CN102530118A - Fish scale-type segmenting elastic caterpillar - Google Patents

Abstract

The invention relates to a fish-scale segmented elastic crawler. The crawler is composed of a rubber body, a connecting aluminum block, a hinge, a trapezoidal aluminum block, a crawler supporting shaft, a spring and a spring connecting shaft. The rubber body is pasted on the connecting aluminum block. The tops of the adjacent rubber bodies are bonded together so that the surface of the elastic track forms a ring shape; two adjacent connecting aluminum blocks are installed on the inner and outer sides of a pair of hinges, and the hinges connect each section of the track body into a ring-shaped whole , There are two through holes inside the connecting aluminum block, and the spring is connected through the spring connecting shaft in the through holes. When the robot moves in a crawler-type movement, under the action of the wheel/track conversion mechanism, the fish-scale segmented elastic track is naturally stretched or contracted by the elasticity of the spring, realizing the movement of the robot in wheel-type movement and crawler-type movement. The conversion plays a great technical support role in improving the performance of the wheel/track structure mobile robot.

Description

Fish scale segmented elastic track

technical field

The invention relates to a segmented elastic track, which is a special segmented elastic track used in a mobile robot with a wheel/track structure, and belongs to a mechanism component of the mobile robot.

Background technique

The wheeled mobile robot has the rapidity of movement, while the crawler mobile robot has a strong ability to cross obstacles, that is, the crawler mobile robot has a high passing performance on complex terrain. However, how to combine the advantages of wheeled and tracked mobile robots will be the innovation of robot mechanism technology, and one of the key components for the conversion of wheeled and tracked mobile robots is the track. The feature of this track is that it needs to It has the function of tires and the function of crawlers, and it also needs to maintain the continuity of the robot's movement during the movement. When the robot moves in a crawler mode, under the action of the wheel/track conversion mechanism, the track stretches naturally by its own elasticity. The elastic track not only transmits power, but also stretches or contracts frequently. The patent document [Publication No.: CN101570216] proposes this kind of robot, wherein the elastic track used by the robot is made of elastic rubber material, and the inner and outer sides of the elastic track are processed with teeth, and the outer teeth are in contact with the ground to prevent the elastic track from slipping. The inner teeth mesh with the outer teeth of the driving wheel to transmit power. Due to the frequent expansion and retraction of the elastic track, the outer diameter of the elastic track gradually increases, so that the inner teeth of the track cannot be well fastened to the outer teeth of the driving wheel, resulting in motion failure, and the inner teeth of the track in this patent document There is a metal ring, and when the crawler track is stretched and contracted, its circumferential length changes, and the metal ring can only undergo elastic deformation, and cannot produce plastic deformation, otherwise it will be destroyed, which is not described in this patent document.

Contents of the invention

The invention provides a fish-scale segmented elastic track. Under the action of the wheel/track conversion mechanism, the fish-scale segmented elastic track is naturally stretched or contracted by the elasticity of the spring to realize the wheel-type movement and the crawler-type movement mode of the robot. motion conversion.

The technical solution adopted by this patent to solve the technical problem is: fish-scale segmented elastic crawler, including more than two crawler units, each crawler unit includes a rubber body, connecting aluminum blocks, hinges, trapezoidal aluminum blocks, crawler support shafts, The spring and the spring connecting shaft are composed of the rubber body pasted on the top of the connecting aluminum block, and the tops of all adjacent rubber bodies are pasted together to form a circular ring on the surface, and one pair is installed on the inner and outer sides of two adjacent connecting aluminum blocks. There are two through holes inside the connecting aluminum block, and the spring is connected through the spring connecting shaft in the through hole, and the elastic track can be stretched naturally by the stretching of the spring.

