CN111845977A - Telescopic crawler chassis and special robot - Google Patents
Telescopic crawler chassis and special robot Download PDFInfo
- Publication number
- CN111845977A CN111845977A CN202010834873.8A CN202010834873A CN111845977A CN 111845977 A CN111845977 A CN 111845977A CN 202010834873 A CN202010834873 A CN 202010834873A CN 111845977 A CN111845977 A CN 111845977A
- Authority
- CN
- China
- Prior art keywords
- crawler
- chassis
- connecting rod
- track
- telescopic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
-
- 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
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a telescopic crawler chassis and a special robot, wherein the telescopic crawler chassis comprises an installation seat, a crawler assembly and a connecting driving assembly, the crawler assembly comprises two crawler wheels which are respectively arranged on two opposite sides of the installation seat, the two crawler wheels comprise at least one first crawler wheel with an adjustable gap with the installation seat, and the connecting driving assembly is arranged between the first crawler wheel and the installation seat and is used for adjusting the position of the first crawler wheel relative to the installation seat. In the moving process, the position of the first crawler wheel can be correspondingly adjusted according to the actual width of the channel, and the first crawler wheel is close to or far away from the mounting seat, so that the overall width is reduced or increased, and the environment adaptability and flexibility of the chassis are enhanced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a telescopic crawler chassis and a special robot.
Background
The crawler-type chassis has better adaptability to different terrains, can bear larger load, and has adaptability and flexibility, so that the crawler-type chassis is widely applied to special robots, such as explosive-handling robots, detection robots and fire-fighting robots.
After the left crawler wheel and the right crawler wheel of the special robot crawler chassis in the current market are installed, the distance between the left crawler wheel and the right crawler wheel is fixed, and when the crawler chassis meets a narrow channel with the width smaller than the width of the chassis, the crawler chassis cannot pass through the narrow channel, so that the special robot crawler chassis is low in flexibility and weak in environment adaptability.
Disclosure of Invention
The invention mainly aims to provide a telescopic crawler chassis and a special robot, and aims to solve the problems of low flexibility and weak environmental adaptability of the conventional crawler chassis.
To achieve the above object, the present invention provides a telescopic crawler chassis, comprising:
a mounting seat;
the crawler assembly comprises two crawler wheels which are respectively arranged on two opposite sides of the mounting seat, and the two crawler wheels comprise at least one first crawler wheel with an adjustable gap with the mounting seat; and the number of the first and second groups,
and the connecting driving assembly is arranged between the first crawler wheel and the mounting seat and used for adjusting the position of the first crawler wheel relative to the mounting seat.
Optionally, the connecting driving assembly includes:
the fixed end of the first linear driving component is hinged and mounted on the mounting seat; and the number of the first and second groups,
one end of the connecting rod is hinged to the supporting frame of the first crawler wheel, the other end of the connecting rod is hinged to the mounting seat, and the middle of the connecting rod is hinged to the movable end of the first linear driving assembly.
Optionally, the connecting driving assembly further includes:
the support connecting rods and the connecting rods are arranged at intervals along the length direction of the first crawler wheel, one end of each support connecting rod is hinged to a support frame of the first crawler wheel, and the other end of each support connecting rod is hinged to the mounting seat; and the number of the first and second groups,
and two ends of the synchronous connecting rod are respectively and hingedly arranged on the supporting connecting rod and the connecting rod.
Optionally, the first linear driving assemblies and the connecting rods are in one-to-one correspondence to form driving groups, and the two driving groups are arranged at intervals along the length direction of the first crawler wheel.
Optionally, the fixed end of the first linear driving assembly is connected with the mounting base through a pin shaft; and/or the presence of a gas in the gas,
the movable end of the first linear driving assembly is connected with the middle of the connecting rod through a pin shaft.
Optionally, the first linear driving assembly is one of an air cylinder, a hydraulic cylinder or an electric push rod.
Optionally, the connection driving assembly comprises a second linear driving assembly, a fixed end of the second linear driving assembly is fixedly mounted on the mounting seat, and a movable end of the second linear driving assembly is fixedly connected with the first track wheel.
