning the crawler belt 4 can be achieved by adjusting the tightness of the screw on the inner fastening block 26; the crawler belt 4 wraps the two crawler belt driven wheels 1 and the two crawler belt bearing wheels 3, and the crawler belt is triangular under the action of the crawler belt driven wheels 1 and the crawler belt bearing wheels 3; the driving motor 13 rotates and drives the inner shaft 32 to drive the crawler driving wheel 6 to move, and the crawler driving wheel 6 transmits power to the crawler bearing wheel 3 and the crawler driven wheel 1 through the crawler, so that the crawler movement of the mobile robot is realized.
In the swing arm mechanism, a leg is formed by a track driven wheel plate 24, a tensioning device connecting plate 2, a swing arm plate 28 and a track connecting plate 5, and the track connecting plate 5 is connected with a track connecting plate coupler 7 on a transmission mechanism; the inner swing arm motor 12 and the outer swing arm motor 20 transmit power to the outer shaft 31 through a swing arm motor reducer, and the crawler connection plate coupler 7 on the outer shaft 31 drives the crawler device to perform rotary motion, so that leg type motion of the robot is realized.
As shown in fig. 4 and 5, the transmission mechanism consists of an inner shaft 32, an outer shaft 31, a track connecting plate coupler 7, an inner shaft gear engagement 8 and an outer shaft gear engagement 9, wherein the inner shaft 32 is connected with the outer shaft 31 through a bearing; the outer shaft 31 is connected with an outer shaft bearing support through a bearing; the crawler belt connecting plate coupler 7 is fixed on the outer shaft 31 through a key and a set screw; the inner shaft gear mesh 8 is mounted at the shaft end of the inner shaft 32; the outer shaft gear mesh 9 is mounted in the middle of the outer shaft 31; the crawler driving wheel 6 and the wheel 29 are arranged on the inner shaft 32 through key grooves and shaft sleeves, the four driving motors 13 rotate to transmit power to the inner shaft 32 through the driving motor speed reducer 19, and the inner shaft 32 rotates to drive the crawler driving wheel 6 and the wheel 29 to move, so that the crawler type movement of the robot is realized.
In the embodiment, the wheel type, crawler type and leg type basic movements of the mobile robot can be realized by controlling the inner swing arm motor 12, the outer swing arm motor 20 and the driving motor 13, in addition, all the parts of mechanisms are independently controlled by motors, the wheel track type, the wheel leg type and other compound modes of movement can be realized by different motor control methods, and under complex and changeable road conditions, the mobile robot can pass through different road conditions by adjusting different movement modes. The specific implementation mode is as follows:
when the road condition is relatively flat, the swing arm device is lifted to a proper position by driving the inner swing arm motor 12 and the outer swing arm motor 20, at the moment, the wheels 29 are grounded, the driving motor 13 is controlled to rotate, the driving motor 13 drives the driving motor reducer 19 to rotate, and then power is transmitted to the inner shaft 32 through gear engagement, so that the wheels 29 on the inner shaft 32 move, and the wheeled movement of the robot is realized.
When the road condition is uneven, the swing arm device is lowered to the track landing by driving the inner swing arm motor 12 and the outer swing arm motor 20, at the moment, the driving motor 13 is controlled to rotate, the driving motor 13 drives the driving motor reducer 19 to move, and then power is transmitted to the inner shaft 32 through gear meshing, so that the track driving wheel 6 on the inner shaft 32 moves, and the track movement of the robot is realized.
When the obstacle crossing is needed, the swing arm device is lifted by controlling the inner swing arm motor 12 and the outer swing arm motor 20, the swing arm device is contacted with the obstacle, the driving motor 13 is controlled to rotate, the driving motor 13 drives the driving motor reducer 19 to move, and then power is transmitted to the inner shaft 32 through gear meshing, so that the crawler driving wheel 6 on the inner shaft 32 moves, the leg type and crawler type combination is matched to cross the obstacle, and the robot compound movement is realized.
The invention has compact and simple structure, strong movement capability and obstacle surmounting capability, strong self-adaptive balancing capability, and can switch different movement modes according to different road conditions to realize the advantage of multi-mode movement.