The track main body of the present invention adopts a rubber body, which is made of elastic rubber material with high wear resistance. The end faces are all processed into arc shapes, and the arc of the inner end face is slightly larger than that of the outer end face. The specific arc values of the inner and outer end faces are determined according to the length of the elastic crawler and the number of elastic crawler units. The inner and outer arcs The thickness between the end faces becomes thinner from bottom to top until it is tangent to the top of the rubber body. When the robot moves in a wheeled manner, the elastic track is fastened on the driving wheel, and the tops of all adjacent fish-scale rubber bodies are attached together, and the surface of the elastic track forms a ring shape; when the robot moves in a tracked manner When moving, under the action of the wheel/shoe conversion structure, the elastic track is naturally stretched. Since the rubber body itself has a certain elasticity, the surface of the elastic track still maintains a relatively smooth arc at this time, so that the robot can climb Less jolting and smoother operation when going up stairs or climbing over obstacles. In addition, the rubber body can also protect the spring, avoiding damage to the spring caused by the ground during the operation of the robot, so as to affect the natural expansion of the elastic track.

A protrusion is processed on the bottom of the rubber body, and it is pasted and connected with the groove on the top of the connecting aluminum block. There are two through holes inside the connecting aluminum block, and a spring connecting shaft is riveted on the other side of the connecting aluminum block. The central axis of the hole, the spring is connected on the spring connecting shaft in the through hole. When the robot moves in a crawler-type movement mode, under the action of the wheel/shoe conversion mechanism, the elastic track is naturally stretched by the stretch of the spring to realize the wheel/shoe conversion of the robot's movement mode. The expansion and contraction range of the spring must meet the requirements of the robot wheel /Fulfill the conversion requirements of the mobile mode. The springs in the through holes are protected by connecting aluminum blocks, and the springs between the connecting aluminum blocks are protected by rubber bodies. A pair of hinges are installed on the inner and outer sides of all adjacent two connecting aluminum blocks. One end of the two hinges is connected by a central shaft movement, and the other end is respectively connected to the upper part of the inner and outer sides of the connecting aluminum block by a point movement. When the robot moves in a crawler-type movement mode, under the action of the wheel/track conversion mechanism, the supporting wheel pushes the elastic track to spread freely, and the hinge will unfold at a certain angle driven by the connecting aluminum block, and the unfolding angle of the hinge is The range needs to meet the requirements for the robot to change from a wheeled mobile mode to a crawler mobile mode.

A trapezoidal aluminum block is installed directly below the connecting aluminum block. When the supporting wheel pushes the elastic track to expand naturally under the action of the wheel/shoe conversion mechanism, the trapezoidal aluminum block is connected in the tooth groove of the outer tooth of the supporting wheel to prevent the robot from climbing. When climbing stairs, the elastic track moves axially. A crawler support shaft is installed on the inner and outer sides of the connecting aluminum block. When the robot moves in a wheeled manner, the crawler support shaft is evenly stuck in the outer teeth of the drive wheel, connecting the drive wheel and the elastic track, and To transmit power; when the robot moves in a crawler-type manner, due to the different stretching degrees of the elastic track and the contact point of the driving wheel, the track support shaft is irregularly connected in the part of the outer teeth of the driving wheel. It can play the role of transmitting power and preventing the elastic track from slipping.

Beneficial effects: the invention can realize the wheel/track structure mobile robot to quickly climb stairs or climb over obstacles, the structure is exquisite, the movement is reliable, and it is easy to manufacture; at the same time, the invention realizes the key mechanism of the robot based on the biological structure mechanism of fish scales The innovation of components can make the wheel/track structure mobile robot run more smoothly and reliably when it "walks" on flat ground, stairs, slopes and other all-terrains.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is an overall structural diagram of the present invention.

Fig. 3 is a working principle diagram of the present invention when the robot moves in a wheeled manner.

Fig. 4 is a working principle diagram of the present invention when the robot moves in a crawler-type moving manner.

Fig. 5 is a structural principle diagram when the fish scale rubber body of the present invention is a hollow structure.

Fig. 6 is a structural principle diagram when spring steel is added inside the fish-scale rubber body of the present invention.

