CN113501058A - Detection robot with stable walking mechanism - Google Patents
Detection robot with stable walking mechanism Download PDFInfo
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- CN113501058A CN113501058A CN202110796554.7A CN202110796554A CN113501058A CN 113501058 A CN113501058 A CN 113501058A CN 202110796554 A CN202110796554 A CN 202110796554A CN 113501058 A CN113501058 A CN 113501058A
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- rod
- connecting plate
- stabilizing
- rod piece
- wheel
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- 230000007246 mechanism Effects 0.000 title claims abstract description 45
- 238000001514 detection method Methods 0.000 title claims abstract description 13
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 63
- 239000000523 sample Substances 0.000 claims description 3
- 239000003381 stabilizer Substances 0.000 description 4
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
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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
- B62D55/30—Track-tensioning means
-
- 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
-
- 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
-
- 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
- B62D55/108—Suspension devices for wheels, rollers, bogies or frames with mechanical springs, e.g. torsion bars
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a detection robot with a stable walking mechanism, which comprises a chassis structure and two walking units connected to the chassis structure, wherein the two walking units are respectively distributed on two sides of the chassis structure; the stabilizing mechanism comprises first stabilizing wheels, second stabilizing wheels and a first cross beam, the first stabilizing wheels and the second stabilizing wheels are respectively and rotatably connected to two ends of the first cross beam, the first cross beam is rotatably connected with the chassis structure through a connecting piece, and a buffer mechanism is arranged between the first cross beam and the connecting piece; the bottom of the first stabilizing wheel and the bottom of the second stabilizing wheel are respectively contacted with the inner side of the lower part of the crawler. The invention adopts the stabilizing mechanism to replace a tension wheel in the prior art, so that when the detection robot crosses the obstacle, the track can be pressed through the stabilizing mechanism, and the stabilizing mechanism can change according to the shape of the corresponding obstacle, thereby ensuring the walking stability of the robot.
Description
Technical Field
The invention relates to a detection robot, in particular to a detection robot with a stable walking mechanism.
Background
In the prior art, outdoor small-sized detection robots mostly have the advantages of portability, and basically adopt crawler-type traveling mechanisms in order to improve steering capacity and traveling capacity. In the existing outdoor small-sized detection robot, when the robot is used for uneven roads, the tensioning wheel arranged on the inner side of the track is fixedly arranged, so that when the robot climbs over the uneven obstacles, the position of the track on the tensioning wheel cannot adapt to the change of the obstacles, and the resistance of the whole robot during walking is increased.
Disclosure of Invention
In order to solve the above-mentioned deficiencies in the prior art, the present invention provides a probe robot having a stable traveling mechanism.
The technical scheme adopted by the invention for solving the technical problems is as follows: a detection robot with a stable walking mechanism comprises a chassis structure and two walking units connected to the chassis structure, wherein the two walking units are respectively distributed on two sides of the chassis structure;
the chassis structure is characterized in that the walking unit comprises a first driving chain wheel, a second driving chain wheel and a crawler belt connected between the first driving chain wheel and the second driving chain wheel, and a plurality of stabilizing mechanisms matched with the crawler belt are connected to the inner side of the crawler belt;
the stabilizing mechanism comprises a first stabilizing wheel, a second stabilizing wheel and a first cross beam for connecting the first stabilizing wheel and the second stabilizing wheel, the first stabilizing wheel and the second stabilizing wheel are respectively and rotatably connected with two ends of the first cross beam, the first cross beam is rotatably connected with the chassis structure through a connecting piece, and a buffer mechanism is arranged between the first cross beam and the connecting piece;
the bottom of the first stabilizing wheel and the bottom of the second stabilizing wheel are respectively contacted with the inner side of the lower part of the crawler;
the stabilizing mechanisms are distributed at equal intervals on the inner side of the crawler belt.
Optionally, the first cross beam comprises a first connecting plate, a second connecting plate and a first folding rod connected between the first connecting plate and the second connecting plate, the first stabilizing wheel is rotatably connected with the middle of the first connecting plate, and the second stabilizing wheel is rotatably connected with the middle of the second connecting plate.