The above description is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (1)
1. The wheel-track-leg combined mobile robot is characterized by comprising a frame, a power device, a transmission mechanism, a swing arm mechanism, a battery and wheels; the frame is an I-shaped aluminum plate and is a carrier of a transmission mechanism and a swing arm mechanism, wherein:
the power device comprises four servo driving motors, two outer swing arm motors and two inner swing arm motors;
the frame comprises a battery support, an inner swing arm motor support, an outer shaft bearing support and a driving motor support, wherein the battery support is fixed at the middle position of the frame through an aluminum profile, four servo driving motors are connected with the frame through the driving motor support and are arranged at four corners of the frame, the servo driving motors are used for driving an inner shaft to perform rotary motion, the four swing arm motors are respectively staggered and connected with the frame through the swing arm motor support, and are arranged at two sides of a transmission mechanism; the swing arm motor is meshed through an outer shaft gear through a speed reducer, power is transmitted to an outer shaft, the outer shaft drives the swing arm to rotate, the rotation range of the swing arm is +/-90 degrees, in order to reduce the dead weight of the robot, the outer shaft gear is an incomplete gear, the driving motor is meshed through an inner shaft gear through the speed reducer, power is transmitted to an inner shaft, the inner shaft drives wheels to rotate with the crawler belt, the swing arm mechanism rotates to +90 degrees, the wheels are grounded, the inner shaft drives the wheels to rotate, the swing arm mechanism rotates to 0 degrees, the crawler belt is grounded, and the inner shaft drives the crawler belt to perform crawler belt type movement;
the four sets of transmission mechanisms are characterized in that the axes of the inner shaft and the outer shaft are overlapped, wheels and crawler wheels are fixed on the inner shaft, a swing arm connecting piece coupler is fixed on the outer shaft, the crawler wheels are fixed on the inner sides of the wheels, and a motor provides power for the inner shaft and the outer shaft in a gear transmission mode, so that leg type, crawler type and wheel type movements and other modes of movements are realized, and the transmission mechanisms are arranged on a frame through outer shaft bearing supports and are symmetrically distributed at four corners of the frame; the transmission mechanism adopts a form of an inner shaft and an outer shaft, the outer shaft is a hollow shaft, an outer shaft gear and a swing arm flange are fixed on the outer shaft through a key and a set screw, the inner shaft is fixed in the outer shaft through a bearing, wheels and a crawler belt are fixed on the inner shaft through a key and a shaft sleeve, the outer shaft is fixed on a frame through a bearing and an outer shaft bearing support, and a spur gear meshing mode is adopted;
the four swing arm mechanisms are triangular, are arranged on the inner sides of the wheels and are connected with the frame through transmission mechanisms and are symmetrically distributed at four corners of the frame;
the four wheels are connected with the inner shaft of the transmission mechanism and positioned at the outer side of the swing arm, and the rotation of the wheels can be controlled by the driving motor to realize wheeled movement;
all the movements of the parts on the frame are driven by independent motors, and the movements of various modes can be realized by controlling different motors: the left side of the frame adopts wheel type movement, the right side adopts leg type movement, the wheel leg type movement mode of the robot is realized, different obstacles are crossed by utilizing different movement modes, the mobile robot has stronger environmental adaptability, and the self-balancing effect of the robot is realized through the control of different motors;
the crawler belt (4) wraps the two crawler belt driven wheels (1) and the two bearing wheels (3), and the crawler belt is triangular under the action of the crawler belt driven wheels (1) and the bearing wheels (3); the driving motor (13) rotates and drives the inner shaft (32) to drive the crawler driving wheel (6) to move, and the crawler driving wheel (6) transmits power to the bearing wheel (3) and the crawler driven wheel (1) through the crawler, so that the crawler movement of the mobile robot is realized;
in the swing arm mechanism, a leg is formed by a track driven wheel plate (24), a tensioning device connecting plate (2), a swing arm plate (28) and a track connecting plate (5), and the track connecting plate (5) is connected with a track connecting plate coupler (7) on the transmission mechanism; the inner swing arm motor (12) and the outer swing arm motor (20) transmit power to the outer shaft (31) through a swing arm motor reducer, and a crawler connecting plate coupler (7) on the outer shaft drives the crawler device to perform rotary motion, so that leg type motion of the robot is realized;
