CN109305238A - A passive adaptive crawler robot mobile platform - Google Patents
A passive adaptive crawler robot mobile platform Download PDFInfo
- Publication number
- CN109305238A CN109305238A CN201811463100.2A CN201811463100A CN109305238A CN 109305238 A CN109305238 A CN 109305238A CN 201811463100 A CN201811463100 A CN 201811463100A CN 109305238 A CN109305238 A CN 109305238A
- Authority
- CN
- China
- Prior art keywords
- crawler belt
- hydraulic damper
- module
- wheel support
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 69
- 230000005540 biological transmission Effects 0.000 claims abstract description 56
- 241000219098 Parthenocissus Species 0.000 claims abstract description 53
- 239000000725 suspension Substances 0.000 claims abstract description 33
- 230000002146 bilateral effect Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 230000000875 corresponding effect Effects 0.000 description 82
- 230000004888 barrier function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Manipulator (AREA)
Abstract
The present invention is a kind of passive adaptive caterpillar robot mobile platform, including the passive adaptive track module of robot body module, sprung suspension module and two；Each passive adaptive track module includes: crawler belt, transmission shaft, driving wheel, multipair Athey wheel, multiple hydraulic damper and crawler belt wheel support, two pieces of creeper treads；Multipair Athey wheel and driving wheel support crawler belt, and the shape positioned at two crawler belt wheel supports at both ends is identical, and it is identical to be located in the middle crawler belt wheel support shape；Crawler belt wheel support positioned at both ends is in " y " font, and being located in the middle crawler belt wheel support is " 1 " font, and the center of effort of each " 1 " font bracket and " y " font bracket passes through hydraulic damper connecting band track plate；The hydraulic damper is mounted between two creeper treads by corresponding axis；Driving wheel is installed by transmission shaft and corresponding bearing in upper end in the middle part of two creeper treads.The platform can adapt to complicated landform held stationary traveling.
Description
Technical field
The present invention relates to robot moving platform technical field, specially a kind of passive adaptive caterpillar robot is mobile
Platform.
Background technique
Existing passive adaptive caterpillar robot research has: publication No. are as follows: the Chinese patent of CN107651030A discloses
A kind of buffering built in driving shakes tracked mobile platform and the robot with it, adopts on buffer-type differential balance device
With buffer unit, impact and vibration when crawler belt breaks the barriers are alleviated well, ensure that the electrical system of robot
Stable operation.But its barrier during obstacle detouring is easy to block between its first track unit and the second track unit, can
Robot can be made to be trapped in operating environment.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of passive adaptive crawler belt
Robot moving platform.The mobile platform has passive adaptive ability, can adapt to complicated landform held stationary traveling, tool
There are stronger obstacle climbing ability and resistance to capsizing.
The present invention solve the technical problem the technical solution adopted is that: a kind of passive adaptive caterpillar robot is provided
Mobile platform, including the passive adaptive track module of robot body module, sprung suspension module and two；Two passive adaptive
It answers track module to be symmetrically mounted on the two sides of robot body module, and is passively adaptively carried out two by sprung suspension module
Band module and robot body module link together；It is characterized in that,
The robot body module includes: robot control cabinet, car body and two motors, transmission belt, motor installation
Frame, gear one, gear two；
Two motors pass through corresponding motor mounting rack respectively and are left and right symmetrically arranged in car body；The output shaft of each motor
It is mounted on gear one, gear one is connected with gear two by corresponding transmission belt；Robot control cabinet is mounted on by screw
On the corresponding position of car body；
Each passive adaptive track module includes: crawler belt, transmission shaft, driving wheel, multipair Athey wheel, multiple hydraulic subtracts
Shake device and crawler belt wheel support, two pieces of creeper treads；
Multipair Athey wheel and driving wheel support crawler belt, the shape positioned at two crawler belt wheel supports at both ends is identical, are located at
Between crawler belt wheel support shape it is identical；Crawler belt wheel support positioned at both ends is in " y " font, including main branch and branch, branch and master
Angle among branch is 30~60 °, and branch is in a horizontal state when driving for smooth-riding surface, and the both ends of main branch are separately connected a pair of of crawler belt
Wheel, the outside one end of branch by corresponding axis connection two creeper treads lower edge；Being located in the middle crawler belt wheel support is
" 1 " font, through corresponding axis connection on two creeper treads, the other end connects a pair of of Athey wheel for one end of " 1 " font bracket,
" 1 " font bracket and the angle on ground are less than the angle on " y " font bracket between main branch and branch when driving for smooth-riding surface；Often
The center of effort of a " 1 " font bracket and " y " font bracket passes through hydraulic damper connecting band track plate；The hydraulic damper
It is mounted between two creeper treads by corresponding axis；
Driving wheel is installed by transmission shaft and corresponding bearing in upper end in the middle part of two creeper treads；Driving wheel and creeper tread are not
Contact, two creeper treads are connect by corresponding axis and flange with the track frame of sprung suspension module, and the transmission shaft passes through corresponding
Bearing connect with the gear two in robot body module；
The sprung suspension module includes: sideway bar, connecting rod one, horizontal pendulum shaft, two track frames, multiple hydraulic shock-absorptions
Device；
Sideway bar is that symmetrical structure, the middle position of sideway bar are fixed by horizontal pendulum shaft and car body level up and down；
Multiple hydraulic damper bilateral symmetry right angle setting centered on horizontal pendulum shaft, the hydraulic damper lower end positioned at both ends lead to respectively
Corresponding axis connection is crossed on the both ends of sideway bar, upper end is connect with one end of connecting rod one by the way that ball pair is vertical, and connecting rod one connects simultaneously
Connect track frame；The both ends for being located in the middle hydraulic damper are respectively linked together car body and sideway bar by corresponding axis；Institute
Stating track frame has the cavity that can accommodate crawler belt, and track frame covers on the top of crawler belt；Track frame passes through flange and corresponding axis
It holds and is connected with transmission shaft, the lower part of track frame passes through corresponding axis connection creeper tread.
Passive adaptive caterpillar robot mobile platform, including robot body module, sprung suspension module and two
Passive adaptive track module；Two passive adaptive track modules are symmetrically mounted on the two sides of robot body module, and logical
It crosses buffering On Suspension Module two passive adaptive track modules and robot body module link together；It is characterized in that,
The robot body module includes: robot control cabinet, car body and two motors, transmission belt, motor installation
Frame, gear one, gear two；
Two motors pass through corresponding motor mounting rack respectively and are left and right symmetrically arranged in car body；The output shaft of each motor
It is mounted on gear one, gear one is connected with gear two by corresponding transmission belt；Robot control cabinet is mounted on by screw
On the corresponding position of car body；
Each passive adaptive track module includes: crawler belt, transmission shaft, driving wheel, multipair Athey wheel, multiple hydraulic subtracts
Shake device and crawler belt wheel support, two pieces of creeper treads；
Multipair Athey wheel and driving wheel support crawler belt, the shape positioned at two crawler belt wheel supports at both ends is identical, are located at
Between crawler belt wheel support shape it is identical；Crawler belt wheel support positioned at both ends is in " y " font, including main branch and branch, branch and master
Angle among branch is 30~60 °, and branch is in a horizontal state when driving for smooth-riding surface, and the both ends of main branch are separately connected a pair of of crawler belt
Wheel, the outside one end of branch by corresponding axis connection two creeper treads lower edge；Being located in the middle crawler belt wheel support is
" 1 " font, through corresponding axis connection on two creeper treads, the other end connects a pair of of Athey wheel for one end of " 1 " font bracket,
" 1 " font bracket and the angle on ground are less than the angle on " y " font bracket between main branch and branch when driving for smooth-riding surface；Often
The center of effort of a " 1 " font bracket and " y " font bracket passes through hydraulic damper connecting band track plate；The hydraulic damper
It is mounted between two creeper treads by corresponding axis；
Driving wheel is installed by transmission shaft and corresponding bearing in upper end in the middle part of two creeper treads；Driving wheel and creeper tread are not
Contact, two creeper treads are connect by corresponding axis and flange with the track frame of sprung suspension module, and the transmission shaft passes through corresponding
Bearing connect with the gear two in robot body module；
The sprung suspension module includes: sideway bar, connecting rod one, horizontal pendulum shaft, two track frames, multiple hydraulic shock-absorptions
Device；
Sideway bar is that symmetrical structure, the middle position of sideway bar are fixed by horizontal pendulum shaft and car body level up and down；
Multiple hydraulic damper bilateral symmetry right angle setting centered on horizontal pendulum shaft, the hydraulic damper lower end positioned at both ends lead to respectively
Corresponding axis connection is crossed on the both ends of sideway bar, upper end is connect with one end of connecting rod one by the way that ball pair is vertical, and connecting rod one connects simultaneously
Connect track frame；The both ends for being located in the middle hydraulic damper are respectively linked together car body and sideway bar by corresponding axis；Institute
Stating track frame has the cavity that can accommodate crawler belt, and track frame covers on the top of crawler belt；Track frame passes through flange and corresponding axis
It holds and is connected with transmission shaft, the lower part of track frame passes through corresponding axis connection creeper tread.
Compared with prior art, the beneficial effects of the present invention are:
1. sprung suspension module slows down robot two by corresponding location arrangements hydraulic damper, allowing to balance
Side hypsography causes robot to roll, and increases the frictional force between crawler belt and road surface to the maximum extent, makes it have preferably
Complicated landform envelope ability has stronger resistance to capsizing.
2. the present invention has passive adaptive ability.For passive adaptation module when encountering barrier, barrier is as outer
The driving force on boundary inputs, and crawler belt wheel support one up rotates under force, down according to mechanism principle crawler belt wheel support four
Rotation.Under the action of hydraulic damper two, hydraulic damper three, crawler belt wheel support two, crawler belt wheel support three and corresponding shoe
Belt wheel makes crawler belt keep best rate of tension.In the process, plastic deformation occurs for crawler belt profile, and robot center of gravity increases, can
The walking in complex environments such as boss, slope, trenches is realized, across the barrier higher than itself.
3. the ability that the present invention has shock-absorbing energy-absorbing.Each crawler belt wheel support installs a hydraulic damper, each
Passive adaptive track module has the tracked wheel assemblies of four groups of shock-absorbing energy-absorbings, by installing hydraulic damper in corresponding position, makes
It can absorb the energy that uneven road surface causes robot vertical to accelerate, machine while making crawler belt pitch along road surface
Device human body's module is interference-free, so that car body is steady, reduces influence of the landform to electric elements in car body.Make mobile platform
Complicated landform smooth-ride can be bonded.In addition to this, four groups of hydraulic damper can make crawler belt auto-tensioning, guarantee best crawler belt
Elasticity.
4. the present invention is using modularized design.Robot of the invention is by robot body module, passive adaptive
Track module, sprung suspension module composition.By modularized design, robot malfunctioning module can be quickly replaced, is reduced
Influence of the robot fault to its operation.
Detailed description of the invention
Fig. 1 is the overall structure diagram of passive adaptive caterpillar robot mobile platform；
Fig. 2 is the body module structural schematic diagram of passive adaptive caterpillar robot mobile platform；
Fig. 3 is the passive adaptive track module structural schematic diagram of passive adaptive caterpillar robot mobile platform；
Fig. 4 be passive adaptive caterpillar robot mobile platform passive adaptive track module remove side creeper tread and
Structural schematic diagram after track frame；
Fig. 5 is the schematic perspective view of the sprung suspension module of passive adaptive caterpillar robot mobile platform；
Fig. 6 is hydraulic damper six and connecting rod one in the sprung suspension module of passive adaptive caterpillar robot mobile platform
Schematic cross-sectional view；
Passively adaptive caterpillar robot mobile platform adapts to the smooth landform schematic diagram in side fluctuating side to Fig. 7；
Passively adaptive caterpillar robot mobile platform moves schematic diagram to Fig. 8 on the slope；
Fig. 9 posture changing schematic diagram when passively adaptive caterpillar robot mobile platform passes through boss；
Figure 10 posture changing schematic diagram when passively adaptive caterpillar robot mobile platform passes through trench；
In figure, robot body module 1, passive adaptive track module 2, sprung suspension module 3；Transmission belt 101, motor
Mounting rack 102, motor 103, gear 1, gear 2 105, robot control cabinet 106, car body 107；Crawler belt 201, flange
202, transmission shaft 203, creeper tread 204, Athey wheel 1, hydraulic damper 1, hydraulic damper 2 207, driving wheel
208, hydraulic damper 3 209, hydraulic damper 4 210, Athey wheel 6 211, Athey wheel 5 212, crawler belt wheel support 4 213,
Athey wheel 4 214, crawler belt wheel support 3 215, Athey wheel 3 216, crawler belt wheel support 2 217, Athey wheel 2 218, Athey wheel branch
Frame 1, axis 4 220, axis 5 221；Sideway bar 301, hydraulic damper 5 302, hydraulic damper 6 303, connecting rod 1,
Track frame 305, horizontal pendulum shaft 306, axis 1, axis 2 308, axis 3 309.
Specific embodiment
The present invention is explained further below with reference to examples and drawings, but not in this, as to the application protection scope
It limits.
Passively (abbreviation mobile platform includes robot referring to Fig. 1-6) to adaptive caterpillar robot mobile platform to the present invention
The passive adaptive track module 2 of body module 1, sprung suspension module 3 and two；Two passive adaptive track modules 2 are symmetrical
The two sides of robot body module are mounted on, and pass through sprung suspension module 3 for two passive adaptive track modules 2 and machines
Human body's module 1 links together；
The robot body module 1 includes: robot control cabinet 106, car body 107 and two motors 103, transmission belts
101, motor mounting rack 102, gear 1, gear 2 105；
Two motors 103 are left and right symmetrically arranged in car body 107 by corresponding motor mounting rack 102 respectively；Each electricity
The output shaft of machine is mounted on gear 1, gear 1 and gear 2 105 and is connected by corresponding transmission belt 101, described
Gear 2 105 is mounted on the transmission shaft 203 of passive adaptive track module 2；Robot control cabinet is mounted on vehicle by screw
On the corresponding position of body 107；
Each passive adaptive track module 2 include: crawler belt 201, transmission shaft 203, driving wheel 208, multipair Athey wheel,
Multiple hydraulic damper and crawler belt wheel support, two pieces of creeper treads 204；
Multipair Athey wheel and driving wheel support crawler belt 201, and the shape positioned at two crawler belt wheel supports at both ends is identical, is located at
Intermediate crawler belt wheel support shape is identical；Crawler belt wheel support positioned at both ends is in " y " font, including main branch and branch, branch with
Angle among main branch is 30~60 °, and branch is in a horizontal state when driving for smooth-riding surface, and the both ends of main branch are separately connected a pair of of shoe
Belt wheel, the outside one end of branch by corresponding axis connection two creeper treads lower edge；It is located in the middle crawler belt wheel support
For " 1 " font, through corresponding axis connection on two creeper treads, the other end connects a pair of of Athey wheel for one end of " 1 " font bracket,