Optionally, the shapes and specifications of the first connecting plate and the second connecting plate are consistent;
the sections of the first connecting plate and the second connecting plate are both trapezoidal;
surrounding plates are arranged on the peripheries of the first connecting plate and the second connecting plate respectively, so that the first connecting plate and the second connecting plate are arranged in the corresponding surrounding plates respectively;
and two ends of the first folding rod piece are respectively connected with the outer sides of the two enclosing plates.
Optionally, the first folding rod piece comprises a first rod piece, a second rod piece and a third rod piece, the first rod piece and the third rod piece are respectively and symmetrically connected to two ends of the second rod piece, and included angles of 120-150 degrees are formed between the first rod piece and the second rod piece respectively;
the outer ends of the first rod piece and the third rod piece are respectively connected with the corresponding enclosing plates.
Optionally, the first rod piece, the second rod piece and the third rod piece are integrally formed;
the first folding rod piece and the coaming are integrally formed;
the first connecting plate and the second connecting plate are integrally formed with the corresponding enclosing plates respectively.
Optionally, the connecting member includes a second cross beam and a second folding member, and the second folding member is fixedly connected to the chassis structure through the second cross beam;
the second folding rod piece comprises a fourth rod piece and two third connecting plates arranged below the fourth rod piece, a gap is formed between the two third connecting plates, and the gap between the two third connecting plates is matched with the width of the first folding rod piece;
and the first folding rod piece is rotatably connected between the two third connecting plates through a rotating shaft.
Optionally, a fifth rod piece and a sixth rod piece which extend towards the two enclosing plates respectively are arranged at two ends of the fourth rod piece, so that the fifth rod piece and the sixth rod piece respectively form stopping pieces of the two enclosing plates;
the fifth rod piece, the sixth rod piece and the fourth rod piece are integrally formed.
Optionally, the buffer mechanism includes two buffer springs and two buffer pads;
the two buffer springs are respectively arranged between the enclosing plate and the third connecting plate, the two buffer springs are respectively sleeved on the rod bodies of the first rod piece and the third rod piece, and two ends of each buffer spring are respectively abutted against the side surface of the enclosing plate and the side edge of the third connecting plate;
the two cushion pads are fixedly connected to the bottom sides of the fifth rod piece and the sixth rod piece respectively.
Optionally, the inner side surface of the track is provided with a groove matched with the first stabilizing wheel and the second stabilizing wheel, and the bottoms of the first stabilizing wheel and the second stabilizing wheel are located inside the groove.
Optionally, the first drive sprocket and the second drive sprocket have the same height on the chassis structure, and the height of the stabilizing mechanism is lower than the height of the first drive sprocket and the second drive sprocket.
By adopting the technical scheme, the tension wheel in the prior art is replaced by the stabilizing mechanism, so that when the detection robot crosses an obstacle, the track can be pressed through the stabilizing mechanism, and the stabilizing mechanism can change according to the shape of the corresponding obstacle, thereby ensuring the walking stability of the robot.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a first cross member of the present invention;
FIG. 3 is a schematic structural diagram of a second flap member according to the present invention;
FIG. 4 is a schematic view of the connection of the second flap member to the first cross member according to the present invention;
fig. 5 is a schematic view of the inner side structure of the crawler of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in figure 1, the invention discloses a detection robot with a stable walking mechanism, which comprises a chassis structure 1 and two walking units connected to the chassis structure, wherein the two walking units are symmetrically arranged at two sides of the chassis structure 1.
In the present invention, the traveling unit is a crawler type traveling mechanism. Specifically, the traveling unit includes a first drive sprocket 2, a second drive sprocket 3, and a crawler belt 4 connected between the first drive sprocket 2 and the second drive sprocket 3, and the chassis structure 1 is connected with a plurality of stabilizing mechanisms engaged with the crawler belt 4 on the inner side of the crawler belt 4. The track 4 can guarantee the stability of the robot walking when crossing obstacles through the cooperation with the stabilizing mechanism. The first drive sprocket 2 and the second drive sprocket 3 are at the same height on the chassis structure 1 and the height of the stabilizing mechanism is lower than the height of the first drive sprocket 2 and the second drive sprocket 3.
In the present invention, as shown in fig. 1, the stabilizing mechanism includes a first stabilizing wheel 5, a second stabilizing wheel 6, and a first cross member 7 for connecting the first and second stabilizing wheels 5 and 6. Wherein, first stabilizer wheel 5 rotates respectively with second stabilizer wheel 6 and is connected at the both ends of first crossbeam 7, and the bottom of first stabilizer wheel 5, the bottom of second stabilizer wheel 6 contact with the inboard of track 4 lower part respectively, and first crossbeam 7 is connected with the mode of rotating between chassis structure 1 through the connecting piece to be equipped with buffer gear between first crossbeam 7 and connecting piece, be used for buffering the kinetic energy when first crossbeam 7 rotates. In the present invention, a plurality of stabilizing mechanisms are equally spaced inside the crawler 4.
Specifically, in the present invention, as shown in fig. 2, the first beam 7 includes a first connecting plate 701, a second connecting plate 702, and a first folding bar 703 connected between the first connecting plate 701 and the second connecting plate 702, the shapes and specifications of the first connecting plate 701 and the second connecting plate 702 are the same, and the cross sections of the first connecting plate 701 and the second connecting plate 702 are isosceles trapezoids, so that the length of the top edge of the first connecting plate 701 and the length of the bottom edge of the second connecting plate 702 are smaller than that of the bottom edge of the first connecting plate 701 and the second connecting plate 702. The first stabilizing wheel 5 is rotatably connected with the middle of the first connecting plate 701 through a rotating shaft, and the second stabilizing wheel 6 is rotatably connected with the middle of the second connecting plate 702 through a rotating shaft. In addition, in order to facilitate the connection and fixation of the first folding bar 703 with the first connecting plate 701 and the second connecting plate 702, the surrounding plates 704 may be respectively disposed around the first connecting plate 701 and the second connecting plate 702, so that the first connecting plate 701 and the second connecting plate 702 are respectively disposed inside the corresponding surrounding plates 704, and the two ends of the first folding bar 703 are respectively connected with the outer side plate surfaces of the two surrounding plates 704, thereby increasing the fixing area of the first folding bar 703 to improve the strength of the whole first beam 7.
In the present invention, as shown in fig. 2, the first folding bar 703 specifically includes a first bar 703a, a second bar 703b, and a third bar 703 c. The first rod 703a and the third rod 703c are symmetrically connected to two ends of the second rod 703b, and the first rod 703a and the third rod 703c have an included angle of 120-150 degrees with the second rod 703b, so that an area surrounded by the first rod 703a, the second rod 703b, and the third rod 703c also becomes an isosceles trapezoid. In the present invention, since the first rod 703a and the third rod 703c are located at two ends of the second rod 702b, the outer ends of the first rod 703a and the third rod 703c are respectively connected to the corresponding enclosing plates 704, and the second rod 702b is rotatably connected to the connecting member.
In order to improve the strength, the first rod 703a, the second rod 703b, and the third rod 703c may be integrally formed, the whole first rod 703 and the enclosing plate 704 may be integrally formed, and the first connecting plate 701 and the second connecting plate 702 may be integrally formed with the corresponding enclosing plate 704. Therefore, the whole first cross beam 7 is a complete and seamless integral structure, and the integral strength of the first cross beam 7 is improved.
In the present invention, the connection is used to connect the chassis structure 1 with the first beam 7. Specifically, the connecting member includes a second cross member 8 and a second folding member 9, the second folding member 9 is fixedly connected to the chassis structure 1 through the second cross member 8, and the first cross member 7 is rotatably connected to the second folding member 9.
In the present invention, as shown in fig. 3 and 4, the second flap member 9 includes a fourth flap member 901 and two third connecting panels 902 disposed below the fourth flap member 901, a gap is formed between the two third connecting panels 902, and the gap between the two third connecting panels 902 is adapted to the width of the first flap member 703. When the first folding bar member 703 is rotatably connected, the first folding bar member 703 is rotatably connected between the two third connecting plates 902 through a rotating shaft.
When the third connecting plate 902 is specifically arranged, the third connecting plate 902 may extend downward from the bottom of the fourth rod 901, so that the third connecting plate 902 and the fourth rod 901 are integrated into a whole in an integrated manner, that is, the third connecting plate 902 is a component extending from the bottom of the fourth rod 901.
At both ends of the fourth bar 901, a fifth bar 903 and a sixth bar 904 are provided, which extend towards the two enclosing plates 704, respectively, so that the fifth bar 903 and the sixth bar 904 constitute a blocking member for the two enclosing plates 704, respectively, for preventing the first beam 7 from over-rotating. In addition, in the present invention, the fifth rod 903 and the sixth rod 904 are also integrally formed with the fourth rod 901.
In the present invention, as shown in fig. 4, the cushion mechanism includes two cushion springs 10 and two cushion pads 11.
Specifically, the two buffer springs 10 are respectively disposed between the enclosure 704 and the third connecting plate 902, the two buffer springs 10 are respectively sleeved on the rod bodies of the first rod 703a and the third rod 703c, and both ends of the buffer springs 10 respectively abut against the side surface of the enclosure 704 and the side edge of the third connecting plate 902. Two cushions 11 are fixedly connected to the bottom sides of the fifth rod 903 and the sixth rod 904, respectively, for preventing damage to the first beam 7.
In the present invention, as shown in fig. 5, the inner side surface of the track 4 is provided with a groove 401 matched with the first stabilizing wheel 2 and the second stabilizing wheel 3, and the bottoms of the first stabilizing wheel 2 and the second stabilizing wheel 2 are positioned inside the groove 401 to prevent the track 4 from deviating. With this structure, the driving portion inside the track 4 is divided into the left half and the right half by the groove 401, but this does not affect the fit between the track 4 and the first driving sprocket 2 and the second driving sprocket 3 because the width of the groove 401 is smaller than the thickness of the first driving sprocket 2 and the second driving sprocket 3, i.e. the thickness of the first stabilizing wheel 2 and the second stabilizing wheel 3 is smaller than the thickness of the first driving sprocket 2 and the second driving sprocket 3.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Other technical features than those described in the specification are known to those skilled in the art, and are not described herein in detail in order to highlight the innovative features of the present invention.
Claims (10)
1. A detection robot with a stable walking mechanism is characterized by comprising a chassis structure and two walking units connected to the chassis structure, wherein the two walking units are respectively distributed on two sides of the chassis structure;
the chassis structure is characterized in that the walking unit comprises a first driving chain wheel, a second driving chain wheel and a crawler belt connected between the first driving chain wheel and the second driving chain wheel, and a plurality of stabilizing mechanisms matched with the crawler belt are connected to the inner side of the crawler belt;
the stabilizing mechanism comprises a first stabilizing wheel, a second stabilizing wheel and a first cross beam for connecting the first stabilizing wheel and the second stabilizing wheel, the first stabilizing wheel and the second stabilizing wheel are respectively and rotatably connected with two ends of the first cross beam, the first cross beam is rotatably connected with the chassis structure through a connecting piece, and a buffer mechanism is arranged between the first cross beam and the connecting piece;
the bottom of the first stabilizing wheel and the bottom of the second stabilizing wheel are respectively contacted with the inner side of the lower part of the crawler;
the stabilizing mechanisms are distributed at equal intervals on the inner side of the crawler belt.
2. The scout robot with a stabilized walking mechanism of claim 1, wherein the first beam comprises a first connecting plate, a second connecting plate and a first folding bar connected between the first connecting plate and the second connecting plate, the first stabilizing wheel is rotatably connected with the middle portion of the first connecting plate, and the second stabilizing wheel is rotatably connected with the middle portion of the second connecting plate.
3. The probe robot with the stable walking mechanism according to claim 2, wherein the first connecting plate and the second connecting plate have the same shape and size;
the sections of the first connecting plate and the second connecting plate are both trapezoidal;
surrounding plates are arranged on the peripheries of the first connecting plate and the second connecting plate respectively, so that the first connecting plate and the second connecting plate are arranged in the corresponding surrounding plates respectively;
and two ends of the first folding rod piece are respectively connected with the outer sides of the two enclosing plates.
4. The detection robot with the stable walking mechanism according to claim 3, wherein the first folding rod comprises a first rod, a second rod and a third rod, the first rod and the third rod are symmetrically connected to two ends of the second rod, and the first rod and the third rod have an included angle of 120-150 ° with the second rod;
the outer ends of the first rod piece and the third rod piece are respectively connected with the corresponding enclosing plates.
5. The probe robot having a stabilized walking mechanism according to claim 4, wherein the first bar member, the second bar member and the third bar member are integrally formed;
the first folding rod piece and the coaming are integrally formed;
the first connecting plate and the second connecting plate are integrally formed with the corresponding enclosing plates respectively.
6. The probing robot with stable walking mechanism of claim 5, wherein said connecting member comprises a second beam and a second folding member, said second folding member is fixedly connected to said chassis structure via said second beam;
the second folding rod piece comprises a fourth rod piece and two third connecting plates arranged below the fourth rod piece, a gap is formed between the two third connecting plates, and the gap between the two third connecting plates is matched with the width of the first folding rod piece;
and the first folding rod piece is rotatably connected between the two third connecting plates through a rotating shaft.
7. The probing robot with stable walking mechanism of claim 6, wherein said fourth rod has a fifth rod and a sixth rod at its two ends, which extend toward the two enclosing plates, respectively, so that said fifth rod and said sixth rod form the stop members of said two enclosing plates, respectively;
the fifth rod piece, the sixth rod piece and the fourth rod piece are integrally formed.
8. The probing robot with stable walking mechanism of claim 7, wherein said buffer mechanism comprises two buffer springs and two buffer pads;
the two buffer springs are respectively arranged between the enclosing plate and the third connecting plate, the two buffer springs are respectively sleeved on the rod bodies of the first rod piece and the third rod piece, and two ends of each buffer spring are respectively abutted against the side surface of the enclosing plate and the side edge of the third connecting plate;
the two cushion pads are fixedly connected to the bottom sides of the fifth rod piece and the sixth rod piece respectively.
9. The scout robot with a stabilized walking mechanism of claim 8, wherein the inner side surface of the crawler is provided with a groove for fitting the first and second stabilizing wheels, and the bottom of the first and second stabilizing wheels is located inside the groove.
10. The scout robot with stabilized walking mechanism of claim 9, wherein the first and second drive sprockets are the same height on the chassis structure and the height of the stabilizing mechanism is lower than the height of the first and second drive sprockets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110796554.7A CN113501058A (en) | 2021-07-14 | 2021-07-14 | Detection robot with stable walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110796554.7A CN113501058A (en) | 2021-07-14 | 2021-07-14 | Detection robot with stable walking mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN113501058A true CN113501058A (en) | 2021-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110796554.7A Pending CN113501058A (en) | 2021-07-14 | 2021-07-14 | Detection robot with stable walking mechanism |
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| CN (1) | CN113501058A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556188A (en) * | 2012-02-17 | 2012-07-11 | 湖南农业大学 | Traveling device for profiling crawler belt chassis |
| CN103863423A (en) * | 2012-12-17 | 2014-06-18 | 中国科学院沈阳自动化研究所 | Triangular crawler-type moving mechanism |
| CN108839721A (en) * | 2018-09-07 | 2018-11-20 | 湖南千智机器人科技发展有限公司 | A kind of walking mechanism, crawler type running system and mechanically moving |
| CN109303994A (en) * | 2018-09-28 | 2019-02-05 | 山东阿图机器人科技有限公司 | A kind of fire inspection firefighting robot and its working method |
| CN212580018U (en) * | 2020-06-06 | 2021-02-23 | 湖南梅花机电科技有限公司 | Crawler equipment |
-
2021
- 2021-07-14 CN CN202110796554.7A patent/CN113501058A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556188A (en) * | 2012-02-17 | 2012-07-11 | 湖南农业大学 | Traveling device for profiling crawler belt chassis |
| CN103863423A (en) * | 2012-12-17 | 2014-06-18 | 中国科学院沈阳自动化研究所 | Triangular crawler-type moving mechanism |
| CN108839721A (en) * | 2018-09-07 | 2018-11-20 | 湖南千智机器人科技发展有限公司 | A kind of walking mechanism, crawler type running system and mechanically moving |
| CN109303994A (en) * | 2018-09-28 | 2019-02-05 | 山东阿图机器人科技有限公司 | A kind of fire inspection firefighting robot and its working method |
| CN212580018U (en) * | 2020-06-06 | 2021-02-23 | 湖南梅花机电科技有限公司 | Crawler equipment |
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Application publication date: 20211015 |