CN107364502B

CN107364502B - Crawler-type mobile robot

Info

Publication number: CN107364502B
Application number: CN201710611012.1A
Authority: CN
Inventors: 季剑雄; 马庆华; 袁敏健; 李占国
Original assignee: Shanghai Yikun Electrical Engineering Co ltd
Current assignee: Shanghai Yikun Electrical Engineering Co ltd
Priority date: 2017-07-25
Filing date: 2017-07-25
Publication date: 2020-05-22
Anticipated expiration: 2037-07-25
Also published as: CN107364502A

Abstract

The invention discloses a crawler-type mobile robot, which comprises a vehicle body, wherein two sides of the vehicle body are respectively provided with a crawler; the driven wheel module comprises a driven wheel and a supporting component for supporting the driven wheel to rotate; the driving wheel module comprises a driving wheel, an end plate and a driving part for driving the driving wheel, the end plate is fixedly connected with the vehicle body, and the driving part is fixedly connected with the end plate and embedded in the vehicle body; the vehicle body is internally provided with an accommodating cavity, the main control module is embedded in the accommodating cavity and comprises a battery and data processing equipment for controlling the driving part; each caterpillar band is internally provided with a driving wheel and a driven wheel. The crawler-type robot can rapidly detach each module from the vehicle body and rapidly mount each module on the vehicle body, and has the advantages of compact structure, convenience in detachment and rapidness in mounting.

Description

Crawler-type mobile robot

Technical Field

The invention relates to the technical field of robots, in particular to a crawler-type mobile robot.

Background

With the development of science and technology, robots are more and more widely applied. A robot generally refers to a machine device that automatically performs work. The robot can receive human commands, run pre-programmed programs and act according to principles formulated by artificial intelligence technology. The robot can be applied to the production and manufacturing industry, the construction industry and other dangerous working occasions. A tracked robot is one type of robot. The crawler-type robot has the advantages of large traction force, difficulty in slipping, good cross-country performance and the like. At present, most of crawler robots are directly assembled, and after the crawler robots are installed, the crawler robots are troublesome to disassemble.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a crawler-type mobile robot.

The invention solves the technical problems through the following technical scheme:

a crawler-type mobile robot comprises a vehicle body, wherein two sides of the vehicle body are respectively provided with a crawler; the driven wheel module comprises a driven wheel and a supporting component for supporting the driven wheel to rotate; the driving wheel module comprises a driving wheel, an end plate and a driving part for driving the driving wheel, the end plate is fixedly connected with the vehicle body, and the driving part is fixedly connected with the end plate and embedded in the vehicle body; the vehicle body is internally provided with an accommodating cavity, the main control module is embedded in the accommodating cavity and comprises a battery and data processing equipment for controlling the driving part; each caterpillar band is internally provided with a driving wheel and a driven wheel.

Preferably, the support component comprises a base, a connecting seat, a connecting rod and a fixed block, and the base and the fixed block are fixed on the vehicle body through bolts; the connecting seat is fixedly connected with the base; a bearing and a nut are arranged in the inner cavity of the connecting seat, a driven wheel rotating shaft is fixedly arranged on the driven wheel, and the driven wheel rotating shaft penetrates through the bearing; one end of the connecting rod penetrates through the fixed block, and the other end of the connecting rod is in threaded connection with the nut; the nut and the connecting rod are fixedly connected through the adjusting bolt.

Preferably, the adjusting bolt penetrates through the connecting seat and the nut at the same time, and the end part of the adjusting bolt abuts against the connecting rod.

Preferably, the base is provided with a T-shaped groove, the connecting seat is provided with a T-shaped bulge, and the T-shaped bulge is embedded in the T-shaped groove.

Preferably, the driving wheel module further comprises a guide mechanism, and the guide mechanism is arranged outside the driving part; a quick-connection plug is arranged on the driving part; the driving wheel is provided with a driving wheel rotating shaft which is arranged on the end plate in a penetrating way and is connected with the driving part; the end plate is fixedly connected with the vehicle body through bolts.

Preferably, the guide mechanism comprises a guide slide rail and a slide groove, the guide slide rail is fixedly connected with the driving part, and the slide groove is arranged on the vehicle body.