In smooth-riding surface, " 1 " font bracket and the angle on ground are less than the angle on " y " font bracket between main branch and branch when driving,
And installation site of " 1 " the font bracket on creeper tread is higher than " y " font bracket；Each " 1 " font bracket and " y " font bracket
Center of effort pass through hydraulic damper connecting band track plate；The hydraulic damper is mounted on two creeper treads by corresponding axis
Between, and hydraulic damper and the mounting height of creeper tread are greater than the mounting height of crawler belt wheel support and creeper tread；It is two neighboring
It is equidistant between " 1 " font bracket；
Driving wheel 208 is installed by transmission shaft 203 and corresponding bearing two pieces of 204 middle part upper ends of creeper tread；Driving wheel
It is not contacted with creeper tread, two creeper treads are connect by corresponding axis and flange with the track frame 305 of sprung suspension module, the biography
Moving axis is connect by corresponding bearing with the gear 2 105 in robot body module 1；
Each pair of Athey wheel includes two Athey wheels, and the quantity of crawler belt wheel support is four；
The sprung suspension module 3 include: sideway bar 301, connecting rod 1,306, two track frames 305 of horizontal pendulum shaft,
Multiple hydraulic damper；
Sideway bar 301 is that symmetrical structure, the middle position of sideway bar are horizontal by horizontal pendulum shaft and car body 107 up and down
It is fixed；Multiple hydraulic damper bilateral symmetry right angle setting centered on horizontal pendulum shaft, positioned at the hydraulic damper lower end at both ends
Respectively through corresponding axis connection on the both ends of sideway bar, upper end is vertical with one end of connecting rod 1 to be connect, and connecting rod one connects simultaneously
Connect track frame 305；The both ends for being located in the middle hydraulic damper are respectively linked together car body and sideway bar by corresponding axis；
The track frame 305 has the cavity that can accommodate crawler belt, and track frame covers on the top of crawler belt；Track frame 305 by flange 202 with
And corresponding bearing is connected with transmission shaft 203, passive adaptive track module 2 can be around transmission shaft 203 with respect to 107 turns of car body
It is dynamic；The lower part of track frame 305 passes through corresponding axis connection creeper tread 204.
103 output power of motor, power pass to gear 2 105, gear 2 105 by gear 1 and transmission belt 101
Drive transmission shaft 203.Transmission shaft 203 is mounted on driving wheel 208, then the power transmission of motor output to driving wheel 208
On, driving wheel 208 passes through the power that crawler belt 201 exports motor 103, passes to Athey wheel, completes entirely passively adaptive carry out
Driving with module.
Embodiment 1
The passive adaptive caterpillar robot mobile platform of the present embodiment includes robot body module 1, sprung suspension mould
Block 3 and two passive adaptive track modules 2；Two passive adaptive track modules 2 are symmetrically mounted on robot body module
Two sides, and two passive adaptive track modules 2 and robot body modules are connected to one by sprung suspension module 3
It rises；
The robot body module 1 includes: robot control cabinet 106, car body 107 and two motors 103, transmission belts
101, motor mounting rack 102, gear 1, gear 2 105；
The passive adaptive track module 2 includes: crawler belt 201, flange 202, transmission shaft 203, creeper tread 204, crawler belt
Take turns one 205, hydraulic damper 1, hydraulic damper 2 207, driving wheel 208, hydraulic damper 3 209, hydraulic damper
4 210, Athey wheel 6 211, Athey wheel 5 212, crawler belt wheel support 4 213, Athey wheel 4 214, crawler belt wheel support 3 215, shoe
Belt wheel 3 216, crawler belt wheel support 2 217, Athey wheel 2 218, crawler belt wheel support 1, axis 4 220, axis 5 221；
The sprung suspension module 3 includes: sideway bar 301, hydraulic damper 5 302, hydraulic damper 6 303, connecting rod
One 304, track frame 305, horizontal pendulum shaft 306, axis 1, axis 2 308, axis 3 309；
The connection relationship of robot body module 1 and passive adaptive track module 2:
Robot body module 1 is connected by transmission shaft 203 and passive adaptive track module 2, wherein passive adaptive
Track module 2 can be rotated around transmission shaft 203 relative to car body 107, combined with sprung suspension module 3, can be made robot
Adapt to the smooth landform in side fluctuating side.
The connection relationship of robot body module 1 and sprung suspension module 3:
Hydraulic damper 5 302 is left and right symmetrically arranged, and 5 302 one end of hydraulic damper is mounted on sideway by axis 2 308
On the corresponding position of bar 301, the other end is mounted on the corresponding position of car body 107 by axis 3 309；Sideway bar 301 passes through cross
Pendulum shaft 306 is mounted on the corresponding position of car body 107.
The connection relationship of passive adaptive track module 2 and sprung suspension module 3:
Creeper tread 204 is connected by axis 4 220 and axis 5 221 with track frame 305；6 303 bilateral symmetry of hydraulic damper
Installation, one of hydraulic damper 6 303 are mounted on the corresponding position of sideway bar 301 by axis 1, pass through connecting rod one
It is connected with track frame 305；Track frame 305 is connected by flange 202 and corresponding bearing with transmission shaft 203.To realize quilt
Move the connection of adaptive track module 2 and sprung suspension module 3.
