CN207274798U - It is a kind of can rapid translating form wheel-track combined robot - Google Patents
It is a kind of can rapid translating form wheel-track combined robot Download PDFInfo
- Publication number
- CN207274798U CN207274798U CN201720944267.5U CN201720944267U CN207274798U CN 207274798 U CN207274798 U CN 207274798U CN 201720944267 U CN201720944267 U CN 201720944267U CN 207274798 U CN207274798 U CN 207274798U
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- China
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- wheel
- crawler belt
- crawler
- driven wheel
- rapid translating
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Abstract
The utility model discloses it is a kind of can rapid translating form wheel-track combined robot, including vehicle frame, controller, the both sides of the vehicle frame are each provided with a wheel and carry out compound drive system, the wheel, which carries out compound drive system, includes two wheels each via transmission axis connection dynamical system, crawler belt driving wheel is connected with by clutch on the transmission shaft of one of wheel, crawler belt driven wheel is connected with by rolling bearing on the transmission shaft of another Mecanum wheel, at the same time, between two wheels and front and back are both provided with crawler tensioning driven wheel, the crawler tensioning driven wheel and the linear drive apparatus being fixed on vehicle frame are drivingly connected；The crawler tensioning driven wheel, crawler belt driving wheel, be wound with W-shaped crawler belt on crawler belt driven wheel, and the controller is connected with dynamical system, linear drive apparatus circuit.The utility model can realize that wheel carries out modality conversion, while the obstacle of also adjustable crawler belt Morphological plasticity different gradient, available for fields such as field rescue, field explorations.
Description
Technical field
It the utility model is related to requirement and have obstacle detouring and the robot of highway ability concurrently, mainly in conjunction with wheeled and shoe formula feature
Combined type chassis structure and the Caterpillar structure that adjusts immediately of crawler belt.
Background technology
Mecanum wheel has action flexibly, and energy omnibearing movable, realizes forward, traversing, diagonal, rotation and combinations thereof etc.
The advantages that motion mode, but its obstacle performance is poor, is not suitable for the movement in the landform of field, and crawler belt is superior with obstacle performance
Advantage, underaction on Dan Qi highways, if the two combined use can will can be greatly improved robot to different sections of highway
Adaptability.
Existing wheel-track combined structure is there are complicated, and the disadvantage such as transfer process change complexity, this practicality is newly
Type uses w formula crawler tensioning structures, and crawler belt shares a set of dynamical system with wheel, with clutch control caterpillar drive, without becoming
Shape can just realize conversion that is wheeled and carrying out formula at the same time.
Obstacle the utility model to adapt to different also provides a kind of caterpillar belt structure that can adjust crawler belt form immediately, is
The relative height differentials of three driven wheels is adjusted by linear motor to realize.
Utility model content
The advantages of the purpose of this utility model is to combine wheeled construction and carrying out formula structure, and putting forward one kind can quickly turn
Change the wheel-track combined robot of form.
The purpose of this utility model is realized by following technical proposals：
It is a kind of can rapid translating form wheel-track combined robot, including vehicle frame, controller, the both sides of the vehicle frame are each
It is provided with a wheel and carries out compound drive system, the wheel is carried out compound drive system and moved including two each via transmission axis connection
The wheel of Force system, is connected with crawler belt driving wheel, the transmission of another wheel on the transmission shaft of one of wheel by clutch
Crawler belt driven wheel is connected with by rolling bearing on axis, meanwhile, between two wheels and front and back be both provided with crawler tensioning from
Driving wheel, the crawler tensioning driven wheel and the linear drive apparatus being fixed on vehicle frame are drivingly connected；The crawler tensioning
Driven wheel, crawler belt driving wheel, be wound with W-shaped crawler belt on crawler belt driven wheel, and the controller is filled with dynamical system, linear drives
Circuits connect.
Further, the wheel is Mecanum wheel.
Further, the dynamical system is either-rotation motor.
Further, the crawler belt is rubber belt track.
Further, the linear drive apparatus is linear motor.
Further, the clutch is electromagnetic clutch.
Compared with prior art, the rubber belt track of the utility model shares a set of dynamical system with wheel, passes through clutch control
The movement and stopping of crawler belt processed, modality conversion adaptation different terrain is carried out to realize to take turns；A kind of also subsidiary crawler belt shape of the utility model
State method of adjustment, allows crawler belt keeping changing in the case that tensile force is constant and ground by the linkage of unilateral three linear motors
Angle of inclination is to adapt to the obstacle of different gradient；The utility model is applied to field rescue, field exploration etc. and requires chassis to adapt to
The robot field of different terrain.