In the figure: 1. Rubber body, 2. Connecting aluminum block, 3. Trapezoidal aluminum block, 4. Spring, 5. Track support shaft, 6. Spring connecting shaft, 7. Hinge, 8. Drive wheel, 9. Support wheel , 10, fish scale hollow rubber body, 11, fish scale spring steel rubber body.

Detailed ways

Embodiment 1: In conjunction with accompanying drawings 1, 2, 3 and 4, the overall structure and working principle of the present invention will be described. The fish scale segmented elastic track is composed of a rubber body 1, a connecting aluminum block 2, a trapezoidal aluminum block 3, a spring 4, a track support shaft 5, a spring connecting shaft 6 and a hinge 7, and the rubber body 1 is pasted on the connecting aluminum block 2 Above, the tops of all adjacent rubber bodies 1 are bonded together, so that the surface of the elastic track forms a ring shape; two adjacent connecting aluminum blocks 2 are installed on the inner and outer sides of a pair of hinges 7, and the hinges 7 will Each section of crawler body is connected into a ring-shaped whole body, and there are two through holes inside the connecting aluminum block 2, and the spring 4 is connected by the spring connecting shaft 6 in the through holes.

The rubber body 1 is made of rubber material, which has certain elasticity and high wear resistance, and has a scale-like shape. When the robot moves in a wheeled manner, the elastic track is fastened on the driving wheel 8, and the tops of all adjacent rubber bodies 1 are attached together, and the surface of the elastic track forms a ring shape; when the robot moves in a tracked manner When moving in the way, under the action of the wheel/shoe conversion mechanism, the elastic track can be stretched naturally by the stretching of the spring 4. Since the rubber body 1 itself has a certain elasticity, at this time, the surface of the elastic track still maintains a relatively smooth round shape. arc, so that the robot can reduce bumps and run more smoothly when climbing stairs or climbing over obstacles. In addition, the rubber body 1 can also protect the spring 4 from damage to the spring 4 caused by the ground during the operation of the robot, so as to affect the natural stretching of the elastic track.

The connecting aluminum block 2 is installed on the lower side of the fish-scale rubber body 1. A protrusion is processed on the bottom of the rubber body 1, and is connected with the top groove of the connecting aluminum block 2 by glue. There are two through holes inside the connecting aluminum block 2. A spring connecting shaft 6 is riveted on the other side of the connecting aluminum block 2, the position of the spring connecting shaft 6 passes through the central axis of the two through holes, and the spring 4 is connected on the spring connecting shaft 6 in the through hole. When the robot moves in a crawler-type movement mode, under the action of the wheel/track conversion mechanism, the elastic track is naturally stretched by the stretching of the spring 4, realizing the conversion of the robot from the wheel-type movement mode to the crawler-type movement mode. The telescoping range needs to meet the conversion requirements of the robot wheel/shoe movement mode. The spring 4 in the through hole is protected by the connecting aluminum block 2, and the spring 4 between the connecting aluminum blocks 2 is protected by the rubber block 1. A pair of hinges 7 are installed on the inner and outer sides of all adjacent two connecting aluminum blocks 2, and one end of the two hinges 7 is connected by a central shaft moving device, and the other end is connected to the inner and outer sides of the connecting aluminum block 2 by a point moving device respectively. On the upper part of the side, when the robot moves in a crawler-type movement mode, under the action of the wheel/shoe conversion structure, the supporting wheel 9 pushes the elastic crawler to stretch freely, and the hinge 7 will be unfolded at a certain angle under the drive of the connecting aluminum block 2. The range of hinge opening angles needs to meet the requirements for the robot to change from a wheeled movement to a crawler movement.

The trapezoidal aluminum block 3 is welded directly under the connecting aluminum block 2. When the supporting wheel 9 pushes the elastic crawler to spread naturally, the trapezoidal aluminum block 3 is connected in the outer tooth groove of the supporting wheel 8 to prevent the robot from moving in a crawler style. The elastic track moves axially when moving. A crawler support shaft 5 is installed on the inner and outer sides of the connecting aluminum block 2. When the robot moves in a wheeled manner, the crawler support shaft 5 is evenly connected in the outer tooth groove of the driving wheel 8, and the driving wheel 8 and The elastic crawlers are connected to transmit power; when the robot moves in a crawler-like manner, since the stretching degree of the contact point between the elastic crawler and the driving wheel 8 is different, the crawler support shaft 5 is irregularly connected to the driving wheel 8, in the part of the outer tooth groove, the crawler support shaft 5 can play the role of transmitting power and preventing the elastic crawler from slipping.

Preferably, as shown in accompanying drawing 5, as the fish scale type hollow rubber body 10 is made of elastic rubber material with high wear resistance, the shape is fish scale, and the inside is processed into a hollow form. Other structures of the elastic crawler and its work The principle is the same as Embodiment 1. The fish-scale hollow rubber body 10 saves a certain cost on the premise of satisfying the anti-fatigue strength of the elastic track, and has high economic benefits.

As shown in accompanying drawing 6, fish scale type spring steel rubber body 11 is on the basis of the elastic rubber material system with high wear resistance, has added a layer of spring steel inside it, and the appearance is fish scale shape, and other structures of elastic track Its working principle is the same as Embodiment 1. This structure greatly improves the anti-fatigue performance of the elastic track and has high application value.

Claims (8)

1. scale type segmentation resilient track, it is characterized in that: said resilient track comprises plural track unit, each track unit comprises rubber bodies, connects aluminium block, hinge, trapezoidal aluminium block, crawler belt bolster, spring and spring adapter shaft; Rubber bodies is fixedly connected on the top that connects aluminium block; Trapezoidal aluminium block be welded on connect aluminium block under; Connect aluminium block inside the crawler belt pivot shaft is installed; Connect aluminium block and along the about two sides of support wheel diametric(al) one secondary hinge is installed respectively, connect aluminium block and have two through holes along the support wheel circumferencial direction, spring connects adjacent connection aluminium block through the spring adapter shaft in through hole; All fit together back surface, the top of all adjacent rubber bodies forms one circularly, and resilient track can strut through the stretching, extension of spring naturally.

2. scale type segmentation resilient track according to claim 1 is characterized in that: a raised structures is arranged at the rubber bodies bottom, and it is fluted to connect the aluminium block top, and the rubber bodies base projections connects with connecting the stickup of aluminium block top groove.

3. scale type segmentation resilient track according to claim 1 and 2, it is characterized in that: rubber bodies is processed by elastic caoutchouc, and profile is the fish scale shape, and the bottom is a rectangle, pastes with the upper surface that connects aluminium block to connect; The inside and outside both ends of the surface of rubber bodies all are processed into circular-arc; The radian of inner end surface is greater than the radian of outer face; The radian value of inside and outside both ends of the surface depends on the length of resilient track and the quantity of resilient track unit; Thickness between the inside and outside two circular arc end faces is more and more thinner from bottom to top, until the top that is tangential on rubber bodies.

4. scale type segmentation resilient track according to claim 1 is characterized in that: the spring adapter shaft is riveted on and connects on the aluminium block.

5. scale type segmentation resilient track according to claim 4 is characterized in that: an end of two hinges connects through the moving load of a center shaft, and the other end is connected on the top that connects both sides inside and outside the aluminium block through a crawl load respectively.

6. scale type segmentation resilient track according to claim 5 is characterized in that: trapezoidal aluminium block lower end is connected in the support wheel external tooth teeth groove.

7. scale type segmentation resilient track according to claim 6 is characterized in that: a crawler belt bolster is all installed in the both sides, front and back that connect aluminium block, and the crawler belt bolster all is connected in the driving wheel external tooth teeth groove, and driving wheel and resilient track are coupled together.

8. scale type segmentation resilient track as claimed in claim 7 is characterized in that: rubber bodies is inner to be hollow or additional one deck spring steel structure.

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