Connection and positional relationship between each component of robot body module 1:
Motor 103 is mounted on corresponding motor mounting rack 102, and motor mounting rack 102 is mounted on car body 107 by screw
On, so that motor 103 is mounted on 107 corresponding position of car body；Gear 1 is mounted on the output shaft of motor, gear two
105 are mounted on transmission shaft 203, and gear 1 is connected with gear 2 105 by transmission belt 101；Robot control cabinet passes through spiral shell
Nail is mounted on the corresponding position of car body 107.Robot control cabinet 106 carries out corresponding actions for controlling entire mobile platform.
Connection and positional relationship between each component of passive adaptive track module 2:
Transmission shaft 203 is connected by flange 202 and corresponding bearing with track frame 305；Driving wheel 208 passes through corresponding
Bearing is mounted on transmission shaft 203；Crawler belt wheel support 1, crawler belt wheel support 2 217, crawler belt wheel support 3 215, Athey wheel
Bracket 4 213 is sequentially arranged at from front to back on the corresponding position of creeper tread 204；One end of hydraulic damper 1 is mounted on
On the corresponding position of creeper tread 204, the other end is mounted on one 219 corresponding position of crawler belt wheel support；Hydraulic damper 2 207
One end is mounted on the corresponding position of creeper tread 204, and the other end is mounted on 2 217 corresponding position of crawler belt wheel support；It is hydraulic to subtract
One end of shake device 3 209 is mounted on the corresponding position of creeper tread 204, and the other end is mounted on 3 215 corresponding positions of crawler belt wheel support
It sets；One end of hydraulic damper 4 210 is mounted on the corresponding position of creeper tread 204, the other end of hydraulic damper 4 210
It is mounted on the corresponding position of crawler belt wheel support 4 213；
2 Athey wheel one 205 and 2 Athey wheels 2 218 are installed on one 219 corresponding position of crawler belt wheel support；Athey wheel
2 Athey wheels 3 216 are installed on 2 217 corresponding position of bracket；2 shoes are installed on 3 215 corresponding position of crawler belt wheel support
Belt wheel 4 214；2 Athey wheel 5 212 and 2 Athey wheels 6 211 are installed on 4 213 corresponding position of crawler belt wheel support.Crawler belt
Plate 204 is connected by axis 4 220 and axis 5 221 with track frame 305；
Crawler belt wheel support 1, crawler belt wheel support 4 213 are in " y " font, including main branch and branch, in branch and main branch
Between angle be 45 °, branch is in a horizontal state when driving for smooth-riding surface, and the both ends of main branch are separately connected a pair of of Athey wheel, branch
Outside one end by corresponding axis connection two creeper treads lower edge；Crawler belt wheel support 2 217, crawler belt wheel support three
215 be " 1 " font, and through corresponding axis connection on two creeper treads, the other end connects a pair of of crawler belt for one end of " 1 " font bracket
Wheel, in smooth-riding surface, " 1 " font bracket and the angle on ground are less than the folder on " y " font bracket between main branch and branch when driving
Angle；Each the center of effort of " 1 " font bracket and " y " font bracket passes through hydraulic damper connecting band track plate.
Connection and positional relationship between each component of sprung suspension module 3:
Sideway bar 301 is symmetrical structure up and down, is successively installed with hydraulic damper 6 303, hydraulic from the beginning to the end
Damper 5 302, horizontal pendulum shaft 306, hydraulic damper 5 302, hydraulic damper 6 303, sideway bar 301 pass through horizontal pendulum shaft
306 are mounted on the corresponding position of car body 107；Hydraulic damper 5 302 is left and right symmetrically arranged, wherein hydraulic damper 5 302
One end is mounted on the corresponding position of sideway bar 301 by axis 2 308, and the other end is mounted on car body 107 by axis 3 309 and corresponds to
Position on；Hydraulic damper 6 303 is left and right symmetrically arranged, and 6 303 one end of hydraulic damper is mounted on sideway by axis 1
On the corresponding position of bar 301, the other end is connected by connecting rod 1 with track frame 305, connecting rod one and corresponding hydraulic damper
Junction is flexural pivot；Track frame 305 is connected by flange 202 and corresponding bearing with transmission shaft 203；Creeper tread 204 passes through
Axis 4 220 and axis 5 221 are connected with track frame 305, to realize passive adaptive track module 2 and sprung suspension module 3
Connection.
It is connected between hydraulic damper 6 303 and connecting rod 1 by ball pair in Fig. 6, sideway bar 301 can be made around sideway
Bar axis 306 is rotated relative to car body 107, realizes 3 function of sprung suspension module.If hydraulic damper 6 303 and connecting rod 1 it
Between be not to be connected by ball pair, then sideway bar 301, cannot be around vehicle in the case where being connected by horizontal pendulum shaft 306 with car body 107
Body rotation.
The motor pattern of mobile platform of the present invention is divided into Three models: first is that moving on normal smooth road surface；First is that
It is abstracted as in the environment such as boss, slope, trench and moves；First is that being moved in the smooth landform in side fluctuating side.
Mobile platform is when the first mode operation:
103 output power of motor, power pass to gear 2 105, gear 2 105 by gear 1 and transmission belt 101
Drive transmission shaft 203.Transmission shaft 203 is mounted on driving wheel 208, then the power transmission of motor output to driving wheel 208
On, driving wheel 208 passes through the power that crawler belt 201 exports motor 103, passes to Athey wheel 1, Athey wheel 2 218, crawler belt
3 216, Athey wheel 4 214, Athey wheel 5 212, Athey wheel 6 211 are taken turns, the driving of entire passive adaptive track module is completed.