Brief description of the drawings
Fig. 1 is the device connection diagram of the utility model embodiment.
Fig. 2 is the schematic side view (being free of linear motor) of the utility model embodiment.
Fig. 3 is the schematic perspective view (being free of linear motor) of the utility model embodiment.
Fig. 4 is the driving wheel and power set of the utility model embodiment, clutch, wheel mechanism connection diagram.
Fig. 5 is the structural scheme of mechanism of the crawler belt principal and subordinate wheel of the utility model embodiment.
Fig. 6 is the linear motor and crawler tensioning driven wheel connection diagram of the utility model embodiment.
Fig. 7 is the unilateral rubber belt track schematic diagram of the utility model embodiment.
It is shown in figure：1- wheels；2- crawler belt driving wheels；3- clutches；4- dynamical systems；5- crawler tensioning driven wheels；
6- crawler belts；7- rolling bearings；8- linear drive apparatus；9- crawler belt driven wheels；10- transmission shafts.
Embodiment
The utility model is further described with reference to the accompanying drawings and examples, but the requires of the utility model protection
Scope is not limited to the scope of embodiment expression.
As shown in Figures 1 to 7, it is a kind of can rapid translating form wheel-track combined robot, including vehicle frame, controller,
The both sides of the vehicle frame are each provided with a wheel and carry out compound drive system, and the wheel, which carries out compound drive system, includes two each
By the wheel 1 of the connection dynamical system 4 of transmission shaft 10, crawler belt is connected with by clutch 3 on the transmission shaft of one of wheel 1
Driving wheel 2, is connected with crawler belt driven wheel 9 on the transmission shaft of another wheel 1 by rolling bearing 7, meanwhile, between two wheels 1
And front and back are both provided with crawler tensioning driven wheel 5, the crawler tensioning driven wheel 5 and the linear drives being fixed on vehicle frame
Device 8 is drivingly connected；The crawler tensioning driven wheel 5, crawler belt driving wheel 2, be wound with W-shaped crawler belt 6 on crawler belt driven wheel 9,
The controller is connected with dynamical system 4,8 circuit of linear drive apparatus.
Specifically, the present embodiment China, the wheel 1 is Mecanum wheel；The dynamical system is two-way electricity
Machine；The crawler belt 6 is rubber belt track；The linear drive apparatus 8 is linear motor；The clutch 3 is electromagnetic clutch.
As shown in Figure 1 to Figure 3,6 structure of W-shaped crawler belt can have both the advantages of wheeled and Lv Shi robots, wheat at the same time
Ke Namu wheels are lower than the most lower edge of crawler belt 6, and in-wheel driving can be directly used on level road, and the crawler belt 6 of W types then allows car to run into
Chassis will not be snapped into when the slight out-of-flatness in road surface or barrier traversable by wheel, can not by Mecanum wheel running into
During the barrier crossed, as shown in figure 4, control clutch 3 makes crawler belt 6 be synchronized with the movement with wheel 1, it is superior more by crawler belt 6
Hinder performance with leaping over obstacles, control clutch 3 that crawler belt 6 can be made to be separated with power set again after obstacle detouring, in the form of this realizes wheel shoe
Rapid translating.
As shown in figures 1 to 6：Unilateral 3 crawler tensioning driven wheels 5 link with the linear motor 8 being fixed on vehicle frame, from
And the gradient for changing 6 each several part of crawler belt in the case where keeping crawler belt 6 to be tensioned adapts to different barriers.Run into it is wheeled across
Control clutch 3 moves crawler belt 6 during roadblock more not, while the stretching, extension of linear motor 8 close to driving wheel side makes to connect therewith
The crawler tensioning driven wheel 5 connect is moved down so as to increase pressure and frictional force of the crawler belt 6 to ground, and linear motor 8 is with leaning at center
The linear motor 8 of nearly driven wheel side, which is then shunk, moves up crawler tensioning driven wheel 5 so that the holding tensioning of crawler belt 6, is realized with this
Front-wheel carries out formula obstacle detouring.Exemplified by one higher-height step of the above, 6 gradient of crawler belt is caused to increase when front-wheel is up the steps, and trailing wheel
When partial 6 structure of crawler belt can not provide body after enough frictional force lifting cars, the linear motor 8 of front-wheel and rear wheel-side is shunk,
The linear motor at middle part stretches out, and the frictional force that adjustment w types crawler belt 6 increases in the middle part of crawler belt realizes trailing wheel obstacle detouring.
Mecanum wheel contacts ground again after smooth obstacle detouring, and crawler belt 6 is hanging, realizes that shoe formula turns to wheeled automatically
Change, can select to loosen the clutch 3 at this time to stop track drive, can also select to continue to keep crawler belt 6 to run, maintain obstacle detouring
Ready state.
Four-wheel drive structure is used to improve wheeled performance, to avoid front and rear dynamical system from impacting caterpillar drive,
Crawler belt driven wheel 9 as shown in Figure 5 connects transmission shaft by rolling bearing 7, so that crawler belt driven wheel 9 and dynamical system be separated
Open.
Specific embodiment of the present utility model is described above in association with attached drawing, but these explanations cannot be understood to
The scope of the utility model is limited, the scope of protection of the utility model is limited by appended claims, any in this reality
All it is the scope of protection of the utility model with the change on the basis of new claim.
Claims (6)
1. it is a kind of can rapid translating form wheel-track combined robot, including vehicle frame, controller, it is characterised in that：The car
The both sides of frame are each provided with a wheel and carry out compound drive system, and the wheel, which carries out compound drive system, includes two each via biography
Moving axis (10) connects the wheel (1) of dynamical system (4), is connected with the transmission shaft of one of wheel (1) by clutch (3)
Crawler belt driving wheel (2), is connected with crawler belt driven wheel (9) on the transmission shaft of another wheel (1) by rolling bearing (7), meanwhile, two
Between a wheel (1) and front and back are both provided with crawler tensioning driven wheel (5), and the crawler tensioning driven wheel (5) is with fixing
Linear drive apparatus (8) on vehicle frame is drivingly connected；The crawler tensioning driven wheel (5), crawler belt driving wheel (2), crawler belt
W-shaped crawler belt (6) is wound with driven wheel (9), the controller connects with dynamical system (4), linear drive apparatus (8) circuit
Connect.
2. it is according to claim 1 can rapid translating form wheel-track combined robot, it is characterised in that：The car
It is Mecanum wheel to take turns (1).
3. it is according to claim 1 can rapid translating form wheel-track combined robot, it is characterised in that：Described is dynamic
Force system is either-rotation motor.
4. it is according to claim 1 can rapid translating form wheel-track combined robot, it is characterised in that：The crawler belt
(6) it is rubber belt track.
5. it is according to claim 1 can rapid translating form wheel-track combined robot, it is characterised in that：The straight line
Driving device (8) is linear motor.
6. it is according to claim 1 can rapid translating form wheel-track combined robot, it is characterised in that：It is described from
Clutch (3) is electromagnetic clutch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720944267.5U CN207274798U (en) | 2017-07-31 | 2017-07-31 | It is a kind of can rapid translating form wheel-track combined robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720944267.5U CN207274798U (en) | 2017-07-31 | 2017-07-31 | It is a kind of can rapid translating form wheel-track combined robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207274798U true CN207274798U (en) | 2018-04-27 |
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ID=61986535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720944267.5U Expired - Fee Related CN207274798U (en) | 2017-07-31 | 2017-07-31 | It is a kind of can rapid translating form wheel-track combined robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207274798U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472385A (en) * | 2017-07-31 | 2017-12-15 | 华南理工大学 | It is a kind of can rapid translating form wheel-track combined robot |
| CN109334794A (en) * | 2018-11-14 | 2019-02-15 | 南京航空航天大学 | A kind of mobile robot and its working method of patch type piezoelectric driving |
-
2017
- 2017-07-31 CN CN201720944267.5U patent/CN207274798U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107472385A (en) * | 2017-07-31 | 2017-12-15 | 华南理工大学 | It is a kind of can rapid translating form wheel-track combined robot |
| CN109334794A (en) * | 2018-11-14 | 2019-02-15 | 南京航空航天大学 | A kind of mobile robot and its working method of patch type piezoelectric driving |
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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 |
Granted publication date: 20180427 Termination date: 20200731 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |