CN104386152B - Adapt to the caterpillar mobile robot wheel band structure of complex road condition - Google Patents

Abstract

A crawler-type mobile robot tire belt structure adapting to complex road conditions in the field of special robot technology, including: a hub and crawlers. The end faces of the two baffles are in the middle, and the three are axially arranged on the axle sleeve, and each wheel bar passes through the center disc and is evenly arranged between the two baffles to form the tooth surface of the hub; the track is composed of a belt The tooth surface and the belt back tooth are composed of tooth-shaped protrusions evenly distributed on the belt tooth surface and meshed with the hub tooth surface, and the belt back teeth are provided with a raised structure and are in contact with the ground. The invention has a simple design structure, stronger obstacle surmounting ability, and the wheel hub has self-adaptive impurity removal ability, which improves the stability of the crawler robot under complex road conditions.

Description

Belt structure of tracked mobile robot adapting to complex road conditions

technical field

The invention relates to a walking mechanism in the field of special-purpose robots, in particular to a crawler-type mobile robot wheel belt structure adaptable to complex road conditions.

Background technique

In recent years, the use of robots to replace human operations has been widely adopted in extreme environments and complex sites such as planetary surface detection, accident relief, pipeline inspection, explosives disposal, and anti-nuclear radiation pollution. Tracked mobile robots have low pressure on the ground, are not prone to slipping, have good traction performance, and can well adapt to special terrains. Especially when climbing over slopes, crossing obstacles, trenches, and walking on muddy, gravel and other roads, crawler mobile robots are more superior, so they have been widely used.

Since the 1980s, some experts have carried out systematic research on it. Representative ones include the Packbot series robots of iRoBot in the United States, the Supper Wheelbarrow EOD robots in the United Kingdom, and the AZIMUT robots in Brock University in Canada. Domestic research in the field of mobile robots has also achieved certain results, such as the CLIMBER robot of Shenyang Institute of Automation, and the reconfigurable robot of Beihang University.

Tracked mobile robots have an obvious tendency to replace human operations in extreme and complex environments, and the technology is developing rapidly. However, the design of the tire structure for complex road conditions still needs to be further explored. Especially when the existing crawler robots pass through complex road surfaces, solid impurities such as gravel and soil are likely to enter the contact surface of the tires, block the hub surface, increase the outer diameter of the hub, cause the track to slip and shorten the relative length, and the radial force on the wheel surface A series of problems such as the increase and even the deformation of the wheel axle need to be solved urgently.

After searching the prior art, it is found that Chinese Patent Document No. CN103373404, published on 2012-04-27, discloses a compound mobile robot with wheels and legs. To a certain extent, this technology solves the technical problems of crawler robots such as complex structure, poor obstacle-surmounting ability, and low carrying capacity. However, the disadvantages of this technology are: 1. The compound structure of the wheels and legs is simple, and the height of the obstacle is limited by the length of the legs; 2. Interference factors such as dust and mud on the complex road surface are not considered, and the tire-belt contact surface is easy to accumulate impurities and block Cogging, which affects the track drive.

Contents of the invention

Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a crawler-type mobile robot wheel belt structure that adapts to complex road conditions. Stability in complex road conditions.

The present invention is achieved through the following technical solutions. The present invention includes: a wheel hub and crawlers, and the wheel hub is composed of a wheel shaft sleeve, a central wheel disc, several wheel rods and two baffle plates, wherein: the center wheel disc is arranged on two In the middle of the end faces of the baffles, and all three are axially arranged on the axle sleeves, and each wheel rod passes through the center disc and is evenly arranged between the two baffles to form the hub tooth surface; It is composed of back teeth, wherein: tooth-shaped protrusions are evenly distributed on the tooth surface and meshed with the tooth surface of the hub, and the back teeth are provided with a protrusion structure and are in contact with the ground.

