CN108725611A - A kind of novel crawler-type obstacle detouring mobile system - Google Patents

Abstract

A novel crawler-type obstacle-surmounting mobile system, the system includes a front frame (A), a rear frame (B), first to fourth crawler assemblies (C, D, E, F), and an intermediate shaft (G); The front frame (A) and the rear frame (B) realize rotation fit through the hinged structure (G); the first to fourth differential track assemblies (C, D, E, F) are respectively installed on the front frame (A) The two ends of and the two ends of rear vehicle frame (B) realize rotational connection. The present invention is arranged symmetrically in the front and back, left and right, and up and down, and adopts four motors to respectively drive four crawler assemblies, so that wheel-type fast movement, crawler-type movement and overturning and leaping-type movement can be realized under different terrains. Automatically select the movement mode under complex terrain, the mechanism is simple and reliable, easy to operate, and has good response ability and practicability.

Description

A New Tracked Obstacle-surmounting Mobile System

technical field

The present invention relates to the field of ground mobile systems, in particular to a novel crawler-type obstacle-surmounting mobile system, which is specifically composed of two vehicle frames, four crawler belt assemblies, an intermediate rotating structure, and four motors, and the large gears in the crawler belt assemblies are driven by the motors The rotation, the rotation of the crawler assembly relative to the frame, and the rotation between the front and rear frames realize the wheel type, crawler type movement and flipping and leaping movement of the mobile system under different terrains, ensuring the adaptability and passing ability under complex terrain.

Background technique

Chinese patent CN207311658U discloses "a kind of side-turning mountain robot", which adopts a triangular symmetrical hinged structure, and greatly improves the maneuverability of the platform through the self-adaptive recovery ability of the robot's rollover, but its triangular structure increases the complexity, and at the same time The obstacle-surmounting ability of the wheel type is average. The present invention adopts the way of front and rear, up and down, left and right symmetrical arrangements, and adopts a new crawler structure at the same time, which greatly improves the passing capacity and maneuvering capacity of the mobile system.

Contents of the invention

The problem to be solved by the present invention is to provide a mobile system that can adapt to complex terrains and ensure that it maintains the best mobile mode under different terrains.

The technical solution of the present invention: a novel crawler-type obstacle-surmounting mobile system includes two identical vehicle frames and four identical crawler track assemblies; the front frame and the rear frame are rotationally connected through an intermediate rotating shaft; the first and second crawler tracks The components are respectively rotatably connected to the two ends of the front frame, and the third and fourth crawler components are rotatably connected to the two ends of the rear frame respectively. Two motors are arranged on the front frame, two motors are arranged on the rear frame, and the four motors respectively drive the first to fourth track assemblies to realize the movement of the mobile system and obstacle surmounting.

The first track assembly includes: tracks, a central shaft, a small drag wheel, a large gear, a support rod, a small drag wheel support seat, a track tensioning structure, and a large gear support seat; the large gear and the large gear support seat are rotationally connected , the small towing wheel and the small towing wheel support seat are connected in rotation, the support rod is fixedly connected to the small towing wheel support seat, the small towing wheel support seat and the large gear support seat are slidingly connected through the track tensioning structure, and the track and the small towing wheel , large gear realize gear connection respectively.

The first crawler assembly is connected with the motor on the front frame through the central shaft on the first crawler assembly, and realizes the rotational connection with the front frame.

The appearance, mechanical structure and assembly method of the second to fourth track assemblies are exactly the same as those of the first track assembly.

Through the above connections, the assembly of the first track assembly to the fourth track assembly is completed.

The track tensioning structure includes: tensioning bolts, sliding plates, and wedges;

The sliding plate is respectively slidingly connected with the supporting seat of the small dragging wheel and the supporting seat of the large gear, the wedge is respectively connected slidingly with the supporting seat of the small dragging wheel and the supporting seat of the large gear, and the tensioning bolt is rotationally connected with the sliding plate. The tightening bolt and the wedge are threaded to realize the tensioning function of the track.

The mobile system of the present invention has a symmetrical structure of front and back, left and right, and up and down, and has better passability in narrow or complex terrains. The dependence of the control system improves the stability of the mobile system.

Description of drawings

Fig. 1 is the overall three-dimensional diagram of a novel crawler-type obstacle-surpassing mobile system;

Figure 2 three-dimensional diagram of track assembly;

Fig. 3 three-dimensional drawing of tensioning mechanism;

Figure 4 schematic diagram of wheeled movement;

Figure 5 crawler mobile schematic diagram;

Figure 6 is a schematic diagram of flipping movement.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing.

A new crawler-type obstacle-surmounting mobile system, as shown in Figure 1, includes two identical frames A, B, four identical crawler components C, D, E, F; front frame A, rear frame B The rotation connection is realized through the intermediate shaft G; the first and second track assemblies C, D are respectively connected to the two ends of the front frame A, and the third and fourth track assemblies E, F are respectively connected to the two ends of the rear frame B. Realize rotary connection. Two motors A-1 and A-2 are arranged on the front frame A, two motors B-1 and B-2 are arranged on the rear frame B, and four motors A-1, A-2 and B-1 are arranged , B-2 respectively drive the first to fourth crawler assemblies to realize the movement and obstacle surmounting of the mobile system.