the transmission mechanism consists of an inner shaft (32), an outer shaft (31), a crawler belt connecting plate coupler (7), an inner shaft gear engagement (8) and an outer shaft gear engagement (9), wherein the inner shaft (32) is connected with the outer shaft (31) through a bearing; the outer shaft (31) is connected with the outer shaft bearing support through a bearing; the crawler belt connecting plate coupler (7) is fixed on the outer shaft (31) through a key and a set screw; the inner shaft gear engagement (8) is arranged on the shaft end of the inner shaft (32); the outer shaft gear engagement (9) is arranged in the middle of the outer shaft (31); the crawler driving wheel (6) and the wheel (29) are arranged on the inner shaft (32) through key grooves and shaft sleeves, the four driving motors (13) rotate and transmit power to the inner shaft (32) through the driving motor speed reducer (19), and the inner shaft (32) rotates to drive the crawler driving wheel (6) and the wheel (29) to move, so that the compound movement of the robot and the crawler is realized;
when the road condition is relatively flat, the swing arm device is lifted by driving the inner swing arm motor (12) and the outer swing arm motor (20), at the moment, the wheels (29) are grounded, the driving motor (13) is controlled to rotate, the driving motor (13) drives the driving motor reducer (19) to rotate, and then power is transmitted to the inner shaft (32) through gear meshing, so that the wheels (29) on the inner shaft (32) move, and the wheeled movement of the robot is realized;
when the road conditions are uneven, the swing arm device is lowered to the track landing by driving the inner swing arm motor (12) and the outer swing arm motor (20), at the moment, the driving motor (13) is controlled to rotate, the driving motor (13) drives the driving motor reducer (19) to move, and then power is transmitted to the inner shaft (32) through gear meshing, so that the track driving wheel (6) on the inner shaft (32) moves, and the track movement of the robot is realized;
when obstacle crossing is needed, the swing arm device is lifted by controlling the inner swing arm motor (12) and the outer swing arm motor (20), the swing arm device is contacted with an obstacle, the driving motor (13) is controlled to rotate, the driving motor (13) drives the driving motor reducer (19) to move, and then power is transmitted to the inner shaft (32) through gear meshing, so that the crawler driving wheel (6) on the inner shaft (32) moves, and the robot compound movement is realized by combining and crossing the obstacle with the crawler;
the wheel-track-leg composite mobile robot combines three basic modes together, so that the mobile robot has seven movement modes of wheels, crawler belts, legs, wheel tracks, leg tracks, wheel legs and wheel tracks;
the frame adopts an I-shaped aluminum plate, the transmission mechanism and the swing arm mechanism are respectively fixed at four corners of the frame, the battery bracket is arranged in the middle of the vehicle body through an aluminum profile, and the battery is fixed on the battery bracket;
each set of swing arm mechanism comprises two driven wheels, two bearing wheels, a track wheel, a swing arm flange, a tensioning device, two guide wheel shafts and two bearing wheel shafts, wherein the tensioning device comprises a swing arm plate, a track driven wheel plate, a swing arm connecting plate and a fastening block, the track wraps the driven wheels, the bearing wheels and the track wheels, the driven wheels are fixed on the driven wheel plate through bearings and shafts, the bearing wheels are fixed on the swing arm plate through shafts and bearings, the swing arm connecting plate is fixed on the swing arm plate, a sliding groove on the swing arm driven wheel plate is fixed with a sliding groove on the swing arm connecting plate through screws, the inner fastening block is fixed on the swing arm plate, the outer fastening block is fixed on the track driven wheel plate, and the tightness degree of the track is realized by adjusting the screws on the inner fastening block;
the swing arm motors are respectively fixed at two sides of the transmission mechanism in a staggered arrangement mode, an outer shaft gear on the transmission mechanism faces the direction of the swing arm motors, and the interference problem caused by overlong motors is solved.
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| CN202111406272.8A CN114013524B (en) | 2021-11-24 | 2021-11-24 | Wheel-track-leg combined type mobile robot |
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| CN202111406272.8A CN114013524B (en) | 2021-11-24 | 2021-11-24 | Wheel-track-leg combined type mobile robot |
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| CN114013524B true CN114013524B (en) | 2023-07-28 |
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| CN114872807A (en) * | 2022-04-30 | 2022-08-09 | 合肥工业大学 | Wheel-crawler-leg combined type mobile robot |
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| SE504474C2 (en) * | 1995-06-16 | 1997-02-17 | Haegglunds Vehicle Ab | Suspension belt tensioning device for belt-driven vehicles and belt rack assembly including such belt tensioning device |
| CN1644328A (en) * | 2005-01-31 | 2005-07-27 | 北京理工大学 | Small crawler leg composite movable robot mechanism |
| CN202243746U (en) * | 2011-09-26 | 2012-05-30 | 吉林大学 | Self-adaptive crawler-arm compound driven biomimetic robot suitable for various road conditions |
| CN103010325A (en) * | 2012-12-17 | 2013-04-03 | 北京邮电大学 | Convertible walking mechanism of robot |
| CN212401396U (en) * | 2020-01-20 | 2021-01-26 | 深圳市深联科技有限公司 | Rubber crawler-type suspension damping tank chassis |
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| CN114013524A (en) | 2022-02-08 |
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