The cross-sectional shape of the back tooth is trapezoidal, and the cross-sectional shape is determined according to the longitudinal resistance of the crawler belt and the earth-moving resistance, wherein: the longitudinal resistance of the crawler belt is generated from the friction and shear force of the soil, and its longitudinal resistance is expressed as: F _max ＝Ac+Wtanφ, where A is the track area, c is the soil viscous adhesion coefficient, W is the vertical load of the track, φ is the shear resistance angle of the soil, and Wtanφ is the bulldozing resistance. According to the above formula, in order to reduce the longitudinal resistance F _max , the shear resistance angle of the soil, that is, the bulldozing resistance, should be reduced. Therefore, the cross-section with back teeth is designed as a trapezoid to achieve this purpose.

The cross-section of the central wheel disc is generally circular, the center of which is a center hole matched with the axle sleeve, and a through hole adapted to the wheel shaft is opened on the circumference.

The cross-section of the baffle plate is generally circular, the center of which is a circular hole matched with the axle sleeve, the middle part is a spoke structure, and a through hole adapted to the wheel stem is opened on the circumference.

The section shape of the wheel bar is trapezoidal.

When the invention drives the wheel hub to work, the wheel shaft is driven by the motor to drive the wheel hub to rotate, and the outer side of the wheel hub is formed by a wheel rod to mesh with the tooth surface of the track. The driving hub is a hollow structure, and the gap between the spokes of the baffle is relatively large. Impurities such as gravel and mud fall into the tooth grooves and are easily squeezed out, ensuring the normal operation of the hub and the track.

technical effect

Compared with the prior art, the tire structure of the present invention is simple, the structure is firm, and the transmission efficiency is high. Adaptability and stability provide a guarantee for the crawler robot to move normally in complex road conditions.

Description of drawings

Fig. 1 is the structural representation of wheel hub of the present invention;

Fig. 2 is the side view of crawler belt of the present invention;

Fig. 3 is a structural schematic diagram of the center wheel of the present invention;

Fig. 4 is a schematic structural view of the baffle of the present invention.

detailed description

The following is a detailed description of the embodiments of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

Example 1

As shown in Fig. 1, Fig. 2 and Fig. 3, this embodiment includes: a wheel hub and crawlers, and the wheel hub is composed of a wheel shaft sleeve 1, a central wheel disc 2, several wheel rods 3, two baffle plates 4, and spokes 5 , wherein; the center wheel 2 is arranged in the middle of the end faces of the two baffles 4, and all three are axially arranged on the axle sleeve 1, and each wheel rod 3 passes through the center wheel 2 and is evenly arranged on the two baffles respectively 4 forms the wheel hub tooth surface, and the spoke 5 connects the tooth surface and the wheel shaft to form the wheel hub as a whole.

As shown in Figure 4, the crawler belt is composed of a toothed surface A and a back tooth B, wherein: the tooth surface A is evenly distributed with tooth-shaped protrusions and meshed with the tooth surface of the hub, and the back tooth B is provided with a raised structure and contact with the ground;

The raised structure with back teeth B is integrally formed with the track, and its section is a trapezoid with rounded corners;

The contact part of the crawler track with the ground is mainly back teeth, therefore, the cross-sectional shape of the back teeth needs to be screened. It is determined according to the longitudinal resistance and bulldozing resistance of the track, and the options are semicircular, rectangular and trapezoidal. Among them: the longitudinal resistance of the track is generated by the friction and shear force of the soil, and its longitudinal resistance is expressed as: Fmax=Ac+Wtanφ, where A is the area of the track, c is the soil viscous adhesion coefficient, and W is the vertical load of the track , φ is the shear resistance angle of the soil, and Wtanφ is the bulldozing resistance. Considering comprehensively, the cross-section shape of the back tooth is selected as trapezoid.

The cross-section of the center wheel 2 is circular as a whole, and its center is a center hole matched with the axle sleeve 1 , and a through hole adapted to the wheel rod 3 is opened on the circumference.