As shown in Figure 2, the first track assembly C includes: track C-a, central shaft C-b, small pulley C-c, large gear C-d, support bar C-e, small pulley support seat C-f, track tensioning structure C-g, large The gear support seat C-h; the large gear C-d realizes the rotational connection with the large gear support seat C-h, the small drag wheel C-c realizes the rotational connection with the small drag wheel support seat C-f, the support rod C-e realizes the fixed connection with the small drag wheel support seat C-f, and the small drag wheel The support seat C-f and the large gear support seat C-h realize sliding connection through the track tensioning structure C-g, and the track C-a realizes gear connection with the small drag pulley C-c and the large gear C-d respectively.

The first crawler assembly C is connected to the motor A-1 on the front frame A through the central shaft C-b on the first crawler assembly C, and is connected to the front frame A in rotation.

The second to fourth track assemblies D, E, F are identical to the first track assembly C in terms of appearance, mechanical structure and assembly method.

Through the above connections, the assembly of the first track assembly C to the fourth track assembly F is completed.

As shown in Figure 3, the track tensioning structure C-g includes: a tensioning bolt C-g-1, a sliding plate C-g-2, and a wedge C-g-3;

The sliding plate C-g-2 realizes sliding connection with the small towing wheel supporting seat C-f and the large gear supporting seat C-h respectively, and the wedge C-g-3 realizes sliding connection with the small towing wheel supporting seat C-f and the large gear supporting seat C-h respectively. The tightening bolt C-g-1 and the sliding plate C-g-2 are connected in rotation, and the tensioning bolt C-g-1 is connected with the wedge C-g-3 by threads to realize the tensioning function of the track.

The new crawler-type obstacle-surmounting moving system can realize three kinds of moving modes: wheel-type, crawler-type and turning-type.

As shown in Figure 4, when the mobile system moves on flat ground, there is a line contact between the track assembly and the ground, and the track assembly can be regarded as a wheel to realize wheeled movement.

As shown in Figure 5, when the mobile system encounters a small obstacle, the crawler assembly passes through the obstacle under the traction force of the crawler to realize crawler movement.

As shown in Figure 6, when the mobile system encounters a higher obstacle, it is blocked by the obstacle, and under the action of the driving force of the motor, it flips through the obstacle to realize the flip-type movement.

Claims (3)

1. A new crawler-type obstacle-surpassing mobile system, which is characterized in that: The new crawler-type obstacle-surmounting mobile system includes a front frame (A), a rear frame (B), a first track assembly (C) and a second track assembly (D) arranged on the front frame, and a rear track assembly (D) arranged on the rear frame The third crawler assembly (E) and the fourth crawler assembly (F) on the frame; the front frame (A) and the rear frame (B) are connected in rotation through the intermediate shaft (G); the first and second crawler assemblies ( C, D) are respectively connected to the two ends of the front frame (A), and the third and fourth track assemblies (E, F) are respectively connected to the two ends of the rear frame (B); Left and right, up and down are symmetrically arranged. Two motors (A-1, A-2) are arranged on the front frame (A), two motors (B-1, B-2) are arranged on the rear frame (B), and four motors (A- 1. A-2, B-1, and B-2) respectively drive the first to fourth track assemblies to realize the movement and obstacle surmounting of the mobile system. 2. A novel crawler-type mobile system described in claim 1, characterized in that: The first track assembly (C) includes: track (C-a), central shaft (C-b), small drag wheel (C-c), large gear (C-d), support rod (C-e), small drag wheel support seat (C-f) , Track tensioning structure (C-g), large gear support seat (C-h); large gear (C-d) realizes rotational connection with large Rotational connection, the support rod (C-e) is fixedly connected to the small towing wheel support seat (C-f), and the small tow pulley support seat (C-f) and the large gear support seat (C-h) are slidingly connected through the track tensioning structure (C-g). (C-a) realize gear connection with small drag pulley (C-c) and big gear (C-d) respectively; The first crawler assembly (C) is connected with the motor (A-1) on the front frame (A) through the central shaft (C-b) on the first crawler assembly (C), and is connected with the front frame (A ) to realize rotational connection; The second to fourth track assemblies (D, E, F) are identical in shape, mechanical structure and assembly method to the first track assembly (C); Through the above connection, the assembly of the first track assembly (C) to the fourth track assembly (F) is completed. 3. The track tensioning structure (C-g) described in claim 2, characterized in that: The track tensioning structure (C-g) includes: tensioning bolts (C-g-1), sliding plates (C-g-2), wedges (C-g-3); The sliding plate (C-g-2) realizes sliding connection with the small towing wheel support seat (C-f) and the large gear support seat (C-h) respectively, and the wedge (C-g-3) is respectively connected with the small towing wheel support seat (C-f) and The large gear support seat (C-h) realizes the sliding connection, the tension bolt (C-g-1) realizes the rotation connection with the sliding plate (C-g-2), and the tension bolt (C-g-1) realizes the thread connection with the wedge block (C-g-3) .