Preferably, the driving part comprises a gear box, a motor for driving the gear box and an encoder connected to the motor, the driving wheel rotating shaft is connected with the gear box, and the quick-connection plug is arranged on the encoder.

Preferably, the main control module further comprises a support frame embedded in the accommodating cavity, a top plate is arranged at the top of the support frame, two lifting plates are respectively arranged on two sides of the top plate, and strip-shaped grooves are formed in the lifting plates; a partition plate is arranged in the supporting frame, the battery is arranged below the partition plate, a battery guide rail is also arranged below the partition plate and is fixed on the supporting frame, and the battery guide rail is embedded in the battery; the data processing equipment is arranged between the top plate and the partition plate; the top plate is provided with an interface module.

Preferably, there are two battery guide rails, and the battery is clamped between the two battery guide rails.

Preferably, a wireless router and a power supply change-over switch are arranged between the top and the partition plate; the data processing equipment is a computer; a supporting seat is arranged below the data processing equipment and fixedly connected with the partition plate; the interface module is clamped between the two handles; the interface module is provided with a display, an antenna and a plurality of electrical interfaces; the electrical interface comprises a USB interface, a network data interface and a power socket.

The positive progress effects of the invention are as follows: the crawler-type mobile robot of the invention makes the driving wheel mechanism, the driving wheel mechanism and the main control mechanism into modules. The driving wheel module and the main control module are both in a plug-in type, and the driving wheel module, the driving wheel module and the vehicle body are fixed through bolts, so that the vehicle is convenient to disassemble. Therefore, the modules can be rapidly detached from the crawler-type robot body and can be rapidly installed on the crawler-type robot body, and the crawler-type robot has the advantages of being compact in structure, convenient to detach and rapid to install.

Drawings

Fig. 1 is a perspective view of a preferred embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a preferred embodiment of the present invention.

Fig. 3 is a perspective view of a driven wheel module according to a preferred embodiment of the invention.

FIG. 4 is a top view of a driven wheel module according to a preferred embodiment of the present invention.

Fig. 5 is a view from a in fig. 4.

Fig. 6 is a view from direction B of fig. 4.

Fig. 7 is a perspective view of a driving wheel module according to a preferred embodiment of the invention.

Fig. 8 is a perspective view of another perspective view of the driving wheel module according to the preferred embodiment of the invention.

Fig. 9 is a perspective view of a main control module and a vehicle body according to a preferred embodiment of the invention.

Fig. 10 is a perspective view of the vehicle body and the accommodating chamber according to the preferred embodiment of the invention.

Fig. 11 is a perspective view of a main control module according to a preferred embodiment of the invention.

Detailed Description

The present invention will be more clearly and completely described in the following description of preferred embodiments, taken in conjunction with the accompanying drawings.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, and 11, a crawler type mobile robot includes a vehicle body 500, a main control module 300, two driving wheel modules 200, and two driven wheel modules 100.

The driven wheel module 100 includes a driven wheel 101 and a supporting member supporting the driven wheel for rotation; the driven wheel is fixedly provided with a driven wheel rotating shaft 102. The support member includes a base 103, a connection seat 104, a connection rod 105, and a fixing block 106. Threaded holes 110 are formed in the base 103 and the fixing block 106, and the base and the fixing block are fixed to the vehicle body 500 through bolts. The base and the fixed block can be quickly connected with the vehicle body through bolts.

The connecting seat 104 is fixed to the base 103. The base 103 has a T-shaped groove 1031, the connecting seat 104 has a T-shaped protrusion 1041, and the T-shaped protrusion 1041 is embedded in the T-shaped groove 1031. The connecting seat and the base are connected through a bolt. Through inlaying and establishing and bolted connection for connecting seat and base firm in connection have improved the stability of structure.

The inner cavity of the connecting socket 104 is provided with a bearing 107 and a nut 108. The bearing 107 and the nut 108 are located on different end faces of the connecting socket 104. The number of the bearings 107 is two, and the two bearings 107 are arranged in parallel. The driven wheel rotating shaft 102 passes through the bearing 107. Due to the arrangement of the two bearings, the driven wheel rotating shaft has good stability when rotating.

One end of the connecting rod 105 is arranged through the fixing block 106, and the other end is in threaded connection with the nut 108; the nut 108 and the connecting rod 105 are fixedly connected by an adjusting bolt 109. The both ends of connecting rod are connected fixed block and connecting seat respectively, have improved overall structure's stability. The adjusting bolt 109 is simultaneously inserted into the connecting seat 104 and the nut 108, and the end of the adjusting bolt 109 abuts against the connecting rod 105.

When this driven wheel mechanism is installed, loosening adjusting bolt for base and fixed block are fixed in the automobile body of robot respectively, then tighten adjusting bolt again, like this, both make this mechanism more firm with the automobile body coupling, make the installation more convenient again, avoid leading to the unable condition that corresponds of screw hole and the screw hole of automobile body of base or fixed block because of the unable regulation of connecting rod to take place.

When the driven wheel mechanism needs to be disassembled, the whole driven wheel mechanism can be disassembled only by loosening the bolts and disassembling the base and the fixed block from the vehicle body.

The capstan module 200 includes a capstan 201, an end plate 203, and a driving part 205 for driving the capstan, on which a capstan shaft 202 is provided; the driving wheel module further comprises a guide mechanism. The driving wheel 201 is provided with chain teeth 207 adapted to the track, and the chain teeth 207 are distributed on two sides of the driving wheel 201. The sprocket 207 has a cylindrical shape.

The guide mechanism is arranged outside the driving part; the guide mechanism includes a guide rail 204 and a sliding groove (not shown), the guide rail 204 is fixed to the driving part 205, and the sliding groove is disposed on the vehicle body. The two guide slide rails are respectively arranged on two sides of the driving part.

The end plate 203 is fixed to the vehicle body 500 through bolts, the driving wheel shaft 202 penetrates through the end plate 203 and is connected to the driving part, the driving part 205 is fixed to the end plate 203 and is embedded in the vehicle body, and the driving part 205 is provided with a quick-connect plug 206.

The driving member 205 has a cylindrical shape. The driving component 205 comprises a gear box 208, a motor 209 for driving the gear box and an encoder 210 connected with the motor, the driving wheel rotating shaft 202 is connected with the gear box 208, and the quick-connection plug is arranged on the encoder.

The vehicle body is also provided with an electric connector matched with the quick connector. When the driving component is inserted into the robot body, the two guide sliding rails move along the sliding grooves until the quick-connection plug is connected with the electric connector. At this time, the end plate abuts against the body of the robot, and the end plate is fixed to the body by bolts. When the bolt needs to be disassembled, the bolt on the end plate is disassembled, and the driving part is pulled out.

An accommodating cavity 319 is arranged in the vehicle body, and the main control module 300 is embedded in the accommodating cavity 319. The main control module 300 comprises a supporting frame 301 embedded in the accommodating cavity, a battery 305 and a data processing device for controlling the driving components, wherein the data processing device is a computer 307. The top of the supporting frame 301 is provided with a top plate 302, the two sides of the top plate 302 are provided with handles 303, and the handles 303 are provided with strip-shaped grooves 3031. The user can stretch into the bar-shaped groove with the hand, exerts ascending power after, can pull out whole host system. When the main control module needs to be put in, the main control module can be put in the vehicle through the handheld handle.

A partition 304 is provided in the support frame 301. The battery 305 is arranged below the separator 304, a battery guide 306 is further arranged below the separator, the battery guide 306 is fixed on the support frame 301, and the battery guide 306 is embedded in the battery 305. The battery rails 306 are two, and the battery 305 is sandwiched between the two battery rails 306.

A computer 307 is disposed between the top plate 302 and the partition 304, a wireless router 308, and a power transfer switch 309. A support 314 is disposed below the computer 307, and the support 314 is fixed to the partition 304.

The top plate 302 is provided with an interface module 310, and the interface module 310 is clamped between the two handles 303. The interface module 310 is provided with a display 311, an antenna 312 and several electrical interfaces 313. The electrical interface 313 includes a USB interface, a network data interface, and a power outlet.

The main control module integrates related main control components into a whole and is made into a module type. When the robot needs to be disassembled, the main control module can be disassembled from the robot by applying force outwards through the lifting handle. When the robot needs to be installed, the main control module can be placed into the body of the robot by holding the handle, and quick connection is achieved.

