Small steerable single track

Abstract

The application belongs to the technical field of mobile robots, and particularly relates to a small-sized reversible single track, which comprises a transmission belt body, anti-upwarping guide strips and a circular tube-shaped belt body, the transmission belt body is provided with the anti-upwarping guide strips on both sides, the anti-upwarping guide strips are higher than the transmission belt body, and the outer side of the transmission belt body is provided with the circular tube-shaped belt body; a plurality of vehicle bodies are transmissionally connected in the transmission belt body, and an anti-upwarping mechanism is connected between each adjacent vehicle body; the side, away from the transmission belt body, of the anti-upwarping guide strip is provided with an annular groove, the anti-upwarping mechanism is connected in the annular groove, and the anti-upwarping mechanism is used for preventing the circular tube-shaped belt body from being upwarped when the vehicle body is turned, the circular tube-shaped belt body is deformed within an elastic range when the single track is turned, the belt body on the turning side is shortened, and the belt body on the outer side is elongated, at the same time, the anti-upwarping mechanism is arranged to prevent the circular tube-shaped belt body from being upwarped, the single track can bear concentrated heavy load, the load-to-weight ratio is high, precise control is not needed, and the single track has high practicability and reliability.

Description

Technical Field

[0001] This invention belongs to the field of mobile robot technology, specifically a small, steerable single track. Background Technology

[0002] With the development of mobile robot technology in my country, tracked mobile robots are being used more and more widely. Tracked mobile robots typically steer by differential speed (left-right) or by multi-section track turning, consisting of two or more track sections. However, existing steerable single-section tracks require multiple mechanism modules to achieve steering, resulting in complex structures. Therefore, developing a small, steerable single-section track is highly necessary. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention proposes a small, steerable single track that enables steering through a single track while preventing the track from lifting up during steering.

[0004] A small, steerable single track includes a drive belt body, anti-tilting guide strips, and a cylindrical belt body. Anti-tilting guide strips are provided on both sides of the drive belt body, and the anti-tilting guide strips are higher than the drive belt body. A cylindrical belt body is provided on the outer side of the drive belt body. Multiple vehicle bodies are driven and connected within the drive belt body, and an anti-tilting mechanism is connected between each adjacent vehicle body. An annular groove is provided on the side of the anti-tilting guide strip away from the drive belt body, and the anti-tilting mechanism is connected in the annular groove. The anti-tilting mechanism is used to prevent the cylindrical belt body from tilting when the vehicle body turns.

[0005] The anti-tilting mechanism includes an upper rotating frame and a lower rotating frame, which are symmetrically arranged along the center line of the transmission belt. The upper rotating frame is symmetrically provided with upper guide wheel shafts, and two upper anti-tilting guide wheels are provided on the two upper guide wheel shafts. The two upper anti-tilting guide wheels are respectively set in the annular grooves of the two anti-tilting guide bars. The lower rotating frame is symmetrically provided with lower guide wheel shafts, and two lower anti-tilting guide wheels are provided on the two lower guide wheel shafts. The two lower anti-tilting guide wheels are set in the annular grooves of the two anti-tilting guide bars. The upper rotating frame and the lower rotating frame are fixedly connected by a connector.

[0006] The upper guide wheel shaft and the upper rotating frame are an integral structure; the lower guide wheel shaft and the lower rotating frame are an integral structure.

[0007] The anti-tilting mechanism also includes a worm gear assembly and a drive shaft I. The worm of the worm gear assembly is connected to the drive motor of one of the vehicle bodies, and the worm gear assembly is fixedly connected to the other vehicle body. The worm gear is fixedly connected to the drive shaft I. Gear I and gear II are mounted on the drive shaft I via bearings. Gear I meshes with gear III fixed on the drive shaft II. Gear IV is also fixedly connected to the drive shaft II. Gear IV meshes with gear II. Gear II is connected to the upper rotating frame. The lower rotating frame is connected to the vehicle body fixed to the worm gear via a rotary bearing.

[0008] Gears I, II, III, and IV have the same module. The gear ratio of gears I and III is 15:21, and the reduction ratio is 1.4. The gear ratio of gears II and IV is also 15:21, and the reduction ratio is 1.4.

[0009] The cylindrical belt body includes multiple cylindrical hollow belts, which are fixedly connected.

[0010] The transmission belt is a rubber synchronous belt, and the inner side of the transmission belt has a toothed structure for transmission.

[0011] The anti-warping guide strip is a ring-shaped rubber strip with an isosceles trapezoidal cross-section.

[0012] The beneficial effects of this invention are as follows: 1. When a single track of the present invention turns, the cylindrical belt body deforms within the elastic range, the belt body on the turning side shortens, and the outer belt body lengthens. At the same time, in order to prevent the belt body from lifting, an anti-lifting mechanism is provided to prevent the cylindrical belt body from lifting through geometric constraints.

[0013] 2. The anti-tilting mechanism of this application can rotate with the steering of the vehicle body, and the steering angle is about 1 / 2 of the steering angle of the vehicle body, so that the anti-tilting mechanism is located in the middle of the two parking spaces, and the anti-tilting effect is the best.

[0014] 3. The single track of this invention can withstand concentrated large loads, has a high load-to-weight ratio, does not require precise control, and is highly practical and reliable. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the steerable single track of the present invention; Figure 2 This is a partially enlarged view of the steerable single track of the present invention; Figure 3 This is a cross-sectional view of the anti-tilting mechanism for a single steerable track according to the present invention. Figure 4 This is a schematic diagram showing the deformation of the cylindrical track body when the single track of the present invention turns; In the attached diagram: 1. Drive belt body; 2. Anti-warping guide bar; 3. Round tubular belt body; 4. Toothed structure; 5. Annular groove; 6. Upper anti-warping guide wheel; 7. Upper guide wheel shaft; 8. Upper rotating frame; 9. Pressure roller; 10. Connecting piece; 11. Drive shaft I; 12. Gear III; 13. Gear IV; 14. Gear I; 15. Drive shaft II; 16. Gear II; 17. Lower guide wheel shaft; 18. Lower rotating frame; 19. Rotary bearing; 20. Rear body; 21. Turbine; 22. Lower anti-warping guide wheel. Detailed Implementation

[0016] The present invention will now be described in detail with reference to the accompanying drawings.

[0017] like Figures 1-4 As shown, this embodiment provides a small, steerable single track, including a drive belt body 1, two anti-tilting guide strips 2, a cylindrical belt body 3, and an anti-tilting mechanism. The drive belt body 1 is a rubber synchronous belt, and the inner side of the drive belt body 1 is provided with a toothed structure 4. The internal core layer and toothed structure 4 of the drive belt body 1 must meet the transmission requirements and have an appropriate elongation. The anti-tilting guide strips 2 are symmetrically arranged on both sides of the drive belt body 1. The anti-tilting guide strips 2 are annular rubber strips with an isosceles trapezoidal cross-section to facilitate draft molding. The anti-tilting guide strips 2 are higher than the drive belt body 1 and have sufficient height to ensure... The drive pulley and pressure pulley 9 will not disengage during track drive. The outer side of the drive belt 1 is provided with a cylindrical belt body 3, which includes multiple cylindrical hollow belts. The multiple cylindrical hollow belts are fixedly connected and are distributed along the length of the drive belt 1. The drive belt 1 is connected to multiple vehicle bodies through a toothed structure 4. An anti-tilting mechanism is connected between each adjacent vehicle body. An annular groove 5 is provided on the side of the anti-tilting guide away from the drive belt 1. The anti-tilting mechanism is connected in the annular groove 5. The anti-tilting mechanism is used to prevent the cylindrical belt body 3 from tilting when the vehicle body turns.

[0018] In this embodiment, the transmission belt 1, two anti-lifting guide strips 2, and the cylindrical belt 3 can be connected by processes such as mold forming and vulcanization to form a small, steerable single track. When the track is traveling straight, the cylindrical belt 3 is located outside the transmission belt 1 and remains almost unchanged. When the track turns to one side, the part of the cylindrical belt 3 involved in the turning deforms within the elastic range. The length of the cylindrical belt 3 on the inner side of the turning direction shortens, while the length on the outer side lengthens. At the same time, during the turning, the trend of one side lengthening and the other side shortening is lower than the trend of one side lifting and the other side lowering, that is, the track will lift. Track lifting can easily lead to track detachment. Therefore, an anti-lifting mechanism is provided. The anti-lifting mechanism prevents the cylindrical belt 3 from lifting through geometric constraints. Therefore, the present invention achieves turning by constraining the anti-lifting mechanism and cooperating with the deformation of the cylindrical belt 3.

[0019] The anti-tilting mechanism includes an upper rotating frame 8 and a lower rotating frame 18. The upper rotating frame 8 and the lower rotating frame 18 are symmetrically arranged along the center line of the transmission belt body 1. The upper rotating frame 8 is symmetrically provided with upper guide wheel shafts 7. Two upper anti-tilting guide wheels 6 are provided on the two upper guide wheel shafts 7. The two upper anti-tilting guide wheels 6 are respectively set in the annular grooves 5 of the two anti-tilting guide bars 2. The lower rotating frame 18 is symmetrically provided with lower guide wheel shafts 17. Two lower anti-tilting guide wheels 22 are provided on the two lower guide wheel shafts 17. The two lower anti-tilting guide wheels 22 are set in the annular grooves 5 of the two anti-tilting guide bars 2. The upper rotating frame 8 and the lower rotating frame 18 are fixedly connected by a connector 10.

[0020] In this embodiment, the anti-tilting mechanism consists of two anti-tilting guide strips 2 with annular grooves 5, which work together with an upper anti-tilting guide wheel 6 and a lower anti-tilting guide wheel 22. The upper anti-tilting guide wheel 6 is sleeved on the upper guide wheel shaft 7, and the lower anti-tilting guide wheel 22 is sleeved on the lower guide wheel shaft 17. The upper guide wheel shaft 7 and the upper rotating frame 8 are made of the same part, and the lower guide wheel shaft 17 and the lower rotating frame 18 are made of the same part. The upper rotating frame 8 and the lower rotating frame 18 are fixedly connected together by two left and right symmetrical connecting pieces 10. In use, the upper anti-tilting guide wheel 6 and the lower anti-tilting guide wheel 22 roll simultaneously in the annular grooves 5 to limit the track tilting phenomenon that occurs when turning, thereby preventing the track from falling off.

[0021] The anti-tilting mechanism also includes a worm gear assembly and a drive shaft I11. The worm of the worm gear assembly is connected to the drive motor of one of the vehicle bodies, and the worm gear 21 of the worm gear assembly is fixedly connected to the other vehicle body. The worm gear is keyed to the drive shaft I11. Gear I14 is fixedly connected to the drive shaft I11, and gear II16 is mounted on it through a bearing. Gear I14 meshes with gear III12 fixed on the drive shaft II15. Gear IV13 is also fixedly connected to the drive shaft II, and gear IV13 meshes with gear II16. Gear II16 is keyed to the upper rotating frame 8. The lower rotating frame 18 is connected to the vehicle body fixed to the worm gear through a rotary bearing 19. Gears I14, II16, III12, and IV13 have the same module. The gear ratio of gears I14 and III12 is 15:21, and the reduction ratio is 1.4. The gear ratio of gears II16 and IV13 is also 15:21, and the reduction ratio is 1.4.

[0022] In this embodiment, the worm gear is connected to the drive motor of the front vehicle body, and the turbine 21 is fixedly connected to the rear vehicle body 20. The drive motor provides power to the worm gear, and the turbine drives the transmission shaft I11 to rotate. At this time, under the drive of the transmission shaft I11, the gear I14 rotates. Since gear I14 meshes with gear III12 and gear IV13 meshes with gear II16, and gears I14 and III12 are located on the same transmission shaft II15, gear II16 can drive the upper rotating frame 8 to rotate. The lower rotating frame 18 is connected to the rear vehicle body 20 through bearings. The two connecting parts 10 fix the upper rotating frame 8 and the lower rotating frame 18 together, so that the lower rotating frame 18... The upper rotating frame 8 rotates synchronously, thus enabling the entire anti-tilting mechanism to rotate. At the same time, the gear ratio of gear I 14 and gear III 12 is 15:21, with a reduction ratio of 1.4. The gear ratio of gear II 16 and gear IV 13 is also 15:21, with a reduction ratio of 1.4. The total reduction ratio of the two gear sets with a reduction ratio of 1.4 is 1.96. Therefore, the speed ratio of gear I 14 to gear II 16 is 1.96≈2. The turning angle of the upper rotating frame 8 and the lower rotating frame 18 around the drive shaft I 11 is about 1 / 2 of the turning angle of the front vehicle body 20. At this time, the anti-tilting mechanism is located in the middle of the front and rear vehicle bodies, and the anti-tilting effect is the best.

[0023] According to GB / T13487-2017 standard for synchronous belts for general transmission, the elongation of a single-sided toothed synchronous belt is ≤4%.

[0024] The track width is a mm, the track elongation is b%, and the turning radius is R mm.

[0025] .

[0026] The present invention relates to a small, steerable single track with a track width of 100 mm, wherein the width of the transmission belt 1 is only 5.5 mm. With a track elongation rate of 3%, the turning radius of the small, steerable single track of the present invention is only 183.33 mm. In contrast, a conventional track with the same width of 100 mm can achieve a turning radius of 3333.33 mm with a track elongation rate of 3%. Therefore, the small, steerable single track of the present invention can meet transmission requirements, has a certain width, and simultaneously enable steering.

Claims

1. A small, steerable single track, characterized in that, It includes a transmission belt body, anti-tilting guide strips, and a cylindrical belt body. Anti-tilting guide strips are provided on both sides of the transmission belt body, and the anti-tilting guide strips are higher than the transmission belt body. A cylindrical belt body is provided on the outer side of the transmission belt body. Multiple car bodies are connected in the transmission belt body, and an anti-tilting mechanism is connected between each adjacent car body. An annular groove is provided on the side of the anti-tilting guide strip away from the transmission belt body, and the anti-tilting mechanism is connected in the annular groove. The anti-tilting mechanism is used to prevent the cylindrical belt body from tilting when the car body turns.

2. The small, steerable single track according to claim 1, characterized in that, The anti-tilting mechanism includes an upper rotating frame and a lower rotating frame, which are symmetrically arranged along the center line of the transmission belt. The upper rotating frame is symmetrically provided with upper guide wheel shafts, and two upper anti-tilting guide wheels are provided on the two upper guide wheel shafts. The two upper anti-tilting guide wheels are respectively set in the annular grooves of the two anti-tilting guide bars. The lower rotating frame is symmetrically provided with lower guide wheel shafts, and two lower anti-tilting guide wheels are provided on the two lower guide wheel shafts. The two lower anti-tilting guide wheels are set in the annular grooves of the two anti-tilting guide bars. The upper rotating frame and the lower rotating frame are fixedly connected by a connector.

3. A small, steerable single track according to claim 2, characterized in that, The upper guide wheel shaft and the upper rotating frame are an integral structure; the lower guide wheel shaft and the lower rotating frame are an integral structure.

4. A small, steerable single track according to claim 2, characterized in that, The anti-tilting mechanism also includes a worm gear assembly and a drive shaft I. The worm of the worm gear assembly is connected to the drive motor of one of the vehicle bodies, and the worm gear assembly is fixedly connected to the other vehicle body. The worm gear is fixedly connected to the drive shaft I. Gear I and gear II are mounted on the drive shaft I via bearings. Gear I meshes with gear III fixed on the drive shaft II. Gear IV is also fixedly connected to the drive shaft II. Gear IV meshes with gear II. Gear II is connected to the upper rotating frame. The lower rotating frame is connected to the vehicle body fixed to the worm gear via a rotary bearing.

5. A small, steerable single track according to claim 4, characterized in that, Gears I, II, III, and IV have the same module. The gear ratio of gears I and III is 15:21, and the reduction ratio is 1.

4. The gear ratio of gears II and IV is also 15:21, and the reduction ratio is 1.

4.

6. A small, steerable single track according to claim 1, characterized in that, The cylindrical belt body includes multiple cylindrical hollow belts, which are fixedly connected.

7. A small, steerable single track according to claim 1, characterized in that, The transmission belt is a rubber synchronous belt, and the inner side of the transmission belt has a toothed structure for transmission.

8. A small, steerable single track according to claim 1, characterized in that, The anti-warping guide strip is a ring-shaped rubber strip with an isosceles trapezoidal cross-section.

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