To realize the smooth motion of entire robot.
Mobile platform is when second of mode operation:
103 output power of motor, power pass to gear 2 105, gear 2 105 by gear 1 and transmission belt 101
Drive transmission shaft 203.Transmission shaft 203 is mounted on driving wheel 208, then the power transmission of motor output to driving wheel 208
On, driving wheel 208 passes through the power that crawler belt 201 exports motor 103, passes to Athey wheel 1, Athey wheel 2 218, crawler belt
3 216, Athey wheel 4 214, Athey wheel 5 212, Athey wheel 6 211 are taken turns, the driving of entire passive adaptive track module is completed.
When the crawler belt 201 of rotation touches barrier, crawler belt wheel support 1 turns upwards clockwise around corresponding axis
Dynamic, hydraulic damper 1 is in compressive state；Crawler belt wheel support 2 217 rotates down clockwise around corresponding axis, hydraulic to subtract
Shake device 2 207 is in tensional state；Crawler belt wheel support 3 215 rotates down clockwise around corresponding axis, hydraulic damper 3 209
In tensional state；Crawler belt wheel support 4 213 rotates down clockwise around corresponding axis, and hydraulic damper 4 210, which is in, to be stretched
State.Deformation takes place in 201 outer profile of crawler belt, until Athey wheel 1 exceeds barrier, crawler belt wheel support 1 is realized
Obstacle detouring.Wherein crawler belt wheel support 1 is rotated up the size of angle, hydraulic damper 1 around corresponding axis clockwise
Compression degree, depending on the size of barrier, hydraulic damper 2 207 and hydraulic damper 3 209 make crawler belt auto-tensioning, protect
Demonstrate,prove best crawler belt tighting degree.
After Athey wheel 2 218 clears the jumps, crawler belt wheel support 1 rotates down counterclockwise around corresponding axis,
Hydraulic damper 1 is in elongation state；Crawler belt wheel support 2 217 is rotated up counterclockwise around corresponding axis, hydraulic shock-absorption
Device 2 207 is in compressive state；Crawler belt wheel support 3 215 is rotated up counterclockwise around corresponding axis, at hydraulic damper 3 209
In compressive state；Crawler belt wheel support 4 213 is rotated up counterclockwise around corresponding axis, and hydraulic damper 4 210 is in compression shape
State.201 outer profile of crawler belt deforms, and the center of gravity for making robot forward, is more advantageous to obstacle detouring.Wherein hydraulic damper 2 207
Make crawler belt auto-tensioning with hydraulic damper 3 209, guarantees best crawler belt tighting degree.
After Athey wheel 3 216 clears the jumps, robot center of gravity clears the jumps.When Athey wheel 5 212 crosses barrier
After hindering object, robot completes entire obstacle detouring process, hydraulic damper 1, hydraulic damper 2 207, hydraulic damper three
209, hydraulic damper 4 210 returns to original state.
Mobile platform is when the third mode operation:
103 output power of motor, power pass to gear 2 105, gear 2 105 by gear 1 and transmission belt 101
Drive transmission shaft 203.Transmission shaft 203 is mounted on driving wheel 208, then the power transmission of motor output to driving wheel 208
On, driving wheel 208 passes through the power that crawler belt 201 exports motor 103, passes to Athey wheel 1, Athey wheel 2 218, crawler belt
3 216, Athey wheel 4 214, Athey wheel 5 212, Athey wheel 6 211 are taken turns, the driving of entire passive adaptive track module is completed.
When robot moves in the smooth landform in side fluctuating side, the passive adaptive shoe in hypsography side
Outer profile deformation, crawler belt outer profile deformation process and robot occur for crawler belt 201 with module 2 in second mode operation
Shi Xiangtong.In addition to this, the passive adaptive track module 2 in hypsography side passes through track frame 305 and transmission shaft 203
It is rotated around robot body module 1 to the direction of fitting landform, increases the friction between crawler belt 201 and road surface to the maximum extent
Power.At the same time, when robot is in the hypsography side side smooth lower than landform, sideway bar 301 rotates, and makes
Hydraulic damper 5 302, hydraulic damper 6 303 in hypsography side are in tensional state, and the hydraulic of the other side subtracts
Shake device 5 302, hydraulic damper 6 303 are in compressive state, and balance slows down robot two sides hypsography and causes robot
It rolls；When robot is in the hypsography side side smooth higher than landform, the movement of 3 various components of sprung suspension module
Situation and robot are in opposite when the side smooth lower than landform of hypsography side.
The present invention does not address place and is suitable for the prior art.
Claims (5)
1. a kind of passive adaptive caterpillar robot mobile platform, including robot body module, sprung suspension module and two
A passive adaptive track module；Two passive adaptive track modules are symmetrically mounted on the two sides of robot body module, and
Two passive adaptive track modules and robot body module are linked together by sprung suspension module；Its feature exists
In,
The robot body module includes: robot control cabinet, car body and two motors, transmission belt, motor mounting rack, teeth
Take turns one, gear two；
Two motors pass through corresponding motor mounting rack respectively and are left and right symmetrically arranged in car body；The output shaft of each motor is pacified
Equipped with gear one, gear one is connected with gear two by corresponding transmission belt；Robot control cabinet is mounted on car body by screw
Corresponding position on；
Each passive adaptive track module includes: crawler belt, transmission shaft, driving wheel, multipair Athey wheel, multiple hydraulic damper
And crawler belt wheel support, two pieces of creeper treads；
Multipair Athey wheel and driving wheel support crawler belt, and the shape positioned at two crawler belt wheel supports at both ends is identical, is located in the middle
Crawler belt wheel support shape is identical；Crawler belt wheel support positioned at both ends is in " y " font, including main branch and branch, in branch and main branch
Between angle be 30~60 °, branch is in a horizontal state when driving for smooth-riding surface, and the both ends of main branch are separately connected a pair of of Athey wheel,
The outside one end of branch by corresponding axis connection two creeper treads lower edge；Being located in the middle crawler belt wheel support is " 1 "
Font, one end of " 1 " font bracket is through corresponding axis connection on two creeper treads, and the other end connects a pair of of Athey wheel, flat
" 1 " font bracket and the angle on ground are less than the angle on " y " font bracket between main branch and branch when whole road traveling；Each
The center of effort of " 1 " font bracket and " y " font bracket passes through hydraulic damper connecting band track plate；The hydraulic damper is logical
Corresponding axis is crossed to be mounted between two creeper treads；
Driving wheel is installed by transmission shaft and corresponding bearing in upper end in the middle part of two creeper treads；Driving wheel does not connect with creeper tread
Touching, two creeper treads are connect by corresponding axis and flange with the track frame of sprung suspension module, and the transmission shaft passes through corresponding
Bearing is connect with the gear two in robot body module；
The sprung suspension module includes: sideway bar, connecting rod one, horizontal pendulum shaft, two track frames, multiple hydraulic damper；
Sideway bar is that symmetrical structure, the middle position of sideway bar are fixed by horizontal pendulum shaft and car body level up and down；It is multiple
Hydraulic damper bilateral symmetry right angle setting centered on horizontal pendulum shaft, the hydraulic damper lower end positioned at both ends pass through phase respectively
Answer axis connection on the both ends of sideway bar, upper end is connect with one end of connecting rod one by the way that ball pair is vertical, and connecting rod one connects shoe simultaneously
Tape holder；The both ends for being located in the middle hydraulic damper are respectively linked together car body and sideway bar by corresponding axis；The shoe
Tape holder has the cavity that can accommodate crawler belt, and track frame covers on the top of crawler belt；Track frame by flange and corresponding bearing and
Transmission shaft is connected, and the lower part of track frame passes through corresponding axis connection creeper tread.
2. passive adaptive caterpillar robot mobile platform according to claim 1, which is characterized in that " 1 " font branch
Installation site of the frame on creeper tread is higher than " y " font bracket.
3. passive adaptive caterpillar robot mobile platform according to claim 1, which is characterized in that passive adaptive
In track module, the mounting height of hydraulic damper and creeper tread is greater than the mounting height of crawler belt wheel support and creeper tread.
4. passive adaptive caterpillar robot mobile platform according to claim 1, which is characterized in that two neighboring
It is equidistant between " 1 " font bracket.
5. passive adaptive caterpillar robot mobile platform according to claim 1, which is characterized in that each pair of Athey wheel
It include two Athey wheels, the quantity of crawler belt wheel support is four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811463100.2A CN109305238B (en) | 2018-12-03 | 2018-12-03 | Passive self-adaptive tracked robot moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811463100.2A CN109305238B (en) | 2018-12-03 | 2018-12-03 | Passive self-adaptive tracked robot moving platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109305238A true CN109305238A (en) | 2019-02-05 |
| CN109305238B CN109305238B (en) | 2023-09-29 |
Family
ID=65222267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811463100.2A Active CN109305238B (en) | 2018-12-03 | 2018-12-03 | Passive self-adaptive tracked robot moving platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109305238B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654469A (en) * | 2019-09-11 | 2020-01-07 | 广东省现代农业装备研究所 | Rotary point type bilateral floating walking chassis |
| CN113419295A (en) * | 2021-06-17 | 2021-09-21 | 深圳市鼎冠恒通电子科技有限公司 | Active multimode life detector for earthquake disaster and detection method |
| CN113562090A (en) * | 2021-08-09 | 2021-10-29 | 徐工集团工程机械股份有限公司 | Mobile engineering machine |
| EP4339076A1 (en) * | 2022-09-15 | 2024-03-20 | Exobotic Technologies | Improved robot platform |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2191828A1 (en) * | 1995-11-30 | 1997-05-31 | Takahiko Kubota | Rear suspension for snowmobiles |
| US20080105472A1 (en) * | 2006-11-02 | 2008-05-08 | Tuhy Lance S | Suspension system for track vehicle |
| JP2013039923A (en) * | 2012-11-27 | 2013-02-28 | Kubota Corp | Crawler running device |
| CN103879467A (en) * | 2014-03-11 | 2014-06-25 | 河北工业大学 | Passive self-adaption crawler belt deformable rocking bar differential motion mobile robot platform |
| CN106965863A (en) * | 2017-04-28 | 2017-07-21 | 河北工业大学 | The wheel-track combined of mono-track can passive adaptive robot moving platform |
| CN107521573A (en) * | 2017-08-10 | 2017-12-29 | 南京理工大学 | A kind of damping crawler-type unmanned mobile platform |
| CN108673469A (en) * | 2018-06-14 | 2018-10-19 | 河北工业大学 | Crawler belt transformable robot mobile platform towards hazards site environment |
| EP3401447A1 (en) * | 2017-05-12 | 2018-11-14 | Idea - Keksi Oy | Machine moving with chain tracks |
-
2018
- 2018-12-03 CN CN201811463100.2A patent/CN109305238B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2191828A1 (en) * | 1995-11-30 | 1997-05-31 | Takahiko Kubota | Rear suspension for snowmobiles |
| US20080105472A1 (en) * | 2006-11-02 | 2008-05-08 | Tuhy Lance S | Suspension system for track vehicle |
| JP2013039923A (en) * | 2012-11-27 | 2013-02-28 | Kubota Corp | Crawler running device |
| CN103879467A (en) * | 2014-03-11 | 2014-06-25 | 河北工业大学 | Passive self-adaption crawler belt deformable rocking bar differential motion mobile robot platform |
| CN106965863A (en) * | 2017-04-28 | 2017-07-21 | 河北工业大学 | The wheel-track combined of mono-track can passive adaptive robot moving platform |
| EP3401447A1 (en) * | 2017-05-12 | 2018-11-14 | Idea - Keksi Oy | Machine moving with chain tracks |
| CN107521573A (en) * | 2017-08-10 | 2017-12-29 | 南京理工大学 | A kind of damping crawler-type unmanned mobile platform |
| CN108673469A (en) * | 2018-06-14 | 2018-10-19 | 河北工业大学 | Crawler belt transformable robot mobile platform towards hazards site environment |
Non-Patent Citations (2)
| Title |
|---|
| 张明路;李敏;田颖;吕晓玲;: "单履带被动自适应机器人设计与运动学分析", 华中科技大学学报(自然科学版), no. 03 * |
| 段星光;黄强;李京涛;张明路;: "多运动模式的小型地面移动机器人设计与实现", 中国机械工程, no. 01 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654469A (en) * | 2019-09-11 | 2020-01-07 | 广东省现代农业装备研究所 | Rotary point type bilateral floating walking chassis |
| CN113419295A (en) * | 2021-06-17 | 2021-09-21 | 深圳市鼎冠恒通电子科技有限公司 | Active multimode life detector for earthquake disaster and detection method |
| CN113562090A (en) * | 2021-08-09 | 2021-10-29 | 徐工集团工程机械股份有限公司 | Mobile engineering machine |
| EP4339076A1 (en) * | 2022-09-15 | 2024-03-20 | Exobotic Technologies | Improved robot platform |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109305238B (en) | 2023-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109305238A (en) | A passive adaptive crawler robot mobile platform | |
| CN106476550A (en) | A kind of wheeled robot chassis | |
| CN108454718B (en) | A Tracked Passive Adaptive Robot | |
| CN105438291B (en) | Crawler belt transformable robot mobile platform | |
| CN103241303A (en) | Wheel leg type mobile robot with flexible trunk | |
| CN103879467B (en) | The differential mobile robot platform of a kind of passive self adaptation crawler belt deformable rocking bar | |
| CN105460090B (en) | A kind of crawler belt transformable robot mobile platform | |
| CN205417832U (en) | Crawler frame people platform shock -absorbing structure | |
| CN207790250U (en) | Torsion beam damping chassis | |
| CN105128961A (en) | Composite suspension with deformable crawler wheels and moving platform provided with same | |
| CN206155604U (en) | Asymmetric upper block is from tensioning formula crawler attachment | |
| CN208007137U (en) | A kind of wheel leg type barrier-exceeding vehicle | |
| CN103879466B (en) | A kind of crawler type variation rigidity independent suspension power chassis | |
| CN112248733A (en) | Chassis suspension mechanism, chassis and robot | |
| CN205168674U (en) | But track shape shifting robot moving platform based on slider -crank structure | |
| CN107571930A (en) | A kind of wheel leg type barrier-exceeding vehicle | |
| CN105128960B (en) | Caterpillar mobile robot suspension system | |
| CN108839721A (en) | A kind of walking mechanism, crawler type running system and mechanically moving | |
| CN209351487U (en) | A Passive Adaptive Tracked Robot Mobile Platform | |
| CN213354127U (en) | Chassis suspension mechanism, chassis and robot | |
| CN108891494A (en) | A kind of running gear and crawler type traveling machine | |
| CN103318290B (en) | Class two lateral-deviation robot crotch lateral deviation shock mitigation system | |
| CN201998761U (en) | Front wheel shock absorption device | |
| CN219904561U (en) | Shock-absorbing structure of deformed tracked vehicle | |
| CN113415348B (en) | Crawler-type mobile device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |