CN111688596A

CN111688596A - Crawling vehicle

Info

Publication number: CN111688596A
Application number: CN202010566505.XA
Authority: CN
Inventors: 金阳; 董有辉; 王维君
Original assignee: Shenzhen Waterdrop Laser Technology Co ltd
Current assignee: Shenzhen Waterdrop Laser Technology Co ltd
Priority date: 2020-06-19
Filing date: 2020-06-19
Publication date: 2020-09-22

Abstract

The invention discloses a creeper truck for carrying functional devices, comprising: the self-adaptive system comprises a connecting rod and a guide wheel, wherein the connecting rod is used for placing functional devices, and the guide wheel is rotatably connected to the connecting rod; the connecting rod slides relative to the frame so as to keep the distance between the functional device and the ground within a set range. Through set up self-adaptation system on the climbing vehicle, self-adaptation system's leading wheel walks subaerial all the time, and when the climbing vehicle was walked on undulant ground, the height that the function device leaves ground remains invariable all the time, ensures that the function device can normally work.

Description

Crawling vehicle

Technical Field

The invention relates to a creeper truck, in particular to a creeper truck for carrying functional devices.

Background

In the related art, a crawler is often used to drive a laser device and other devices to move, the crawler needs to be in contact with a road surface when moving, when the ground surface changes in height, the distance between the laser device and other devices and the road surface changes (as shown in fig. 1), however, the distance between a working object of the laser device and the road surface usually remains unchanged, that is, the distance between the laser device and the working object changes with the difference of road surface conditions, and when the distance between the laser device and the working object exceeds the focal length of the laser device, the laser device cannot work normally.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides the crawler, and the self-adaptive system is adopted, so that the distance between the functional device and the ground is kept within a set range, and the functional device can be ensured to work normally.

The creeper truck provided by the embodiment of the invention is used for carrying functional devices and comprises a truck frame,

the self-adaptive system comprises a connecting rod and a guide wheel, the connecting rod is used for placing the functional device, and the guide wheel is rotatably connected to the connecting rod;

the connecting rod slides relative to the frame so as to keep the distance between the functional device and the ground within a set range.

According to the crawler, the technical effects are at least that the self-adaptive system is arranged on the crawler, the guide wheel of the self-adaptive system always runs on the ground, and when the crawler runs on the fluctuant ground, the height of the functional device from the ground is always kept within a set range, so that the functional device can be ensured to work normally.

According to some embodiments of the invention, the crawler further comprises a guide sleeve, the connecting rod being inserted in the guide sleeve and sliding with respect to the guide sleeve.

According to some embodiments of the invention, the connecting rod has a mounting portion extending outwardly, the adaptive system further comprising a resilient member disposed between the guide sleeve and the mounting portion.

According to some embodiments of the invention, the adaptive system further comprises a guide rod connected to the connecting rod and slidably connected to the frame.

According to some embodiments of the invention, one end of the guide rod is fixedly connected to the connecting rod, and the other end of the guide rod is a free end, and the free end penetrates through the frame and is connected with a threaded fastener.

According to some embodiments of the invention, the adaptive system further comprises a mounting frame and a hoop, the hoop is used for clamping the functional device, the hoop is detachably mounted on the mounting frame, a cavity for placing the functional device is defined by the hoop and the mounting frame, and the mounting frame is connected with the connecting rod.

According to some embodiments of the present invention, the crawler further comprises a driving system, the driving system comprises a driving assembly and a transmission assembly, the driving assembly comprises a driving motor and a driving wheel arranged at an output end of the driving motor, the transmission assembly comprises a vertical transmission shaft, a first bevel gear and a second bevel gear, the vertical transmission shaft is located at an outer side of the frame, the first bevel gear is arranged at a lower end of the vertical transmission shaft, the first bevel gear is meshed with the second bevel gear, and the second bevel gear drives wheels of the crawler to rotate.

According to some embodiments of the present invention, the creeper truck further includes a steering system, the steering system includes a steering motor, a steering driving gear, a first driven gear, a second driven gear, a third driven gear, a fourth driven gear and a transmission chain, the steering driving gear, the first driven gear, the second driven gear, the third driven gear and the fourth driven gear are disposed in a same horizontal plane, and the first driven gear, the second driven gear, the third driven gear and the fourth driven gear are used for driving corresponding wheels to steer.

According to some embodiments of the invention, the creeper truck further includes a wheel frame and a magnet disposed on the wheel frame for interacting with the magnetic road surface to generate grip.

According to some embodiments of the invention, the front and rear sides of the frame are further provided with sensors.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a schematic diagram of a crawler in the related art;

FIG. 2 is a schematic diagram of the movement of the crawler according to the embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a crawler according to an embodiment of the present invention;

FIG. 4 is a schematic view of the structure of FIG. 3 from another angle;

FIG. 5 is a cross-sectional view of the adaptive system and frame of FIG. 3;

fig. 6 is a schematic drive diagram of the steering system of the creeper truck of fig. 3.

Reference numerals: the steering system comprises a frame 100, a guide sleeve 110, a steering system 200, a steering motor 210, a steering driving wheel 220, a first driven gear 230, a second driven gear 240, a third driven gear 250, a fourth driven gear 260, a tension wheel 270, a functional device 300, a driving system 400, a driving motor 410, a driving wheel 420, a first driven wheel 430, a second driven wheel 440, a third driven wheel 450, a vertical transmission shaft 460, a first bevel gear 470, a second bevel gear 480, an adaptive system 500, a guide wheel 510, a connecting rod 520, a mounting part 521, an elastic part 530, a guide rod 540, a threaded fastener 550, a mounting rack 560, a supporting arm 561, a bottom plate 562, a hoop 570, a magnet 600, a sensor 700, a wheel system 800, a wheel frame 810 and wheels 820.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

As shown in fig. 3 to 6, the crawler for carrying a functional device includes an adaptive system 500, the adaptive system 500 includes a connecting rod 520 and a guide wheel 510, the connecting rod 520 is used for placing the functional device 300, and the guide wheel 510 is rotatably connected to the connecting rod 520; the connecting rod 520 slides with respect to the frame 100 to maintain the distance of the functional device 300 from the ground within a set range.

Specifically, 4 wheel systems 800 are arranged below the vehicle frame 100, each wheel system 800 comprises a wheel frame 810 and a wheel 820, a through hole is formed in the vehicle frame 100, the adaptive system 500 comprises a connecting rod 520 and a guide wheel 510, the upper end of the connecting rod 520 is used for placing the functional device 300, the lower end of the connecting rod 520 is connected with the guide wheel 510, the connecting rod 520 is inserted into the through hole, so that the vehicle frame 100 is located between the functional device 300 and the guide wheel 510, and the connecting rod 520 is connected with the vehicle frame 100 in a vertically sliding mode, so that the distance between the functional device 300 and the ground is kept within a set range. As shown in fig. 2, when the guide wheels 510 pass through the depressed ground, the distance between the frame 100 and the ground becomes large, the connecting rod 520 slides downward relative to the frame 100, the functional device 300 moves downward relative to the frame 100, and the distance between the functional device 300 and the ground is maintained within a set range; when the guide wheels 510 pass over the raised ground, the distance between the frame 100 and the ground becomes smaller, the connecting rod 520 slides upward relative to the frame 100, the function device 300 also moves upward relative to the frame 100, and the distance between the function device 300 and the ground is maintained within a set range. By the arrangement of the adaptive system 500, the distance between the functional device 300 and the ground is always kept stable, so that the working reliability of the functional device 300 is improved. The functional device 300 may be a laser or other functional device.

In some embodiments of the present invention, as shown in fig. 5, the vehicle frame 100 further includes a guide sleeve 110, the guide sleeve 110 is connected to the vehicle frame 100 by welding or fastening, and the connecting rod 520 is inserted into the guide sleeve 110 and slides up and down relative to the guide sleeve 110. Since the link 520 needs to travel forward as well as slide up and down, the link 520 is easily stuck when the guide distance in the up-down direction is small. The guide sleeve 110 can increase the guiding length in the up-down direction, so that the connecting rod 520 can be adjusted up and down smoothly when walking, the clamping stagnation is prevented, and the working reliability of the functional device 300 is improved.

In some embodiments of the present invention, as shown in fig. 5, the link 520 has a mounting portion 521 extending outward, the mounting portion 521 is located below the guide sleeve 110, and the elastic member 530 is disposed between the guide sleeve 110 and the mounting portion 521. The elastic member 530 can suppress the impact of the uneven road surface to the functional device 300, and ensure the stable state of the functional device 300, thereby improving the reliability of the operation of the functional device 300. The elastic member 530 may be a coil spring or a gas spring. The connecting rod 520 may be formed by welding a plurality of hollow circular tubes as shown in fig. 5, or may be formed by a whole circular tube.

In some embodiments of the present invention, as shown in fig. 5, the adaptive system 500 further comprises a guide rod 540, and the guide rod 540 is connected to the connecting rod 520 and slidably connected to the frame 100. Specifically, the connecting rod 520 has a mounting portion 521 extending outward, the guide rod 540 is connected to the mounting portion 521 and slidably connected to the frame 100, and the sliding manner between the guide rod 540 and the frame 100 can be realized by providing a hole for the guide rod 540 to pass through on the frame 100, and the guide rod 540 passes through the hole of the frame 100 and slidably connected to the frame 100; the frame 100 further comprises a guide sleeve 110, the frame 100 is fixedly connected with the guide sleeve 110, a hole for the guide rod 540 to pass through is arranged on the guide sleeve 110, and the guide rod 540 passes through the hole of the guide sleeve 110 so that the frame 100 is slidably connected. The guiding rods 540 are arranged along the circumference of the connecting rod 520, and in order to better realize the guiding of the adaptive system 500, the guiding rods 540 can be uniformly distributed along the circumference of the connecting rod 520. Through the setting of guide bar 540, can increase the guide distance of direction from top to bottom of self-adaptation system 500, can adjust from top to bottom when making connecting rod 520 walk, prevent to take place the jamming, improve the reliability of function device 300 work.

In some embodiments of the present invention, as shown in fig. 5, one end of the guide rod 540 is fixedly installed on the installation part 521, and the other end of the guide rod 540 is a free end. The other end of the guide rod 540 extends out of the frame 100 and is connected with the threaded fastener 550, and the up-down adjustment distance of the adaptive system 500 can be limited and the adaptive system 500 can be prevented from falling off by the cooperation of the guide rod 540 and the threaded fastener 550.

In some embodiments of the present invention, the adaptive system 500 further comprises a mounting bracket 560 and a hoop 570, the hoop 570 is used for clamping the functional device 300, the hoop 570 is detachably mounted on the mounting bracket 560, and defines a cavity for placing the functional device 300 with the mounting bracket 560. Specifically, the mounting bracket 560 includes a bottom plate 562 and support arms 561 arranged on two sides of the bottom plate 562, the bottom plate 562 is fixedly connected to the upper end of the connecting rod 520, the bottom plate 562 can be mounted on the upper end of the connecting rod 520 by welding or using a threaded fastener, the support arms 561 have concave placing parts for matching with the shape of the functional device, the hoop 570 is detachably mounted on the mounting bracket 560, and the structure of the hoop 570 is a commonly used hoop structure in the field, which is not described herein again. Through the setting of staple bolt 570 and mounting bracket 560, can be with stable the fixing on the connecting rod 520 of functional device 300, make things convenient for the change and the maintenance of functional device 300.

In some embodiments of the present invention, in the related art, the crawler is usually driven by hub motors, and for a four-wheel crawler, two hub motors or four hub motors are required, which is costly; if a motor is adopted for driving, a corresponding transmission mechanism needs to be arranged, the transmission mechanism is arranged below the frame and close to the wheels, and the space at the lower part of the frame is occupied, so that the ground clearance of the crawling vehicle is small, and the passing performance is poor. The crawler in this embodiment includes a driving system 400, the driving system 400 includes a driving assembly and a transmission assembly, the driving assembly includes a driving motor 410 and a driving wheel 420 disposed at an output end of the driving motor, the transmission assembly includes a vertical transmission shaft 460, a first bevel gear 470 and a second bevel gear 480, the driving motor 410 is disposed above the vehicle frame 100, an output shaft of the driving motor 410 is perpendicular to the vehicle frame 100, the vertical transmission shaft 460 is disposed at an outer side of the wheel frame 810, the first bevel gear 470 is fixed at a lower end of the vertical transmission shaft 460, the second bevel gear 480 is engaged with the first bevel gear 470, and the second bevel gear 480 is connected with a wheel shaft of the wheel 820. Specifically, the transmission mode between the driving wheel 420 and the vertical transmission shaft 460 may be as shown in fig. 3 to 4, the driving wheel 420 drives the first driven wheel 430 to rotate through a synchronous belt, the first driven wheel 430 and the second driven wheel 440 are coaxially fixed, the second driven wheel 440 and the third driven wheel 450 are driven through a synchronous belt, the third driven wheel 450 is fixedly connected with the upper end of the vertical transmission shaft 460, the first bevel gear 470 is fixed at the lower end of the vertical transmission shaft 460, the second bevel gear 480 is engaged with the first bevel gear 470, and the power transmission process is as follows: the driving motor 410, the driving wheel 420, the first driven wheel 430, the second driven wheel 440, the third driven wheel 450, the vertical transmission shaft 460, the first bevel gear 470, the second bevel gear 480 and the wheel 820. It can be understood that the driving wheel 420 can directly drive the third driven wheel 450 to rotate through the synchronous belt, so as to drive the vertical transmission shaft 460 to rotate, and the transmission process of the whole power is as follows: the driving motor 410, the driving wheel 420, the third driven wheel 450, the vertical transmission shaft 460, the first bevel gear 470, the second bevel gear 480 and the wheel 820. The fixing and mounting of the drive system and the transmission system are common technical means in the field, and are not described in detail here. By arranging the driving motor 410 above the frame 100 and the vertical transmission shaft 460 outside the wheel frame 810, the driving system and the transmission system are prevented from being placed below the frame, and the passing performance of the creeper truck is improved.

In some embodiments of the present invention, in the related art, 2 in-wheel motors or 4 in-wheel motors are usually adopted, and the rotation speed and the rotation direction of the motors are adjusted, so as to realize the rotation direction of the wheel, which is relatively high in cost; or 1 steering motor is adopted to match with a differential mechanism to realize steering, the differential mechanism needs to be arranged below the frame 100, and the steering flexibility of the wheels is poor. As shown in fig. 1 to 3, the steering system 200 of the present embodiment includes a steering motor 210, a steering driver 220, a first driven gear 230, a second driven gear 240, a third driven gear 250, a fourth driven gear 260, and a transmission chain, wherein the steering driver 220 drives the first driven gear 230, the second driven gear 240, the third driven gear 250, and the fourth driven gear 260 to synchronously rotate through the transmission chain, and the first driven gear, the second driven gear, the third driven gear, and the fourth driven gear drive corresponding wheels to rotate to achieve steering.

Specifically, the first driven gear 230 to the fourth driven gear 260 are respectively arranged above the corresponding wheel frame 810, the steering motor 210 is fixed above the frame 100, an output shaft of the steering motor 210 extends to the lower side of the frame 100, the steering driving wheel 220 is connected with the output shaft of the steering motor 210, and the steering driving wheel 220 drives the first driven gear 230 to the fourth driven gear 260 to synchronously rotate through a transmission chain, so that the corresponding wheel frame 810 is driven to rotate, and the rotation of the crawler is realized. As shown in fig. 6, since the span of the drive chain is large, tension pulleys 270 are provided between the first driven gear 230 and the second driven gear 240, between the second driven gear 240 and the third driven gear 250, and between the third driven gear 250 and the fourth driven gear 260. Adopt simple transmission structure to realize turning to of climbing vehicle in this embodiment, great improvement the steering performance of climbing vehicle.

In some embodiments of the invention, the creeper further includes a wheel frame 810 and a magnet 600 disposed on the wheel frame 810, the magnet 600 interacting with the magnetic road surface to generate a grip. Specifically, the magnets 600 are detachably mounted on the wheel frames 810, the number of the magnets 600 arranged on each wheel frame 810 can be 4, 3, 2 or 1, and the number and the arrangement mode of the magnets 600 on each wheel should be consistent, so that the balance of the ground holding force of the crawling vehicle is ensured. When the climbing vehicle travels on a magnetic road surface, the magnet 600 interacts with the magnetic road surface, so that the adhesive force between the climbing vehicle and the ground is increased, and the climbing performance of the climbing vehicle is improved.

In some embodiments of the present invention, the front and rear sides of the frame 100 are further provided with sensors 700, and the sensor 700 is used for sensing a boundary, an obstacle, etc. to improve the driving safety of the crawler. The sensors 700 are disposed on the left and right sides of the front and rear of the vehicle frame 100, and increase the sensing range of the sensors, thereby further improving the driving safety of the crawler. The sensor 700 may be a photoelectric sensor, an infrared sensor, or the like.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

Claims

1. A creeper truck for carrying functional devices, comprising:

a frame;

2. The creeper truck of claim 1, wherein the frame further includes a guide bushing, the connecting rod being inserted into and sliding relative to the guide bushing.

3. The creeper truck of claim 2, wherein the connecting rod has an outwardly extending mounting portion; the self-adaptive system further comprises an elastic piece, and the elastic piece is arranged between the guide sleeve and the mounting part.

4. The creeper truck of claim 1, wherein the adaptive system further comprises a guide rod connected to the connecting rod and slidably connected to the frame.

5. The creeper truck of claim 4, wherein one end of the guide rod is fixedly connected to the connecting rod, and the other end of the guide rod is a free end, and the free end penetrates through the frame and is connected with a threaded fastener.

6. The creeper truck of claim 1, wherein the adaptive system further comprises a mounting bracket and a hoop, the hoop is used for clamping the functional device, the hoop is detachably mounted on the mounting bracket, a cavity for placing the functional device is defined by the hoop and the mounting bracket, and the mounting bracket is connected with the connecting rod.

7. The creeper truck of claim 1, further comprising a driving system, wherein the driving system comprises a driving assembly and a transmission assembly, the driving assembly comprises a driving motor and a driving wheel disposed at an output end of the driving motor, the transmission assembly comprises a vertical transmission shaft, a first bevel gear and a second bevel gear, the vertical transmission shaft is disposed on an outer side of the frame, the first bevel gear is disposed at a lower end of the vertical transmission shaft, the first bevel gear is engaged with the second bevel gear, and the second bevel gear drives wheels of the creeper truck to rotate.

8. The creeper truck of claim 1, further comprising a steering system, wherein the steering system includes a steering motor, a steering driving gear, a first driven gear, a second driven gear, a third driven gear, a fourth driven gear and a transmission chain, the steering driving gear drives the first driven gear, the second driven gear, the third driven gear and the fourth driven gear to rotate synchronously through the transmission chain, and the first driven gear, the second driven gear, the third driven gear and the fourth driven gear drive corresponding wheels to rotate so as to achieve steering.

9. The creeper vehicle of claim 1, further comprising a wheel frame and a magnet disposed on the wheel frame for interacting with a magnetic road surface to create grip.

10. The creeper truck of claim 1, wherein the front and rear sides of the frame are further provided with sensors.