CN206218042U - A kind of deformable caterpillar system of caterpillar type robot - Google Patents
A kind of deformable caterpillar system of caterpillar type robot Download PDFInfo
- Publication number
- CN206218042U CN206218042U CN201621246686.3U CN201621246686U CN206218042U CN 206218042 U CN206218042 U CN 206218042U CN 201621246686 U CN201621246686 U CN 201621246686U CN 206218042 U CN206218042 U CN 206218042U
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- CN
- China
- Prior art keywords
- inducer
- caterpillar
- arch
- retainer
- shaped steel
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Abstract
The utility model provides a kind of deformable caterpillar system of caterpillar type robot.The utility model is related to caterpillar type robot field, and in particular to a kind of deformable caterpillar system of caterpillar type robot.The caterpillar system aims to solve the problem that caterpillar type robot obstacle climbing ability, mobility and the contradiction between grabbing ground ability.The caterpillar system is made up of transmission device and gravity adjusting device two parts.Its transmission device, mainly drives crawler belt, BOGEY WHEEL, inducer to realize transmission by driving wheel.Its gravity adjusting device, mainly by hydraulic cylinder extension come center-of-gravity regulating.
Description
Technical field
The utility model is related to caterpillar type robot field, and in particular to a kind of deformable crawler belt system of caterpillar type robot
System.
Background technology
Caterpillar type robot is a kind of to be creeped as the mobile robot of traveling mode using crawler belt.Crawler-type traveling possess compared with
Strong climbing capacity and ground ability is grabbed, goods and materials can be transported in extreme environment, had broad application prospects.However, two kinds
Traditional types of track is endured to the fullest extent and is denounced, and its shortcoming is respectively that obstacle climbing ability is not strong, and creep speed is too slow.Its overall performance is also subject to
Limitation.
The content of the invention
The utility model provides a kind of deformable caterpillar system by hydraulic regulation, makes it when by level moat
Prolate type is kept, inverted trapezoidal is become when by vertical obstacle.Under conditions of running gear has determined, the utility model pair
Its kinematic system is improved, and its obstacle performance and mobility have strengthened, and range of application is also more wide.
The technical solution adopted in the utility model is:
A kind of deformable caterpillar system of caterpillar type robot, is made up of transmission device and gravity adjusting device two parts.
The transmission device of the caterpillar system includes driving wheel, bogie frame, BOGEY WHEEL, inducer, support roller, crawler belt；It is described
Transmission device in driving wheel be arranged on bogie frame by a rotating shaft and a pair of bearings, two near inducer one end hold
Roller is connected to a two ends for arch-shaped steel plate, and the interstitial hole of arch-shaped steel plate is connected to the piston rod of hydraulic cylinder lower end by pin
On, two BOGEY WHEELs near driving wheel one end are connected to another two ends of arch-shaped steel plate, and the interstitial hole of the arch-shaped steel plate leads to
Cross pin to be connected on the piston rod of another hydraulic cylinder lower end, two middle support rollers are connected to cylindrical guide further through plate
On, inducer is arranged on inducer retainer by heart axle and hex bolts, and inducer retainer one end is pacified by groups of springs
On dovetail groove guide rail, the reinforcement of the two sides of inducer retainer is inserted into the rectangular channel on the inside of bogie frame.
The gravity adjusting device of the caterpillar system include support roller, hydraulic cylinder, arch-shaped steel plate, BOGEY WHEEL, dovetail groove guide rail,
Groups of springs, inducer retainer, inducer；Connected by one flat plate in the middle of two pieces of arch-shaped steel plates in described gravity adjusting device
Connect, flat board is held within the upright slide rail in the middle of two hydraulic cylinders.
Preferably：In groups of springs in the described caterpillar system, it is arranged on retainer one by four springs respectively and protects
Hold on the short cylindrical of the inner side of frame two.
The beneficial effects of the utility model are：
By realizing the regulation of single-crawler single deformation using a pair of hydraulic cylinders, this regulation is not only improved the utility model
The obstacle climbing ability of caterpillar type robot, and also improve caterpillar type robot ground ability is grabbed to soft terrain.The system
Simple to operate, strain is flexible, the mobility overall so as to improve caterpillar type robot.
