CN1970373A - Restrained pedrail type flexible barrier-exceeding vehicle - Google Patents
Restrained pedrail type flexible barrier-exceeding vehicle Download PDFInfo
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- CN1970373A CN1970373A CN 200510107210 CN200510107210A CN1970373A CN 1970373 A CN1970373 A CN 1970373A CN 200510107210 CN200510107210 CN 200510107210 CN 200510107210 A CN200510107210 A CN 200510107210A CN 1970373 A CN1970373 A CN 1970373A
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- restrained
- joint
- flexible barrier
- type flexible
- crawler belt
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Abstract
It relates to a binding track mounted flexible barrier crossing vehicle. It designs based on the crawling movement of worms, comprises binding track, flexible body and big power four wheel drive mechanism. Running forward, the binding crawler and flexible body coordinates with each other to realize the automatic adaptability to all kinds of ground defects of the body, to increase contact surface of the body and land, ensuring the friction to provide the forward force, flexibly crossing the barriers, especially those in 90 degree included angle of the side and the ground. It forms the walking part of intelligent combat vehicles for national defense, military attack, scientific probing and exploration, domestic tractor, toys, amusement and competition equipments.
Description
Technical field
The present invention relates to a kind of barrier-exceeding vehicle, the creeping action of its bionical insects and designing, by can restrictive pedrail mechanism, flexible body mechanism and high-power four-wheel drive mechanism form.This car is in advancing, it can cooperatively interact with flexible car body by binding crawler belt, can realize that crawler belt automatically adapts to ground-surface many disadvantages (as step and pit etc.), protect positive vehicle body contact generation with ground friction force and provide onward impulse, and then reach the purpose that flexibility clears the jumps to car body.Especially can cross the side becomes 90 ° of angles with ground object.The crawler body that can be used for the military engagement locomotive based on its remarkable obstacle climbing ability.A kind of locomotive like this will demonstrate fully its strong point among the dilapidated walls of street fighting, the motion parts that especially is implemented in a kind of intelligence fight locomotive will can embody its preceence more.It also has good bionical effect in the process of walking so can be used for remote military scouting and attack etc.; It can also be used for scientific exploration; Because it adopts high-power four wheel drive can also be used for work such as civilian dilatory grade.
Background technology
At present, barrier-exceeding vehicle both domestic and external roughly is divided into wheeled and traditional crawler type.Wheeled barrier-exceeding vehicle can be realized higher speed of advance, but because wheeled construction adapts to the limited in one's ability of complex-terrain, actual central the application seldom.Traditional crawler vehicle is made up of the chassis of rigidity and traditional common crawler belt, though also some flexibility, because the flexibility of this car is to realize by the fixed part elastic elements at wheel, so this flexibility has significant limitation.The tradition crawler vehicle is because this restriction also can't be crossed taller and bigger obstacle.This restrained pedrail type flexible barrier-exceeding vehicle has overcome this limitation of traditional crawler vehicle just, has obtained stronger obstacle detouring effect.
Summary of the invention
The objective of the invention is in order to realize a kind of barrier-exceeding vehicle of brilliance, require it can cross the wall of the certain altitude that becomes 90 ° with ground-surface angle and the trench of certain depth.Traditional crawler vehicle is running into obstacle, its motion and stressed shown in Fig. 1-a during especially vertical obstacle, stressed concentrating on two points.Based on its huge weight and propulsive effort, this moment, this car will destroy ground and obstacle, and the landing original place, so, can't pass through this obstacle; This car is shown in Fig. 1-b, and it is when running into obstacle, and it is stressed still to be a face, the contact surface of different just bearing surfaces smaller, so Che Buhui destroys ground and obstacle, but move on.This car by a cover can restrictive pedrail mechanism, flexible body mechanism and high-power four-wheel drive mechanism form, high-power four-wheel drive mechanism provides enough power for advancing of car body; Flexible body is made up of a plurality of joints, produces flexibility, and it can guarantee car deformable when running into obstacle, automatically the adjustment disorder thing; Restrictive crawler belt is made up of the joint of " worker " font, and is constrained on the flexible body, no matter car body variation how, its car body that can not come off.
Description of drawings
Fig. 1 is the comparison diagram of traditional crawler vehicle and Ben Che.Fig. 2 is an appearance assumption diagram.Fig. 3 is the car body assembling sectional view.Fig. 4 is a car body assembling sectional side view
The specific embodiment
As shown in Figure 3, on the crawler belt joint of " worker " font, short two ends on one side all are equipped with needle bearing (2); Link to each other by chain link (1) between the crawler belt joint; Transverse slat (3) and side plate (10) are installed on the main body (4) by screw (7), " day " font of an osculum that formed up and down Ge Kai; Opening " day " the font joint that constitutes this car has 8 joints at least; " worker " font joint has in one section of needle bearing two mouth up and down that are installed in " day " font, and guarantees the cooperation that it is good by needle bearing, but crawler belt flexible movement in car body, and then form the good restriction relation of car body and crawler belt.As shown in Figure 4, connect by chain link (1) between the crawler belt joint (6) of " worker " font structure; Realize being connected to each other by hole on joint (4) and axle (11) between the car body joint (3,4,7,10); Belt wheel (12) has four, is the drive wheel of whole locomotive body, is distributed in the two ends of two crawler belts respectively; Belt wheel (12) directly links to each other with turbine (9) by axle (8), and turbine (9) is realized the one-level deceleration with worm screw (5); Worm screw (5) links to each other with motor or other drive sources respectively, constitutes the driver train of this car; Four driver trains in front and back are symmetrically distributed, and realize the driving to preceding revolver, front right wheel, back revolver and four belt wheels of rear right wheel (12) respectively; Left side two belt wheels interlock, the interlock of right side two belt wheels; Independently of one another between left side engaged wheel and the right side engaged wheel.As shown in Figure 2, between the corresponding joint of two crawler belts adapter shaft is arranged.During driving, the weight of whole locomotive body acts on the needle bearing on the downside crawler belt.
Claims (8)
1, a kind of restrained pedrail type flexible barrier-exceeding vehicle, it is made up of restrictive pedrail mechanism, flexible body mechanism and high-power four-wheel drive mechanism.It comprises two crawler belts, and crawler belt is formed by connecting through chain link (1) by needle bearing (2) " worker " font joint (6) is installed on the minor face; Crawler belt has on one section of needle bearing " day " font joint that is installed in opening, and " day " font joint of opening is installed on the main body (4) by screw (7) by transverse slat (3) and side plate (10) to be formed; " day " font joint of opening has 8 at least, and realizes being connected with each other by hole on the joint and axle (11).Four driving pulleys (12) link to each other with worm gear (9) by axle (8) respectively, and worm gear (9) cooperates with worm screw (5); Worm screw (5) links to each other with motor or other drive sources respectively; Four driver trains in front and back are symmetrically distributed, and four driver trains in front and back are symmetrically distributed, and realize respectively preceding revolver, front right wheel, back revolver and rear right wheel are driven; And the interlock of left side two-wheeled, the interlock of right side two-wheeled; Independent between left side engaged wheel and the right side engaged wheel.Article two, between the corresponding joint of crawler belt adapter shaft is arranged.
2, restrained pedrail type flexible barrier-exceeding vehicle according to claim 1 is characterized in that: be made up of restrictive crawler belt, flexible body mechanism and high-power four-wheel drive mechanism.
3, restrained pedrail type flexible barrier-exceeding vehicle according to claim 1 is characterized in that: its restrictive crawler belt interconnects through chain link (1) and forms by needle bearing (2) " worker " font joint (6) is housed on the minor face.
4, restrained pedrail type flexible barrier-exceeding vehicle according to claim 1, it is characterized in that: flexible body mechanism is installed on the main body (4) by screw (7) by transverse slat (3) and side plate (10), opening " day " the font joint of an osculum that formed up and down Ge Kai.
5, restrained pedrail type flexible barrier-exceeding vehicle according to claim 1 is characterized in that: the end that the crawler belt joint is equipped with needle bearing (2) is installed in " day " the font opening in main body joint.
6, restrained pedrail type flexible barrier-exceeding vehicle according to claim 1 is characterized in that: four driving pulleys (12) directly link to each other with worm gear (9) by axle (8).
7, restrained pedrail type flexible barrier-exceeding vehicle according to claim 1 is characterized in that: adopt four wheel drive, and two drive wheels interlocks on same crawler belt.
8, restrained pedrail type flexible barrier-exceeding vehicle according to claim 1 is characterized in that: between the corresponding joint of two crawler belts adapter shaft is arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101072101A CN100509524C (en) | 2005-11-25 | 2005-11-25 | Restrained pedrail type flexible barrier-exceeding vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101072101A CN100509524C (en) | 2005-11-25 | 2005-11-25 | Restrained pedrail type flexible barrier-exceeding vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1970373A true CN1970373A (en) | 2007-05-30 |
| CN100509524C CN100509524C (en) | 2009-07-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005101072101A Expired - Fee Related CN100509524C (en) | 2005-11-25 | 2005-11-25 | Restrained pedrail type flexible barrier-exceeding vehicle |
Country Status (1)
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| CN (1) | CN100509524C (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009009679A1 (en) * | 2007-07-10 | 2009-01-15 | Raytheon Sarcos, Llc | Serpentine robotic crawler having a continous track |
| US8002716B2 (en) | 2007-05-07 | 2011-08-23 | Raytheon Company | Method for manufacturing a complex structure |
| US8002365B2 (en) | 2006-11-13 | 2011-08-23 | Raytheon Company | Conformable track assembly for a robotic crawler |
| US8042630B2 (en) | 2006-11-13 | 2011-10-25 | Raytheon Company | Serpentine robotic crawler |
| US8185241B2 (en) | 2006-11-13 | 2012-05-22 | Raytheon Company | Tracked robotic crawler having a moveable arm |
| US8317555B2 (en) | 2009-06-11 | 2012-11-27 | Raytheon Company | Amphibious robotic crawler |
| US8392036B2 (en) | 2009-01-08 | 2013-03-05 | Raytheon Company | Point and go navigation system and method |
| US8393422B1 (en) | 2012-05-25 | 2013-03-12 | Raytheon Company | Serpentine robotic crawler |
| US8571711B2 (en) | 2007-07-10 | 2013-10-29 | Raytheon Company | Modular robotic crawler |
| CN104080520A (en) * | 2011-10-21 | 2014-10-01 | 新加坡国立大学 | Toy vehicle |
| US8935014B2 (en) | 2009-06-11 | 2015-01-13 | Sarcos, Lc | Method and system for deploying a surveillance network |
| US9031698B2 (en) | 2012-10-31 | 2015-05-12 | Sarcos Lc | Serpentine robotic crawler |
| US9409292B2 (en) | 2013-09-13 | 2016-08-09 | Sarcos Lc | Serpentine robotic crawler for performing dexterous operations |
| US9566711B2 (en) | 2014-03-04 | 2017-02-14 | Sarcos Lc | Coordinated robotic control |
| US10071303B2 (en) | 2015-08-26 | 2018-09-11 | Malibu Innovations, LLC | Mobilized cooler device with fork hanger assembly |
| US10807659B2 (en) | 2016-05-27 | 2020-10-20 | Joseph L. Pikulski | Motorized platforms |
-
2005
- 2005-11-25 CN CNB2005101072101A patent/CN100509524C/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8205695B2 (en) | 2006-11-13 | 2012-06-26 | Raytheon Company | Conformable track assembly for a robotic crawler |
| US8002365B2 (en) | 2006-11-13 | 2011-08-23 | Raytheon Company | Conformable track assembly for a robotic crawler |
| US8042630B2 (en) | 2006-11-13 | 2011-10-25 | Raytheon Company | Serpentine robotic crawler |
| US8185241B2 (en) | 2006-11-13 | 2012-05-22 | Raytheon Company | Tracked robotic crawler having a moveable arm |
| US8434208B2 (en) | 2007-05-07 | 2013-05-07 | Raytheon Company | Two-dimensional layout for use in a complex structure |
| US8002716B2 (en) | 2007-05-07 | 2011-08-23 | Raytheon Company | Method for manufacturing a complex structure |
| CN101778756B (en) * | 2007-07-10 | 2013-01-23 | 雷神萨科斯公司 | Serpentine robotic crawler having a continuous track |
| WO2009009679A1 (en) * | 2007-07-10 | 2009-01-15 | Raytheon Sarcos, Llc | Serpentine robotic crawler having a continous track |
| CN101778756A (en) * | 2007-07-10 | 2010-07-14 | 雷神萨科斯公司 | Serpentine robotic crawler having a continous track |
| US8571711B2 (en) | 2007-07-10 | 2013-10-29 | Raytheon Company | Modular robotic crawler |
| US8392036B2 (en) | 2009-01-08 | 2013-03-05 | Raytheon Company | Point and go navigation system and method |
| US8935014B2 (en) | 2009-06-11 | 2015-01-13 | Sarcos, Lc | Method and system for deploying a surveillance network |
| US8317555B2 (en) | 2009-06-11 | 2012-11-27 | Raytheon Company | Amphibious robotic crawler |
| CN104080520A (en) * | 2011-10-21 | 2014-10-01 | 新加坡国立大学 | Toy vehicle |
| US8393422B1 (en) | 2012-05-25 | 2013-03-12 | Raytheon Company | Serpentine robotic crawler |
| US9031698B2 (en) | 2012-10-31 | 2015-05-12 | Sarcos Lc | Serpentine robotic crawler |
| US9409292B2 (en) | 2013-09-13 | 2016-08-09 | Sarcos Lc | Serpentine robotic crawler for performing dexterous operations |
| US9566711B2 (en) | 2014-03-04 | 2017-02-14 | Sarcos Lc | Coordinated robotic control |
| US10071303B2 (en) | 2015-08-26 | 2018-09-11 | Malibu Innovations, LLC | Mobilized cooler device with fork hanger assembly |
| US10814211B2 (en) | 2015-08-26 | 2020-10-27 | Joseph Pikulski | Mobilized platforms |
| US10807659B2 (en) | 2016-05-27 | 2020-10-20 | Joseph L. Pikulski | Motorized platforms |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100509524C (en) | 2009-07-08 |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Huahui Power Machinery (Nantong) Co., Ltd. Assignor: Yang Ning Contract record no.: 2010320000492 Denomination of invention: Restrained pedrail type flexible barrier-exceeding vehicle Granted publication date: 20090708 License type: Exclusive License Open date: 20070530 Record date: 20100429 |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090708 Termination date: 20101125 |