The section of the baffle plate 4 is generally circular, the center of which is a circular hole matched with the axle sleeve 1, the middle part is a spoke structure 5, and a through hole adapted to the wheel rod 3 is opened on the circumference.

The cross-sectional shape of the wheel bar 3 is trapezoidal.

When the driving wheel hub of the present invention works, the wheel shaft is driven by the motor to drive the wheel hub to rotate, and the outer side of the wheel hub is formed with a tooth surface by the wheel rod 3, which meshes with the tooth surface of the track. The driving hub is a hollow structure, and the gap between the 4 spokes of the baffle is large, and impurities such as gravel and soil can be easily squeezed out after falling into the tooth grooves, ensuring the normal operation of the hub and the track.

As shown in Table 1, the present embodiment is compared with the wheel hub with closed mating surface in the prior art

Table 1

In Table 1, the closed hub A selects the technology described in Chinese Patent Document No. CN103373404 or CN 103264730, and the hub B of the present invention selects the technology of this embodiment. The above two technologies are respectively tried on the same device and crawler belts, and the crawler belts are meshed. Install a pressure sensor on the surface to detect its abnormal state. By comparing the movement conditions on the three road surfaces, the results are shown in Table 1. Among them, the road surface I is a clean hardened ground, II is a clean soft ground, and III is a fine ground. Sandy soft ground. It can be seen from the table that on a clean hardened road surface, both hubs work normally; the more complex the road conditions, the shorter the normal moving distance of the closed hub, and even because too much impurities enter the meshing surface of the hub and the crawler track, the crawler hub will not move to the hub. The pressure becomes larger, which eventually causes the wheel shaft to deform and stop moving; the wheel hub of the present invention is not affected by complex road conditions, because impurities enter the meshing surface, are squeezed into the wheel hub, and are finally discharged from between the spokes, so the impact of the track on the wheel hub The pressure remains unchanged, ensuring the normal movement of the mechanism.

Claims (1)

1. A soft ground crawler-type mobile robot wheel belt structure adapting to complex road conditions is characterized in that it comprises: a wheel hub and a crawler track, and the wheel hub is composed of a wheel shaft sleeve, a central wheel disc, a number of trapezoidal wheel rods and a trapezoidal cross-sectional shape. Composed of two baffles, wherein the central disc is set in the middle of the end faces of the two baffles, and the three are all axially arranged on the axle sleeve, and each wheel rod passes through the central disc and is evenly arranged on the two baffles The hub tooth surface is formed between them; the track is composed of a tooth surface and a back tooth, wherein: the tooth surface is evenly distributed with tooth-shaped protrusions and meshed with the hub tooth surface, and the back tooth is provided with a raised structure and is in contact with the ground , the wheel shaft is driven by the motor and the wheel hub is driven to rotate. The outer side of the wheel hub is formed by the wheel rod and meshes with the tooth surface of the track; The cross-sectional shape of the back tooth is trapezoidal, and the cross-sectional shape is determined according to the longitudinal resistance of the crawler belt and the earth-moving resistance, wherein: the longitudinal resistance of the crawler belt is generated from the friction and shear force of the soil, and its longitudinal resistance is expressed as: F _max ＝Ac+Wtanφ, where A is the track area, c is the soil viscous adhesion coefficient, W is the vertical load of the track, φ is the shear resistance angle of the soil, and Wtanφ is the bulldozing resistance; The cross-section of the center wheel disc is generally circular, and its center position is the center hole matched with the axle sleeve, the middle part is a spoke structure, and a through hole adapted to the wheel rod is opened on the circumference; The cross-section of the baffle plate is generally circular, the center of which is a round hole matched with the axle sleeve, the middle part is a spoke structure, and a through hole adapted to the wheel rod is opened on the circumference; The hub has a hollow structure and the gaps between the spokes of the baffle are relatively large, so that impurities can be easily squeezed out after falling into the tooth grooves, thereby ensuring the normal operation of the hub and the track.