CN112606921A - Articulated crawler motion chassis of coal mine search and rescue robot - Google Patents
Articulated crawler motion chassis of coal mine search and rescue robot Download PDFInfo
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- CN112606921A CN112606921A CN202011455479.XA CN202011455479A CN112606921A CN 112606921 A CN112606921 A CN 112606921A CN 202011455479 A CN202011455479 A CN 202011455479A CN 112606921 A CN112606921 A CN 112606921A
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- main body
- chassis
- body part
- rotating shell
- end rotating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention discloses an articulated crawler movement chassis of a coal mine search and rescue robot, which comprises a front end rotating shell, a rear end rotating shell, a middle main body part, a middle swinging part, crawlers at the left side and the right side, guide wheels and driving wheels, wherein the front end rotating shell is connected with the front end rotating shell; the front end rotating shell and the rear end rotating shell are connected with the middle main body part through rotating joints, the relevant joint motors are installed at the rotating joints, the left middle main body part and the right middle main body part are connected through the middle swinging part, and the left crawler belt and the right crawler belt are tensioned through the belt pressing device. The crawler movement chassis has strong obstacle crossing performance and single-side obstacle crossing capability, can overcome complex environments after underground disasters, is three-section, and has the advantages that when encountering an obstacle, the front-end rotating shell and the rear-end rotating shell serve as swing arms to assist in obstacle crossing, and when encountering the obstacle on one side of the chassis, the middle main bodies of the left part and the right part of the chassis can swing around the middle connecting shaft, so that the chassis keeps stable in obstacle crossing, and the crawler movement chassis has strong application value for complex rescue environments after underground disasters of a coal mine.
Description
Technical Field
The invention belongs to the technical field of search and rescue moving chassis, and particularly relates to an articulated crawler moving chassis of a coal mine search and rescue robot.
Background
China has abundant coal resources, and the coal still serves as the main energy of China for a long time in the future. Meanwhile, the coal resource storage geological conditions of China are poor, mine disasters occur frequently, the underground environment after the disasters is complicated and severe, secondary accidents can be caused by harmful gas, fire disasters, flood disasters and the like, and trapped people cannot be rescued in time.
At present, most rescues are dispatched to rescue teams to go deep into a mine for search and rescue, the search and rescue time is long, the search and rescue efficiency is low, in recent years, a plurality of students also study robots in the aspect of coal mine search and rescue, but the robots can be really used for mine post-disaster rescue only in a few parts, the double-track mobile robot is relatively simple in structure, but the obstacle crossing capability of the double-track mobile robot is lower than that of a four-track robot and a six-track robot, the obstacle crossing capability of the four-track robot and the six-track robot is high, but the simple and compact structural design of the robots is ignored, and the design structure is complex, so that the requirements of mine rescue cannot be met.
Disclosure of Invention
In order to overcome the defects in the design of the moving chassis of the existing coal mine search and rescue robot, the invention provides a novel articulated crawler moving chassis which is simple and compact in structure and high in obstacle crossing capability.
In order to solve the technical problems, the invention is realized by the following technical scheme: the invention provides an articulated crawler movement chassis of a coal mine search and rescue robot, which comprises a front end rotating shell, a rear end rotating shell, a middle main body part, a middle swinging part, crawlers on the left side and the right side, a belt pressing device, a guide wheel, a bearing wheel and a driving wheel, wherein the front end rotating shell is connected with the front end rotating shell; the front end rotating shell and the rear end rotating shell are connected with the middle main body part through rotating joints, the relevant joint motors are installed at the rotating joints, the left middle main body part and the right middle main body part are connected through a middle swinging part, the driving wheels are provided with driving motors, and the left crawler belt and the right crawler belt are tensioned through a belt pressing device; the joint motor provides power for the rotary joint and drives the front end rotary shell and the rear end rotary shell to rotate for a certain angle around the rotary joint so as to assist the search and rescue robot to cross an obstacle; the middle main body parts on the left side and the right side are connected through the middle connecting shaft of the middle swinging part, when the crawler on one side of the chassis meets an obstacle, the middle main body part on one side of the obstacle rotates around the middle connecting shaft in a self-adaptive mode for a certain angle, and the search and rescue robot can stably cross the obstacle on one side.
Preferably, the rotary joint provides power through a joint motor, the rotary joint is composed of a bevel gear, a worm, a bearing, a wheel shaft, a connecting plate and a connecting key, the joint motor drives the wheel shaft to rotate through the bevel gear, the worm gear and the worm, and two ends of the wheel shaft are supported and rotated through the bearing; the wheel shaft is provided with a key groove, and the connecting plate is connected with the wheel shaft through a connecting key.
Preferably, the middle swinging part consists of a middle connecting shaft, a deep groove ball bearing, a bearing end cover, an end cover bolt, a bearing retainer ring and a bolt; one end of the middle connecting shaft is connected with one middle main body part through a bearing retainer ring and a bolt, and the other end of the middle connecting shaft is connected with the other middle main body part through a deep groove ball bearing, a bearing end cover and an end cover bolt.
Therefore, the articulated crawler motion chassis of the coal mine search and rescue robot has the following beneficial effects:
the articulated crawler motion chassis has strong obstacle crossing performance and single-side obstacle crossing capability, can overcome complex environments after underground disasters, is three-section, and has the advantages that when a boss, a step and other obstacles are encountered, the front-end rotating shell and the rear-end rotating shell are used as swing arms to assist in obstacle crossing, and when one side of the chassis encounters the obstacle, the middle main bodies of the left part and the right part of the chassis can swing around the middle connecting shaft, so that the chassis keeps stable in obstacle crossing, and the articulated crawler motion chassis has strong application value for complex rescue environments after underground disasters.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following detailed description is given in conjunction with the preferred embodiments, together with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below.
FIG. 1 is a schematic structural view of an articulated crawler motion chassis of a coal mine search and rescue robot according to the present invention;
FIG. 2 is a schematic structural view of a rotary joint of the articulated track motion chassis of the coal mine search and rescue robot of the invention;
fig. 3 is a schematic structural diagram of a middle swinging part of the articulated crawler movement chassis of the coal mine search and rescue robot.
Detailed Description
Other aspects, features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which form a part of this specification, and which illustrate, by way of example, the principles of the invention. In the referenced drawings, the same or similar components in different drawings are denoted by the same reference numerals.
As shown in figures 1 to 3, the articulated crawler movement chassis of the coal mine search and rescue robot comprises a front end rotation shell 1, a rear end rotation shell 2, a middle main body part 3, a middle swinging part 4, a guide wheel 9, a driving wheel 11, a bearing wheel 10, left and right crawler belts 5, a belt pressing device 6, a driving motor and a joint motor 21, wherein the guide wheel 9 and the bearing wheel 10 are installed in the crawler belts 5, the joint motor 21 is installed at the position of a rotation joint 7, power is provided by the joint motor 21, power is transmitted through a bevel gear 20, a worm gear 23 and a worm 22, the connecting plate 8 drives the rotation motion of the front end rotation shell 1 and the rear end rotation shell 2, the driving motor is connected with the driving wheel 11 installed at two sides of the middle main body part 3 to control chassis motion, the middle main body parts 3 at the left and right sides are connected through the middle swinging part 4, and when a single side meets an obstacle, the left and right parts can generate self-adaptive rotation motion around the So that the chassis can stably cross the obstacle.
The rotary joint 7 of the invention provides power through the joint motor 21, the rotary joint 7 is composed of a bevel gear 20, a worm wheel 23, a worm 22, a bearing 19, a wheel shaft 18, a connecting plate 8 and a connecting key 24, the joint motor 21 drives the wheel shaft 18 to rotate through the bevel gear 20, the worm wheel 23 and the worm 22, and two ends of the wheel shaft 18 are supported and rotated by the bearing 19. The axle 18 is provided with a key groove, and the connecting plate 8 is connected with the axle 18 through a connecting key 24.
The middle swinging part 4 is composed of a middle connecting shaft 12, a deep groove ball bearing 13, a bearing end cover 14, an end cover bolt 15, a bearing retainer ring 16 and a bolt 17, wherein one end of the middle connecting shaft 12 is connected with one middle main body part 3 through the bearing retainer ring 16 and the bolt 17, and the other end of the middle connecting shaft is connected with the other middle main body part 3 through the deep groove ball bearing 13, the bearing end cover 14 and the end cover bolt 15.
The driving wheels 11 on both sides of the middle body part 3 are powered by a driving motor to control the chassis to move, and the crawler belts 5 on both sides are tensioned by the belt pressing device 6.
As shown in figure 1, the articulated crawler motion chassis is of a three-section structure, the front end rotating shell 1 and the rear end rotating shell 2 are equivalent to four swing arms, when a high obstacle is encountered, the front end rotating shell 1 and the rear end rotating shell 2 provide power for the rotating joint 7 through the joint motor 21, the front end rotating shell 1 and the rear end rotating shell 2 are driven to rotate by corresponding angles through the connecting plate 8, the front end rotating shell 1 is lapped on the edge of the obstacle, the driving motor provides power for the motion chassis, and the rear end rotating shell 2 plays a supporting role, so that the whole mass center of the search and rescue robot crosses the edge of the obstacle, and the robot can smoothly cross the obstacle.
The left and right middle main body parts 3 of the articulated crawler motion chassis are connected through the middle connecting shaft 12 of the middle swinging part 4, when one side of the motion chassis meets an obstacle, the side of the motion chassis meets the obstacle and rotates by a corresponding angle around the middle connecting shaft 12, and therefore the purpose of stably crossing the obstacle on one side is achieved.
The articulated crawler movement chassis is high in obstacle crossing capability, can overcome various complex environmental obstacles after underground accidents of coal mines, and thus carries various sensing equipment to complete underground search and rescue work.
While the foregoing is directed to the preferred embodiment of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (3)
1. An articulated crawler movement chassis of a coal mine search and rescue robot is characterized by comprising a front end rotating shell (1), a rear end rotating shell (2), a middle main body part (3), a middle swinging part (4), crawlers (5) at the left side and the right side, a belt pressing device (6), a guide wheel (9), a bearing wheel (10) and a driving wheel (11);
the front-end rotating shell (1) and the rear-end rotating shell (2) are connected with the middle main body part (3) through rotating joints (7), a related joint motor (21) is installed at the rotating joints (7), the left middle main body part and the right middle main body part (3) are connected through a middle swinging part (4), a driving motor is installed at the driving wheel (11), and the left crawler belt and the right crawler belt (5) are tensioned through a belt pressing device (6);
the joint motor (21) provides power for the rotary joint (7) and drives the front-end rotary shell (1) and the rear-end rotary shell (2) to rotate for a certain angle around the rotary joint (7) to assist the search and rescue robot to cross an obstacle; the middle main body parts (3) on the left side and the right side are connected through the middle connecting shaft (12) of the middle swinging part (4), when the crawler on one side of the chassis meets an obstacle, the middle main body part (3) on one side of the chassis self-adaptively rotates for a certain angle around the middle connecting shaft (12), and the search and rescue robot can stably cross the obstacle on one side.
2. The articulated caterpillar track motion chassis of the coal mine search and rescue robot as claimed in claim 1, wherein the rotary joint (7) is powered by a joint motor (21), the rotary joint (7) is composed of a bevel gear (20), a worm gear (23), a worm (22), a bearing (19), an axle (18), a connecting plate (8) and a connecting key (24), the joint motor (21) drives the axle (18) to rotate through the bevel gear (20), the worm gear (23) and the worm (22), and two ends of the axle (18) are supported and rotated by the bearing (19);
the wheel shaft (18) is provided with a key groove, and the connecting plate (8) is connected with the wheel shaft (18) through a connecting key (24).
3. The articulated caterpillar motion chassis of the coal mine search and rescue robot as defined in claim 1, wherein the middle swing part (4) is composed of a middle connecting shaft (12), a deep groove ball bearing (13), a bearing end cover (14), an end cover bolt (15), a bearing retainer ring (16) and a bolt (17);
one end of the middle connecting shaft (12) is connected with one middle main body part (3) through a bearing retainer ring (16) and a bolt (17), and the other end of the middle connecting shaft is connected with the other middle main body part (3) through a deep groove ball bearing (13), a bearing end cover (14) and an end cover bolt (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011455479.XA CN112606921A (en) | 2020-12-10 | 2020-12-10 | Articulated crawler motion chassis of coal mine search and rescue robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011455479.XA CN112606921A (en) | 2020-12-10 | 2020-12-10 | Articulated crawler motion chassis of coal mine search and rescue robot |
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| CN112606921A true CN112606921A (en) | 2021-04-06 |
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| CN202011455479.XA Pending CN112606921A (en) | 2020-12-10 | 2020-12-10 | Articulated crawler motion chassis of coal mine search and rescue robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113400924A (en) * | 2021-05-14 | 2021-09-17 | 重庆大学 | Deformable crawler-type reconfigurable composite chassis for robot |
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| US20170177005A1 (en) * | 2014-09-10 | 2017-06-22 | X Development Llc | Tablet Computer-Based Robotic System |
| CN106926909A (en) * | 2015-12-30 | 2017-07-07 | 苏茂 | Robot crawler-type mobile chassis |
| CN206552138U (en) * | 2016-12-28 | 2017-10-13 | 武汉理工大学 | Based on wheel-track combined robot ambulation chassis |
| CN109436112A (en) * | 2018-12-30 | 2019-03-08 | 杭州白泽方舟科技有限公司 | Cterpillar drive and barrier-surpassing robot |
| CN109703639A (en) * | 2018-12-03 | 2019-05-03 | 北京建筑大学 | A kind of robot with variable structure |
| CN210734339U (en) * | 2019-09-17 | 2020-06-12 | 河北工业大学 | Wall-climbing robot |
-
2020
- 2020-12-10 CN CN202011455479.XA patent/CN112606921A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170177005A1 (en) * | 2014-09-10 | 2017-06-22 | X Development Llc | Tablet Computer-Based Robotic System |
| CN106926909A (en) * | 2015-12-30 | 2017-07-07 | 苏茂 | Robot crawler-type mobile chassis |
| CN206552138U (en) * | 2016-12-28 | 2017-10-13 | 武汉理工大学 | Based on wheel-track combined robot ambulation chassis |
| CN109703639A (en) * | 2018-12-03 | 2019-05-03 | 北京建筑大学 | A kind of robot with variable structure |
| CN109436112A (en) * | 2018-12-30 | 2019-03-08 | 杭州白泽方舟科技有限公司 | Cterpillar drive and barrier-surpassing robot |
| CN210734339U (en) * | 2019-09-17 | 2020-06-12 | 河北工业大学 | Wall-climbing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113400924A (en) * | 2021-05-14 | 2021-09-17 | 重庆大学 | Deformable crawler-type reconfigurable composite chassis for robot |
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Application publication date: 20210406 |