CN109501875B - Wedge-shaped crawler-type robot - Google Patents
Wedge-shaped crawler-type robot Download PDFInfo
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- CN109501875B CN109501875B CN201811628920.2A CN201811628920A CN109501875B CN 109501875 B CN109501875 B CN 109501875B CN 201811628920 A CN201811628920 A CN 201811628920A CN 109501875 B CN109501875 B CN 109501875B
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- wheel
- crawler
- machine body
- wedge
- angle camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a wedge-shaped crawler-type robot, which comprises a machine body, wherein two sides of the machine body are rotatably connected with driving wheels, the driving wheels at two ends of the same side of the machine body are rotatably connected through a first crawler, a rotating shaft is arranged on the outer side of each driving wheel, a return spring is movably connected on the outer side of each rotating shaft, and the rotating shaft is movably connected with a driven wheel through the return spring. According to the crawler-type robot, the rotating shaft is arranged on the outer side of the driving wheel, the return spring is movably connected to the outer side of the rotating shaft, the driving wheel is connected with the driven wheel through the rotating shaft, one end of the return spring is connected with the driving wheel, the other end of the return spring is connected with the driven wheel, the driven wheel is connected with the bottom wheel through the connecting rod, the robot runs on the ground which is uneven or has a large gradient, the driven wheel drives the bottom wheel to move through the connecting rod under the action of the return spring, and the bottom wheel is lifted up or put down to adapt to the current terrain, so that the crawler-type robot can have good ground passing capacity under a complex ground environment.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wedge-shaped crawler-type robot.
Background
At present, mobile robots are mainly classified into three types, namely a bionic leg type robot, a wheel type robot and a crawler type robot, wherein the leg type robot is flexible in remote movement, but is complex in control, and is difficult to reach an application level in a highly unstructured environment, the wheel type robot is simple in structure and mature in research, but has poor ground adaptability and is easy to sink on soft ground, the crawler type robot mainly refers to a single crawler type robot and a robot carrying a crawler chassis mechanism, the crawler type mobile robot has the advantages of large traction force, difficulty in slipping and the like, and is widely applied.
The existing crawler-type robot has good ground passing capacity on relatively flat ground, but is in uneven ground or on the ground with larger gradient, the ground passing capacity is poor, even the existing crawler-type robot possibly receives the shielding of the gradient and stays in place, most of the existing crawler-type robots carry a camera to realize the patrol function, the front end with the crawler-type robot has camera dead angles, and the camera cannot irradiate the area.
Disclosure of Invention
The present invention is directed to a wedge-type tracked robot to solve the problems set forth in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a wedge-shaped tracked robot comprises a robot body, wherein driving wheels are rotatably connected to two sides of the robot body, the driving wheels at two ends of the same side of the robot body are rotatably connected through a first track, a rotating shaft is arranged on the outer side of each driving wheel, a reset spring is movably connected to the outer side of each rotating shaft, each rotating shaft is movably connected with a driven wheel through a reset spring, a concave hole matched with the rotating shaft is formed in the inner side of each driven wheel, one end of each reset spring is connected with the corresponding driving wheel, the other end of each reset spring is connected with the corresponding driven wheel, one end of each driven wheel is connected with a connecting rod, one end of each driven wheel is connected with a bottom wheel through the corresponding connecting rod, a second track is rotatably connected between each driven wheel and the bottom wheel, a through groove is formed in the front end of, the top of boss is provided with the carousel, wide-angle camera is installed at the top of carousel.
Preferably, one end of the return spring is provided with a first buckle, and the other end of the return spring is provided with a second buckle.
Preferably, be provided with the first card hole of mutually supporting with first buckle on the drive wheel, be provided with the second card hole of mutually supporting with the second buckle on the follow driving wheel.
Preferably, the outside of first track is provided with first protruding strip, the figure of first protruding strip is the multiunit, and the multiunit first protruding strip is equidistant evenly distributed in the outside of first track.
Preferably, the outside of second track is provided with the protruding strip of second, the figure of the protruding strip of second is the multiunit, and the multiunit the protruding strip of second is equidistant evenly distributed in the outside of second track.
Preferably, the machine body is made of steel, and the surface of the machine body is subjected to electroplating or paint plating treatment.
Preferably, the bottom of the driven wheel is on the same horizontal line as the bottom of the bottom wheel.
Preferably, the return spring is made of steel, and the surface of the return spring is subjected to paint plating treatment.
Preferably, the rotation angle of the turntable is zero to three hundred and sixty degrees.
Compared with the prior art, the invention has the beneficial effects that: the invention arranges a rotating shaft outside a driving wheel, the outer side of the rotating shaft is movably connected with a return spring, the driving wheel is connected with a driven wheel through the rotating shaft, one end of the return spring is connected with the driving wheel, the other end of the return spring is connected with the driven wheel, the driven wheel is connected with a bottom wheel through a connecting rod, when the robot runs on the uneven ground or the ground with larger gradient, the driven wheel can drive the bottom wheel to move through the connecting rod under the action of the return spring, the bottom wheel is lifted up or put down, thereby changing the included angle between the bottom of a second crawler belt and the horizontal ground to adapt to the current terrain, so that the crawler-type robot can have better ground passing capacity under the complex ground environment, a through groove is arranged at the front end of the machine body, and a flat-angle camera is arranged in the through groove, the environment at the front end of the machine body can be detected, and is, the monitoring range is wide.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a partial schematic view of the present invention;
FIG. 3 is a schematic view of the driven wheel of the present invention;
FIG. 4 is a schematic structural view of a boss according to the present invention;
FIG. 5 is a schematic structural view of the return spring of the present invention;
fig. 6 is a schematic structural view of the driving wheel of the present invention.
In the figure: 1. a body; 2. a drive wheel; 3. a first track; 4. a rotating shaft; 5. a return spring; 6. a driven wheel; 7. concave holes; 8. a connecting rod; 9. a bottom wheel; 10. a second crawler belt; 11. a through groove; 12. a straight angle camera; 13. a boss; 14. a turntable; 15. a wide-angle camera; 16. a first buckle; 17. a second buckle; 18. a first card hole; 19. a second card hole; 20. a first raised strip; 21. a second raised strip.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, a wedge-type tracked robot comprises a machine body 1, wherein both sides of the machine body 1 are rotatably connected with driving wheels 2, the driving wheels 2 at both ends of the same side of the machine body 1 are rotatably connected with each other through a first crawler 3, a rotating shaft 4 is arranged at the outer side of the driving wheels 2, a return spring 5 is movably connected at the outer side of the rotating shaft 4, the rotating shaft 4 is movably connected with a driven wheel 6 through the return spring 5, a concave hole 7 matched with the rotating shaft 4 is arranged at the inner side of the driven wheel 6, one end of the return spring 5 is connected with the driving wheels 2, the other end of the return spring 5 is connected with the driven wheel 6, one end of the driven wheel 6 is connected with a connecting rod 8, one end of the driven wheel 6 is connected with a bottom wheel 9 through the connecting rod 8, a second crawler 10 is rotatably connected between the driven wheel 6, the one end of organism 1 top far away from logical groove 11 is provided with boss 13, and the top of boss 13 is provided with carousel 14, and wide-angle camera 15 is installed at the top of carousel 14.
According to the crawler-type robot, the rotating shaft 4 is arranged on the outer side of the driving wheel 2, the outer side of the rotating shaft 4 is movably connected with the return spring 5, the driving wheel 2 is connected with the driven wheel 6 through the rotating shaft 4, one end of the return spring 5 is connected with the driving wheel 2, the other end of the return spring 5 is connected with the driven wheel 6, the driven wheel 6 is connected with the bottom wheel 9 through the connecting rod 8, and when the robot runs on the ground which is uneven or has a large gradient, the driven wheel 6 can drive the bottom wheel 9 to move through the connecting rod 8 under the action of the return spring 5, the bottom wheel 9 is lifted up or put down, so that the included angle between the bottom of the second crawler 10 and the horizontal ground is changed to adapt to the current terrain, and the crawler-type robot can have good ground passing capacity.
Referring to fig. 2, 3 and 5, one end of the return spring 5 is provided with a first buckle 16, the other end of the return spring 5 is provided with a second buckle 17, the driving wheel 2 is provided with a first buckle hole 18 mutually matched with the first buckle 16, and the driven wheel 6 is provided with a second buckle hole 19 mutually matched with the second buckle 17.
According to the crawler-type robot, the first buckle 16 and the second buckle 17 are arranged at the two ends of the return spring 5 respectively, the first buckle 16 is clamped with the first clamping hole 18, the second buckle 17 is clamped with the second clamping hole 19, when the crawler-type robot runs on uneven ground, under the influence of terrain, the bottom wheel 9 is lifted up or put down under the action of the return spring 5, so that the included angle between the bottom of the second crawler 10 and the horizontal ground is changed to adapt to the current terrain, and the crawler-type robot can have better ground passing capacity under a complex ground environment.
Referring to fig. 1, the outer side of the first track 3 is provided with a plurality of first protruding strips 20, and the plurality of first protruding strips 20 are uniformly distributed on the outer side of the first track 3 at equal intervals.
According to the invention, the plurality of groups of first protruding strips 20 are uniformly arranged on the outer side of the first crawler 3, and when the first crawler 3 runs, the first protruding strips 20 are in contact with the ground, so that the friction force between the first crawler 3 and the ground can be increased, the ground gripping force is better, and the phenomenon of slipping is not easy to occur.
Referring to fig. 1, the outer side of the second caterpillar 10 is provided with a plurality of second protruding strips 21, the number of the second protruding strips 21 is multiple, and the plurality of second protruding strips 21 are uniformly distributed on the outer side of the second caterpillar 10 at equal intervals.
According to the invention, the plurality of groups of second convex strips 21 are uniformly arranged on the outer side of the second crawler belt 10, and when the second crawler belt 10 runs, the second convex strips 21 are in contact with the ground, so that the friction force between the second crawler belt 10 and the ground can be increased, and the phenomenon of slipping is not easy to occur.
Referring to fig. 2, the body 1 is made of steel, and the surface of the body 1 is plated with paint or electroplating, according to the present invention, the body 1 has good hardness and is not easily deformed by setting the body 1 as steel, and the surface of the body 1 is made to be wear-resistant by plating or plating the surface of the body 1 with paint or electroplating.
Referring to fig. 1 and 3, the bottom of the driven wheel 6 and the bottom of the bottom wheel 9 are on the same horizontal line, and the bottom of the driven wheel 6 and the bottom of the bottom wheel 9 are on the same horizontal line, so that the bottom wheel 9 is lifted or lowered under the action of the return spring 5, and the included angle between the bottom of the second crawler belt 10 and the horizontal ground is changed to adapt to the current terrain.
Referring to fig. 5, the return spring 5 is made of steel, and the surface of the return spring 5 is painted, according to the invention, the return spring 5 is made of steel, so that the return spring 5 has better toughness and longer elasticity duration, and the surface of the return spring 5 is painted, so that the return spring 5 is not easy to rust and has longer service life.
Referring to fig. 1 and 4, the rotation angle of the turntable 14 is zero to three hundred sixty degrees, and the rotation angle of the turntable 14 is zero to three hundred sixty degrees, so that the turntable 14 drives the wide-angle camera 15 to rotate three hundred sixty degrees, and the monitoring range is wider by matching with the rotation of the wide-angle camera 15.
The working principle is as follows: starting a power supply of the crawler-type robot, starting the machine body 1, controlling a motor inside the machine body 1 to work, thereby driving a driving wheel 2 to rotate, under the action of the driving wheel 2, starting the first crawler 3 to operate, driving the machine body 1 to move forward, thereby driving a second crawler 10 to operate, firstly, uniformly contacting the convex strips 20 with the second convex strips 21 on the ground, increasing the friction force between the crawler and the ground, preventing the crawler from slipping, then, controlling a turntable 14 and a wide-angle camera 15 to work, driving the wide-angle camera 15 to rotate through the turntable 14, simultaneously, controlling the wide-angle camera 15 to rotate, thereby monitoring the surrounding environment of the machine body 1, controlling a flat-angle camera 12 to work, monitoring the environment at the front end of the machine body 1 by the flat-angle camera 12, and matching the flat-angle camera 12 with the wide-angle camera 15, monitoring range is wider, if the tracked robot when going on unevenness subaerial, receives the influence of topography, under reset spring 5's effect, return pulley 9 lifts or puts down to change the contained angle between second track 10 bottom and the level ground, in order to adapt to current topography, thereby can make tracked robot also can have better ground throughput under complicated ground environment.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (7)
1. The utility model provides a wedge type tracked robot, includes organism (1), its characterized in that: the both sides of organism (1) all rotate and are connected with drive wheel (2), and rotate through first track (3) between the drive wheel (2) at organism (1) homonymy both ends and connect, the outside of drive wheel (2) is provided with pivot (4), the outside swing joint of pivot (4) has reset spring (5), pivot (4) have from driving wheel (6) through reset spring (5) swing joint, the inboard of following driving wheel (6) is provided with shrinkage pool (7) of mutually supporting with pivot (4), the one end of reset spring (5) is connected with drive wheel (2), and the other end of reset spring (5) is connected with from driving wheel (6), the one end of following driving wheel (6) is connected with connecting rod (8), and the one end of following driving wheel (6) is connected with return pulley (9) through connecting rod (8), return pulley (9) are 4, two of them are arranged at the front side of the vehicle advancing direction, and the others are arranged at the rear side of the vehicle advancing direction; a second crawler belt (10) is rotatably connected between the driven wheel (6) and the bottom wheel (9), a through groove (11) is formed in the front end of the machine body (1), a flat-angle camera (12) is mounted inside the through groove (11), a boss (13) is arranged at one end, far away from the through groove (11), of the top of the machine body (1), a rotary table (14) is arranged at the top of the boss (13), and a wide-angle camera (15) is mounted at the top of the rotary table (14); a first buckle (16) is arranged at one end of the return spring (5), and a second buckle (17) is arranged at the other end of the return spring (5); a first clamping hole (18) matched with the first buckle (16) is formed in the driving wheel (2), and a second clamping hole (19) matched with the second buckle (17) is formed in the driven wheel (6); starting a power supply of the crawler-type robot, starting the machine body (1), controlling an internal motor of the machine body (1) to work, thereby driving a driving wheel (2) to rotate, under the action of the driving wheel (2), starting the first crawler (3) to operate, driving the machine body (1) to move forward, thereby driving a second crawler (10) to operate, uniformly contacting the first protruding strip (20) and the second protruding strip (21) with the ground, increasing the friction force between the crawler and the ground, preventing the crawler from slipping, then controlling a turntable (14) and a wide-angle camera (15) to work, driving the wide-angle camera (15) to rotate through the turntable (14), meanwhile, controlling the wide-angle camera (15) to rotate, thereby monitoring the surrounding environment of the machine body (1), and controlling a flat-angle camera (12) to start to work, the environment of organism (1) front end is monitored to straight angle camera (12), straight angle camera (12) and wide angle camera (15) cooperation work, and monitoring range is wider, if the track-mounted robot when unevenness ground goes, receives the influence of topography, under reset spring's (5) effect, return pulley (9) lift up or put down to change the contained angle between second track (10) bottom and the level ground, in order to adapt to current topography.
2. A wedge-type tracked robot as claimed in claim 1, wherein: the outer side of the first crawler belt (3) is provided with first protruding strips (20), the number of the first protruding strips (20) is multiple groups, and the multiple groups of the first protruding strips (20) are uniformly distributed on the outer side of the first crawler belt (3) at equal intervals.
3. A wedge-type tracked robot as claimed in claim 1, wherein: the outside of second track (10) is provided with second protruding strip (21), the figure of second protruding strip (21) is the multiunit, and the multiunit second protruding strip (21) are equidistant evenly distributed in the outside of second track (10).
4. A wedge-type tracked robot as claimed in claim 1, wherein: the machine body (1) is made of steel, and the surface of the machine body (1) is subjected to electroplating or paint plating treatment.
5. A wedge-type tracked robot as claimed in claim 1, wherein: the bottom of the driven wheel (6) and the bottom of the bottom wheel (9) are positioned on the same horizontal line.
6. A wedge-type tracked robot as claimed in claim 1, wherein: the reset spring (5) is made of steel, and the surface of the reset spring (5) is subjected to paint plating treatment.
7. A wedge-type tracked robot as claimed in claim 1, wherein: the rotation angle of the rotary disc (14) is zero to three hundred and sixty degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811628920.2A CN109501875B (en) | 2018-12-28 | 2018-12-28 | Wedge-shaped crawler-type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811628920.2A CN109501875B (en) | 2018-12-28 | 2018-12-28 | Wedge-shaped crawler-type robot |
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| Publication Number | Publication Date |
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| CN109501875A CN109501875A (en) | 2019-03-22 |
| CN109501875B true CN109501875B (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811628920.2A Active CN109501875B (en) | 2018-12-28 | 2018-12-28 | Wedge-shaped crawler-type robot |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110271617A (en) * | 2019-06-24 | 2019-09-24 | 广西科技大学 | A kind of two-segment type crawler belt climbing robot |
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| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| CN201380887Y (en) * | 2009-03-27 | 2010-01-13 | 孝感三江航天红林模具制造有限公司 | Vehicle body chassis of robot |
| CN104228995A (en) * | 2014-07-24 | 2014-12-24 | 北京航空航天大学 | Blue sheep simulation mechanical foot |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2035411U (en) * | 1988-06-21 | 1989-04-05 | 杜忠祥 | Torsion spring clutch |
| CN2168806Y (en) * | 1993-07-22 | 1994-06-15 | 代玉林 | Energy-accumulating buffer transmission wheel |
| US7654348B2 (en) * | 2006-10-06 | 2010-02-02 | Irobot Corporation | Maneuvering robotic vehicles having a positionable sensor head |
| CN202570064U (en) * | 2012-05-11 | 2012-12-05 | 河北英都气化有限公司 | Agitating shaft |
| CN104802868B (en) * | 2014-01-28 | 2017-03-29 | 南京聚特机器人技术有限公司 | A kind of portable multifunctional mobile platform |
| CN107054486B (en) * | 2017-05-07 | 2019-02-05 | 于冬 | A kind of mine engineering tunnel poisonous gas detection device |
| CN206794978U (en) * | 2017-05-26 | 2017-12-26 | 潍坊路加精工有限公司 | Eliminate the wire feeder for sending tin gap |
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2018
- 2018-12-28 CN CN201811628920.2A patent/CN109501875B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6263989B1 (en) * | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
| CN201380887Y (en) * | 2009-03-27 | 2010-01-13 | 孝感三江航天红林模具制造有限公司 | Vehicle body chassis of robot |
| CN104228995A (en) * | 2014-07-24 | 2014-12-24 | 北京航空航天大学 | Blue sheep simulation mechanical foot |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
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