Brief description of the drawings
Fig. 1 is single-crawler single part schematic front view；
Fig. 2 is single-crawler single part schematic top plan view；
Fig. 3 is arch-shaped steel plate part schematic diagram；
Fig. 4 is tensioned block diagram；
Fig. 5 is structure inducer retainer part schematic diagram；
1 inducer in figure, 2 bogie frames, 3 BOGEY WHEELs, 4 arch-shaped steel plates, 5 hydraulic cylinders, 6 support rollers, 7 gusset pieces, 8 crawler belts, 9 drive
Driving wheel, 10 dovetail groove guide rails, 11 groups of springs, 12 inducer retainers, 13 heart axles, 14 hex bolts, 111 spring retainers one,
112 spring retainers two, 113 single springs.
Specific embodiment：
When caterpillar type robot is in obstacle detouring, the piston rod of two hydraulic cylinders 5 stretches out, and bogie frame 2 is by jack-up, crawler belt
8 tensile force increase, groups of springs 11 is compressed, and inducer 1 approaches driving wheel 9, whole crawler belt with inducer retainer 12
The center of gravity of system is elevated, and whole caterpillar system is in inverted trapezoidal, and the obstacle climbing ability of caterpillar type robot strengthens.
When caterpillar type robot is advanced on soft ground, ground ability is grabbed in order to improve caterpillar type robot, can be by
Two hydraulic cylinders 5 on single-crawler single are reduced, and the center of gravity reduction of bogie frame 2, the tensile force of crawler belt 8 reduces, the quilt of groups of springs 11
Diastole, inducer 1 is with inducer retainer 12 away from driving wheel 9, the center of gravity reduction of whole caterpillar system, whole crawler belt system
System is in Long Circle, and the ground ability of grabbing of caterpillar type robot strengthens.
Claims (2)
1. a kind of deformable caterpillar system of caterpillar type robot, is made up of transmission device and gravity adjusting device two parts, its
It is characterised by：Described transmission device includes driving wheel, bogie frame, BOGEY WHEEL, inducer, support roller, crawler belt；Described transmission
Driving wheel is arranged on bogie frame by a rotating shaft and a pair of bearings in device, and two BOGEY WHEELs near inducer one end join
A two ends for arch-shaped steel plate are connected to, the interstitial hole of arch-shaped steel plate is connected on the piston rod of hydraulic cylinder lower end by pin, be close to
Two BOGEY WHEELs of driving wheel one end are connected to another two ends of arch-shaped steel plate, and the interstitial hole of the arch-shaped steel plate is coupled by pin
Onto the piston rod of another hydraulic cylinder lower end, two middle support rollers are connected on cylindrical guide further through plate, inducer
It is arranged on inducer retainer by heart axle and hex bolts, inducer retainer one end is arranged on dovetail groove by groups of springs
On guide rail, the reinforcement of the two sides of inducer retainer is inserted into the rectangular channel on the inside of bogie frame；Described center of gravity regulation
Device includes support roller, hydraulic cylinder, arch-shaped steel plate, BOGEY WHEEL, dovetail groove guide rail, groups of springs, inducer retainer, inducer；
Connected by one flat plate in the middle of two pieces of arch-shaped steel plates in described gravity adjusting device, flat board is held within two hydraulic cylinders
On middle upright slide rail.
2. the deformable caterpillar system of a kind of caterpillar type robot according to claim 1, it is characterised in that in groups of springs
It is arranged on the short cylindrical of retainer one and the inner side of retainer two by four springs respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621246686.3U CN206218042U (en) | 2016-11-22 | 2016-11-22 | A kind of deformable caterpillar system of caterpillar type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621246686.3U CN206218042U (en) | 2016-11-22 | 2016-11-22 | A kind of deformable caterpillar system of caterpillar type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206218042U true CN206218042U (en) | 2017-06-06 |
Family
ID=58790674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621246686.3U Expired - Fee Related CN206218042U (en) | 2016-11-22 | 2016-11-22 | A kind of deformable caterpillar system of caterpillar type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206218042U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108487350A (en) * | 2018-04-13 | 2018-09-04 | 新兴移山（天津）重工有限公司 | A kind of machinery bogie frame |
-
2016
- 2016-11-22 CN CN201621246686.3U patent/CN206218042U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108487350A (en) * | 2018-04-13 | 2018-09-04 | 新兴移山（天津）重工有限公司 | A kind of machinery bogie frame |
| CN108487350B (en) * | 2018-04-13 | 2023-11-21 | 新兴移山（天津）重工有限公司 | Mechanical bogie frame |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170606 Termination date: 20171122 |