One crawler 501 is provided on each side of the vehicle body 500. Each track 501 has a drive wheel 201 and a driven wheel 101 disposed therein. The driving wheel provides power for the caterpillar to move forward, and the driven wheel moves forward along with the caterpillar.

The crawler-type mobile robot of the invention makes the driving wheel mechanism, the driving wheel mechanism and the main control mechanism into modules. The driving wheel module and the main control module are both in a plug-in type, and the driving wheel module, the driving wheel module and the vehicle body are fixed through bolts, so that the vehicle is convenient to disassemble. Therefore, the modules can be rapidly detached from the crawler-type robot body and can be rapidly installed on the crawler-type robot body, and the crawler-type robot has the advantages of being compact in structure, convenient to detach and rapid to install.

While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.

Claims

1. A crawler-type mobile robot comprises a vehicle body, wherein two sides of the vehicle body are respectively provided with a crawler; the driven wheel module comprises a driven wheel and a supporting component for supporting the driven wheel to rotate; the driving wheel module comprises a driving wheel, an end plate and a driving part for driving the driving wheel, the end plate is fixedly connected with the vehicle body, and the driving part is fixedly connected with the end plate and embedded in the vehicle body; the vehicle body is internally provided with an accommodating cavity, the main control module is embedded in the accommodating cavity and comprises a battery and data processing equipment for controlling the driving part; each caterpillar band is internally provided with a driving wheel and a driven wheel; the supporting component comprises a base, a connecting seat, a connecting rod and a fixing block, and the base and the fixing block are fixed on the vehicle body through bolts; the connecting seat is fixedly connected with the base; a bearing and a nut are arranged in the inner cavity of the connecting seat, a driven wheel rotating shaft is fixedly arranged on the driven wheel, and the driven wheel rotating shaft penetrates through the bearing; one end of the connecting rod penetrates through the fixed block, and the other end of the connecting rod is in threaded connection with the nut; the nut is fixedly connected with the connecting rod through an adjusting bolt; the adjusting bolt penetrates through the connecting seat and the nut at the same time, and the end part of the adjusting bolt is abutted against the connecting rod; the base is provided with a T-shaped groove, the connecting seat is provided with a T-shaped bulge, and the T-shaped bulge is embedded in the T-shaped groove; the driving wheel module also comprises a guide mechanism which is arranged outside the driving part; a quick-connection plug is arranged on the driving part; the driving wheel is provided with a driving wheel rotating shaft which is arranged on the end plate in a penetrating way and is connected with the driving part; the end plate is fixedly connected with the vehicle body through bolts.

2. The tracked mobile robot according to claim 1, wherein the guide mechanism comprises a guide rail fixedly connected to the drive member and a slide groove provided in the vehicle body.

3. The tracked mobile robot as defined in claim 1, wherein the drive means includes a gear box, a motor for driving the gear box, and an encoder connected to the motor, the drive wheel shaft being connected to the gear box, the quick-connect plug being provided on the encoder.

4. The crawler-type mobile robot according to claim 1, wherein the main control module further comprises a support frame embedded in the accommodating cavity, a top plate is arranged at the top of the support frame, two lifting plates are respectively arranged at two sides of the top plate, and a strip-shaped groove is formed in each lifting plate; a partition plate is arranged in the supporting frame, the battery is arranged below the partition plate, a battery guide rail is also arranged below the partition plate and is fixed on the supporting frame, and the battery guide rail is embedded in the battery; the data processing equipment is arranged between the top plate and the partition plate; the top plate is provided with an interface module.

5. The tracked mobile robot of claim 4, wherein there are two battery rails and the battery is sandwiched between the two battery rails.

6. The tracked mobile robot as claimed in claim 4, wherein a wireless router and a power transfer switch are further provided between the top and the partition; the data processing equipment is a computer; a supporting seat is arranged below the data processing equipment and fixedly connected with the partition plate; the interface module is clamped between the two handles; the interface module is provided with a display, an antenna and a plurality of electrical interfaces; the electrical interface comprises a USB interface, a network data interface and a power socket.