Optionally, the number of the first track wheels is two, and the number of the corresponding connecting drive assemblies is two.
Optionally, the crawler assemblies and the connecting driving assemblies are arranged into crawler groups in a one-to-one correspondence, and the crawler groups are arranged in a plurality of numbers and arranged at intervals along the length direction of the crawler wheels.
The invention also provides a special robot, which comprises the telescopic crawler chassis, wherein the telescopic crawler chassis comprises:
a mounting seat;
the crawler assembly comprises two crawler wheels which are respectively arranged on two opposite sides of the mounting seat, and the two crawler wheels comprise at least one first crawler wheel with an adjustable gap with the mounting seat; and the number of the first and second groups,
and the connecting driving assembly is arranged between the first crawler wheel and the mounting seat and used for adjusting the position of the first crawler wheel relative to the mounting seat.
According to the technical scheme, the connecting driving assembly is arranged, so that the position of the first crawler wheel relative to the mounting seat is adjustable, correspondingly, the distance between the two crawler wheels is adjustable, namely the whole width of the telescopic crawler chassis is adjustable, in the moving process, the position of the first crawler wheel can be correspondingly adjusted according to the actual width of a channel, the first crawler wheel is close to or far away from the mounting seat, so that the whole width is reduced or increased, and the environment adaptability and flexibility of the chassis are enhanced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic perspective view of an embodiment of a telescopic track undercarriage provided in accordance with the present invention;
FIG. 2 is a schematic perspective view of the telescoping track undercarriage of FIG. 1 in an extended position;
fig. 3 is a perspective view of the telescopic crawler chassis of fig. 1 retracted.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
31 | First |
| 1 | |
32 | Connecting |
| 2 | |
33 | |
| 21 | |
34 | |
| 3 | Connecting drive assembly |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
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.
It should be noted that, if directional indication is involved in the embodiment of the present invention, the directional indication is only used for explaining the relative positional relationship, the motion situation, and the like between the components in a certain posture, and if the certain posture is changed, the directional indication is changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
With the development of special robot technology and the larger uncertainty factor of special working environment, the performance requirement of the special robot on the chassis is higher and higher. For example, the detection robot and the explosion-proof robot applied to urban anti-terrorism have large uncertainty of the using environment, and are generally under the conditions of narrow space and complex walking road surface; and for special robots which need to grab articles, the uncertainty of the weight of the target object is large. In summary, the use environment of the special robot puts higher requirements on the flexibility and stability of the robot chassis.
In the special robot crawler chassis in the market at present, after the left crawler wheel and the right crawler wheel are installed, the distance between the left crawler wheel and the right crawler wheel is fixed, the width of the chassis is fixed and cannot be adjusted, and after a single chassis is produced and manufactured, the size of the chassis of the whole robot is determined, so that the chassis cannot pass through a narrow channel with the width smaller than the width of the chassis, and the terrain adaptability is slightly weak. And when the special robot carries out special operation, there is higher requirement to the steadiness of chassis, and crawler-type chassis width can increase, provides bigger horizontal support span for the special robot, improves the steadiness of chassis when the operation. The crawler wheel interval of the crawler chassis is simply increased, namely the width of the bottom is increased during design and production, so that the motion stability of the robot can be improved, the size and the weight of the chassis body are increased, the manufacturing cost is improved, and the flexibility of the whole machine and the terrain adaptability of a narrow channel are reduced. Therefore, the width of the crawler chassis is increased by simply increasing the structural size to increase the distance between the crawler wheels, the stability of the coordinated operation and the flexibility of the walking are difficult to coordinate, and the requirements of efficient operation and strong environmental adaptability of the special robot are difficult to meet.
In view of the above, the invention provides a telescopic crawler chassis, which solves the problems of low flexibility and weak environmental adaptability of the special robot crawler chassis in the prior art, and is reasonable in structure and low in cost. Fig. 1 to 3 show an embodiment of a telescopic crawler chassis according to the present invention.
Referring to fig. 1 to 3, the telescopic crawler chassis 100 includes an installation base 1, a crawler assembly 2 and a connecting driving assembly 3, wherein the crawler assembly 2 includes two crawler wheels respectively disposed at two opposite sides of the installation base 1, the two crawler wheels include at least one first crawler wheel 21 having an adjustable gap with the installation base 1, and the connecting driving assembly 3 is disposed between the first crawler wheel 21 and the installation base 1 for adjusting a position of the first crawler wheel 21 relative to the installation base 1.
In the technical scheme of the invention, the connecting drive assembly 3 is arranged, so that the position of the first crawler wheel 21 relative to the mounting seat 1 is adjustable, correspondingly, the distance between the two crawler wheels is adjustable, that is, the overall width of the telescopic crawler chassis 100 is adjustable, during the movement process, the position of the first crawler wheel 21 can be correspondingly adjusted according to the actual width of the channel, and the first crawler wheel 21 is close to or far from the mounting seat 1, so that the overall width is reduced or increased, and the environment adaptability and flexibility of the chassis are enhanced.
In order to realize the function of the connecting driving assembly 3, in an embodiment of the present invention, the connecting driving assembly 3 includes a first linear driving assembly 31 and a connecting rod 32, and a fixed end of the first linear driving assembly 31 is hinged to the mounting base 1; one end of the connecting rod 32 is hinged to the supporting frame of the first track wheel 21, the other end of the connecting rod 32 is hinged to the mounting base 1, and the middle of the connecting rod 32 is hinged to the movable end of the first linear driving component 31. The articulated connection mode is more flexible, and the middle part of connecting rod 32 receives the effect of drive power, drives both ends swing to realize the adjustment of first athey wheel 21 with mount pad 1 relative position.
It should be noted that, the present invention does not limit the driving manner of the first linear driving assembly 31, the first linear driving assembly 31 is one of an air cylinder, a hydraulic cylinder, or an electric push rod, in this embodiment, the first linear driving assembly 31 is an electric push rod, and the driving is realized by the expansion and contraction of the electric push rod.
Furthermore, the track wheels are arranged in different types and different track lengths according to practical applications, in this embodiment, referring to fig. 2, the connecting and driving assembly 3 further includes a supporting connecting rod 33 and a synchronizing connecting rod 34, the supporting connecting rod 33 and the connecting rod 34 are arranged at intervals along the length direction of the first track wheel 21, one end of the supporting connecting rod 33 is hinged to the supporting frame of the first track wheel 21, the other end of the supporting connecting rod 33 is hinged to the mounting base 1, and two ends of the synchronizing connecting rod 34 are respectively hinged to the supporting connecting rod 33 and the connecting rod 32. So set up, through first linear drive subassembly 31, synchronous drive the motion of support link 33 prevents because track length is longer, causes the drive effect not good, takes place the problem of jamming at flexible in-process.
For better practical track length, in another embodiment of the present invention, the first linear driving assemblies 31 and the connecting rods 32 are in one-to-one correspondence to form two driving sets, and the two driving sets are arranged at intervals along the length direction of the first track wheel 21. It should be noted that the two first linear driving assemblies 31 should be driven synchronously to ensure that the two ends of the first track wheel 21 extend and retract synchronously along the length direction.
In addition, for flexible connection, the fixed end of the first linear driving assembly 31 is connected with the mounting base 1 through a pin shaft, so that the structure is simple and the assembly and disassembly are convenient.
For flexible connection, the movable end of the first linear driving component 31 is connected with the middle part of the connecting rod 32 through a pin shaft, so that the structure is simple, and the assembly and disassembly are convenient.
It should be noted that, above-mentioned two relevant technical characteristics can set up simultaneously also can the alternative setting, sets up simultaneously in this embodiment, simple structure, low in manufacturing cost, easy dismounting.
Specifically, in order to achieve the effect of the connection driving assembly 3, in another embodiment of the present invention, the connection driving assembly 3 includes a second linear driving assembly, a fixed end of the second linear driving assembly is fixedly mounted on the mounting base 1, and a movable end of the second linear driving assembly is fixedly connected to the first track wheel 21. The driving mode is simpler and clearer.
The driving manner of the second linear driving assembly is not limited in the present invention, and the second linear driving assembly may be an air cylinder, a hydraulic cylinder or an electric push rod.
Furthermore, in order to make the adjustment range of the chassis width larger, in an embodiment of the present invention, two first track wheels 21 are provided, and two corresponding connecting drive assemblies 3 are provided. With the arrangement, the minimum chassis width state of the telescopic crawler chassis 100 is shown in fig. 3, the width adjustment range is wider, and the flexibility is stronger.
The crawler wheels are different in type and length according to practical application, and can be triangular crawler wheels or long crawler wheels. The arrangement can be reasonably carried out according to the actual size of the mounting seat 1.
The invention further provides a special robot, which comprises the telescopic crawler chassis 100, and the special robot comprises all the technical characteristics of the telescopic crawler chassis 100, so that the special robot also has the technical effects brought by all the technical characteristics, and the details are not repeated herein.
The chassis of the telescopic crawler chassis 100 is telescopic and adjustable, so that the motion stability of the robot is improved, the flexibility of the whole robot and the terrain adaptability of a narrow channel are improved, the requirements of efficient operation and strong environmental adaptability of a special robot are met, and moreover, the width of the chassis is increased, so that a larger transverse support span is provided for the special robot.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A telescopic crawler chassis for chassis width adjustment of a special robot, comprising:
a mounting seat;
the crawler assembly comprises two crawler wheels which are respectively arranged on two opposite sides of the mounting seat, and the two crawler wheels comprise at least one first crawler wheel with an adjustable gap with the mounting seat; and the number of the first and second groups,
and the connecting driving assembly is arranged between the first crawler wheel and the mounting seat and used for adjusting the position of the first crawler wheel relative to the mounting seat.
2. The telescopic track chassis of claim 1, wherein the connection drive assembly comprises:
the fixed end of the first linear driving component is hinged and mounted on the mounting seat; and the number of the first and second groups,
one end of the connecting rod is hinged to the supporting frame of the first crawler wheel, the other end of the connecting rod is hinged to the mounting seat, and the middle of the connecting rod is hinged to the movable end of the first linear driving assembly.
3. The telescopic track chassis of claim 2, wherein the connection drive assembly further comprises:
the support connecting rods and the connecting rods are arranged at intervals along the length direction of the first crawler wheel, one end of each support connecting rod is hinged to a support frame of the first crawler wheel, and the other end of each support connecting rod is hinged to the mounting seat; and the number of the first and second groups,
and two ends of the synchronous connecting rod are respectively and hingedly arranged on the supporting connecting rod and the connecting rod.
4. The telescopic track undercarriage of claim 2 wherein said first linear drive assembly is in a one-to-one correspondence with said connecting rod as a drive group, two of said drive groups being spaced apart along the length of said first track wheel.
5. The telescopic track undercarriage of claim 2 wherein a fixed end of said first linear drive assembly is pivotally connected to said mounting base; and/or the presence of a gas in the gas,
the movable end of the first linear driving assembly is connected with the middle of the connecting rod through a pin shaft.
6. The telescopic track undercarriage of claim 2 wherein said first linear drive assembly is one of a pneumatic cylinder, a hydraulic cylinder, or an electric push rod.
7. The telescopic track undercarriage of claim 1 wherein said connecting drive assembly comprises a second linear drive assembly, a fixed end of said second linear drive assembly fixedly mounted to said mounting block, and a movable end of said second linear drive assembly fixedly connected to said first track wheel.
8. The telescopic track undercarriage of claim 1 wherein there are two of said first wheels and two of said corresponding connecting drive assemblies.
9. The telescopic track chassis of claim 1, wherein the track assemblies are arranged in a track group in a one-to-one correspondence with the connecting drive assembly, and the track group is provided in plurality and spaced apart along the length of the track wheels.
10. A specialty robot comprising a telescopic track chassis according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010834873.8A CN111845977A (en) | 2020-08-18 | 2020-08-18 | Telescopic crawler chassis and special robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010834873.8A CN111845977A (en) | 2020-08-18 | 2020-08-18 | Telescopic crawler chassis and special robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111845977A true CN111845977A (en) | 2020-10-30 |
Family
ID=72969233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010834873.8A Pending CN111845977A (en) | 2020-08-18 | 2020-08-18 | Telescopic crawler chassis and special robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111845977A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112402855A (en) * | 2020-11-24 | 2021-02-26 | 刘克稳 | Fire control is with preventing hypsokinesis robot |
| CN113335401A (en) * | 2021-07-07 | 2021-09-03 | 国机传感科技有限公司 | Automatic motion platform that patrols and examines of variant |
| CN115140278A (en) * | 2022-06-22 | 2022-10-04 | 上海海事大学 | Underwater robot telescopic crawler device based on hydraulic system |
| CN115384617A (en) * | 2022-09-30 | 2022-11-25 | 南通理工学院 | Omnidirectional crawler traveling device with adjustable wheel track |
-
2020
- 2020-08-18 CN CN202010834873.8A patent/CN111845977A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112402855A (en) * | 2020-11-24 | 2021-02-26 | 刘克稳 | Fire control is with preventing hypsokinesis robot |
| CN113335401A (en) * | 2021-07-07 | 2021-09-03 | 国机传感科技有限公司 | Automatic motion platform that patrols and examines of variant |
| CN115140278A (en) * | 2022-06-22 | 2022-10-04 | 上海海事大学 | Underwater robot telescopic crawler device based on hydraulic system |
| CN115140278B (en) * | 2022-06-22 | 2024-03-08 | 上海海事大学 | Underwater robot telescopic crawler device based on water hydraulic system |
| CN115384617A (en) * | 2022-09-30 | 2022-11-25 | 南通理工学院 | Omnidirectional crawler traveling device with adjustable wheel track |
| CN115384617B (en) * | 2022-09-30 | 2023-06-27 | 南通理工学院 | Omnidirectional crawler running gear with adjustable wheel track |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111845977A (en) | Telescopic crawler chassis and special robot | |
| KR0163466B1 (en) | A tie rod extendable and retactable telescopic axle assembly | |
| CN109659662B (en) | Telescopic arm type antenna unfolding mechanism | |
| CN107128375B (en) | Mobile chassis for wheel-track switching | |
| CN111216814A (en) | Rocker slider type wheel-track form reconfigurable walking mechanism | |
| CN212605525U (en) | Telescopic crawler chassis and special robot | |
| CA2447537A1 (en) | Snowmobile suspension system | |
| CN216684055U (en) | Mobile chassis unit with independent driving module, mobile chassis and mobile trolley | |
| AU2017318205B2 (en) | Industrial truck and drive wheel bearing device for industrial trucks | |
| CN112002982B (en) | Multi-rod type radar side block antenna overturning and locking mechanism | |
| CN202358069U (en) | Chassis structure of concrete pump truck with X-shaped support legs, and concrete pump truck | |
| CN213323350U (en) | Supporting leg unfolding and folding chassis and engineering machinery | |
| CN103158682A (en) | Chassis structure of concrete pump truck with X-shaped supporting legs and concrete pump truck | |
| CN114771185A (en) | Mobile robot and suspension system | |
| CN112141217A (en) | Supporting leg unfolding and folding chassis and engineering machinery | |
| CN215479537U (en) | Translational mechanism of bracket | |
| CN114953877A (en) | Novel self-adaptive suspension design of mobile robot | |
| CN210528395U (en) | Two-axial leveling mechanism suitable for self-propelled aerial work platform | |
| CN112644226A (en) | High-ground-clearance agricultural mobile platform and using method thereof | |
| CN208950584U (en) | A kind of shield machine box culvert two sides compliant platform | |
| CN113415348A (en) | Crawler-type mobile device | |
| CN109305237B (en) | Wall-climbing robot | |
| CN219529054U (en) | Support arm mechanism for side slope supporting equipment | |
| CN214928728U (en) | High-ground-clearance agricultural mobile platform | |
| CN110307452B (en) | Four-linkage six-degree-of-freedom fine adjustment mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |