CN113844558A

CN113844558A - Robot system

Info

Publication number: CN113844558A
Application number: CN202010601453.5A
Authority: CN
Inventors: 朱斌; 孟庆麟
Original assignee: Beijing Guoxin Ruibo Technology Co ltd
Current assignee: Beijing Guoxin Ruibo Technology Co ltd
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2021-12-28

Abstract

The invention discloses a robot system, which comprises a robot body, four turners and a crawler device, wherein the four turners are arranged on the robot body; the crawler attachment includes two first tracks and four second tracks, each first track and each second track all include basic unit and the cladding at the skin of basic unit's surface, outer surface cladding has the abrasionproof layer, each turner all includes first belt pulley and second belt pulley, be provided with the turner arm between first belt pulley and the second belt pulley, each first belt pulley and each second belt pulley are connected through two first tracks and four second tracks to the robot body, the position that deviates from robot body side at first belt pulley is provided with first belt pulley lid, the diameter of first belt pulley lid is greater than the diameter of first belt pulley, the position that deviates from robot body side at the second belt pulley is provided with second belt pulley lid, the diameter of second belt pulley lid is greater than the diameter of second belt pulley. The crawler belt climbing device can improve climbing and obstacle crossing capabilities and prevent the crawler belt from falling off.

Description

Robot system

Technical Field

The present invention relates to a robot system.

Background

With the continuous development of the robot system technology, the functions of the robot system are increasingly powerful, and various complex application requirements can be met. However, a problem that arises is that when the robotic system is operated in rural and urban areas, it is often necessary to climb steps, pass through doorways, operate in underground structures, and traverse gravel piles or other obstacles, easily causing track wear, which in turn leads to track breakage. Also, when the robotic system performs a zero turn radius operation in a harsh (e.g., dirty, debris-filled) environment and under heavy loads, there is a risk of the track falling. Further, as the internal structure of the robot system is increasingly complicated, the space inside the robot system is crowded, the weight is increased, the movement flexibility is poor, and the use is inconvenient.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a robot system capable of improving climbing and obstacle crossing capabilities and preventing a crawler from falling off.

The invention provides a robot system, which comprises a robot body, four turners and a crawler device, wherein the four turners are arranged on the robot body; wherein, the crawler device comprises two first crawlers and four second crawlers, each first crawler and each second crawler comprise a base layer and an outer layer coated on the outer surface of the base layer, the outer surface is coated with an anti-abrasion layer, each turner comprises a first belt pulley and a second belt pulley, a turner arm is arranged between the first belt pulley and the second belt pulley, the robot body is connected with the first belt pulley and the second belt pulley through the two first crawlers and the four second crawlers, a first belt pulley cover is arranged at the position of the first belt pulley departing from the robot body side, the diameter of the first belt pulley cover is larger than that of the first belt pulley, and a second belt pulley cover is arranged at the position of the second belt pulley departing from the robot body side, the diameter of the second pulley cover is greater than the diameter of the second pulley.

In a specific embodiment, the first pulley cover comprises a first cover body and a first steel back plate arranged on the inner side of the first cover body, and the first cover body is connected with the first steel back plate through a first supporting rib.

In a specific embodiment, the first cover body is connected with the turner arm through a positioning pin, and the positioning pin penetrates through the first steel back plate.

In a specific embodiment, the thickness of the first steel back plate is 1-2 mm.

In a specific embodiment, the second pulley cover comprises a second cover body and a second steel back plate arranged on the inner side of the second cover body, and the second cover body and the second steel back plate are connected through a second support rib.

In a specific embodiment, the second cover body is connected with the turner arm through a positioning pin, and the positioning pin penetrates through the second steel back plate.

In a specific embodiment, the thickness of the second steel back plate is 1-2 mm.

In a particular embodiment, the cross-section of the dowel pin is configured as a circle, an oval, a square, a triangle, a pentagon, or a hexagon.

In a particular embodiment, the first pulley cover has a diameter that is less than an outer diameter of the second track.

In a particular embodiment, the second pulley cover has a diameter that is less than an outer diameter of the second track.

In a specific embodiment, the rear end of the robot body is connected to a payload device through a payload interface.

In a particular embodiment, the payload device includes a heat sink and an antenna disposed on one side of the heat sink.

In a particular embodiment, the base layer is provided as a first color indicating layer and the outer layer is provided as a second color indicating layer.

In a specific embodiment, the base layer is provided as a red layer and the outer layer is provided as a green layer.

In a specific embodiment, the longitudinal length of each turner is 20-25 cm.

Due to the adoption of the technical scheme, the invention has the following advantages:

1. the crawler belt climbing device can improve climbing and obstacle crossing capabilities and can prevent the crawler belt from falling off.

2. The invention can save the internal space and weight of the robot body, is convenient for the design of the effective load device, namely the effective load device is not limited by the internal space of the robot body, so that the effective load device and the robot body can enjoy different design standards, and the invention has flexible and good movement and convenient use.

3. The invention can timely radiate heat, has high radiating efficiency and good radiating effect, thereby effectively reducing the temperature inside the robot body and the effective load device in time, preventing the robot system from breaking down and prolonging the service life of the robot system.

4. The invention has simple structure, wide application range and wide market prospect.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solution in the embodiments of the present invention, the following briefly introduces the drawings required in the description of the embodiments:

FIG. 1 shows a schematic structural diagram of one particular embodiment of a robotic system of the present invention;

FIG. 2 shows a schematic structural diagram of a flipper of a particular embodiment of the robotic system of the present invention;

figure 3 shows a schematic cross-sectional view of a first pulley cover of one embodiment of the robotic system of the present invention.

Detailed Description

The following detailed description of the embodiments of the present invention will be provided with reference to the drawings and examples, so that how to apply the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented. It should be noted that, as long as there is no conflict, the embodiments and the features of the embodiments of the present invention may be combined with each other, and the technical solutions formed are within the scope of the present invention. The directional terms used in the present invention, such as "front", "rear", "inner" and "outer", are used solely in conjunction with the attached drawings. Accordingly, the directional terms used are used for explanation and understanding of the present invention, and are not used for limiting the present invention.

As shown in fig. 1, the robot system of the present invention includes a robot body 1, four tilters 2, and a crawler 3. Wherein the crawler arrangement 3 comprises two first tracks 31 and four second tracks 32. Each first track 31 and each second track 32 include the basic unit and the skin of cladding at the basic unit surface, and outer surface cladding has the abrasionproof layer, can improve climbing and obstacle crossing (like the stair) ability. Each flipper 2 includes a first pulley and a second pulley with a flipper arm 21 (shown in fig. 2) disposed therebetween. The robot body 1 connects the first pulleys and the second pulleys by two first caterpillar tracks 31 and four second caterpillar tracks 32. A first belt pulley cover 22 is arranged at the position of the first belt pulley departing from the robot body 1 side, the diameter of the first belt pulley cover 22 is larger than that of the first belt pulley, a second belt pulley cover 23 is arranged at the position of the second belt pulley departing from the robot body 1 side, and the diameter of the second belt pulley cover 23 is larger than that of the second belt pulley. In this way, the second track 32 can be laterally retained, preventing the second track 32 from falling off the first and/or second pulleys when performing a zero turn radius operation in a harsh (e.g., dirty, debris-filled) environment and under heavy loads.

In a specific embodiment, as shown in fig. 2 and 3, the first pulley cover 22 includes a first cover 221 (shown in fig. 1) and a first steel back plate 222 disposed inside the first cover 221, and the first cover 221 and the first steel back plate 222 are connected by a first support rib 223, so that the first pulley cover 22 has sufficient strength, rigidity, stability and reliability.

In one specific embodiment, as shown in fig. 2, the first cover 221 is connected to the flipper arm 21 by a locating pin 4, and the locating pin 4 passes through the first steel back plate 222, such that the common rotational orientation of the flipper arm 21 and the first pulley cover 22 is maintained.

In one embodiment, the thickness of the first steel backing plate 222 is 1-2 mm.

In a specific embodiment, the second pulley cover 23 includes a second cover 231 (shown in fig. 1 and 2) and a second steel back plate disposed inside the second cover, and the second cover and the second steel back plate are connected by a second support rib, so that the second pulley cover 23 has sufficient strength, rigidity, stability and reliability.

In one particular embodiment, the second cover 231 is attached to the flipper arm 21 by dowel pins that pass through the second steel backing plate, enabling the common rotational orientation of the flipper arm 21 and the second pulley cover to be maintained.

In a specific embodiment, the thickness of the second steel backing plate is 1-2 mm.

In a particular embodiment, the cross-section of the dowel 4 is configured as a circle, oval, square, triangle, pentagon or hexagon.

In a particular embodiment, the diameter of the first pulley cover 22 is smaller than the outer diameter of the second track 32.

In a particular embodiment, the diameter of the second pulley cover 23 is smaller than the outer diameter of the second track 32.

In a particular embodiment, the base layer is provided as a first color indicating layer. The outer layer is provided as a second color indicating layer. When the outer layer wears, the color of the base layer can show the outside of the first track 31 and/or the second track 32. The color of the substrate may be a wear indicator of the first track 31 and/or the second track 32. The expected remaining life of first track 31 and/or second track 32 and/or when it is time to replace first track 31 and/or second track 32 can be indicated by the amount of color of the visible base layer, with the color change between the base layer and the outer layer increasing as the area wears.

In a particular embodiment, the base layer is provided as a red layer. The outer layer is provided as a green layer.

In a specific embodiment, the rear end of the robot body 1 is connected with the payload device 5 through the payload interface 11, so that the internal space and weight of the robot body 1 can be saved, the design of the payload device 5 is facilitated (the payload device 5 is not limited by the internal space of the robot body 1), and the payload device 5 and the robot body can enjoy different design standards (such as waterproof standards). The payload device 5 includes a heat sink 51 and an antenna 52 disposed on one side of the heat sink 51, which can improve the heat dissipation of the payload device 5 and facilitate remote communication with the operator control device.

In a specific embodiment, a heat sink cover 12 is disposed at a position corresponding to the heat sink 51 at the rear end of the robot body 1, and the heat sink cover 12 covers the heat sink 51 to protect the heat sink 51 from being damaged.

In a particular embodiment, the back end of the payload device 5 is provided with a handle 53 that facilitates detachment of the payload device 5 from the payload interface 11.

In a specific embodiment, a waterproof sealing member is arranged between the payload interface 11 and the payload device 5, so that the waterproof effect is good.

In a specific embodiment, the number of the antennas 52 is two, which can improve the effect of telecommunication. The two antennas 52 are spaced apart.

In a specific embodiment, the longitudinal length of each turner 2 is 20-25 cm.

Although the embodiments of the present invention have been described above, the above description is only for the convenience of understanding the present invention, and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A robot system is characterized by comprising a robot body, four turners and a crawler device; wherein, the crawler device comprises two first crawlers and four second crawlers, each first crawler and each second crawler comprise a base layer and an outer layer coated on the outer surface of the base layer, the outer surface is coated with an anti-abrasion layer, each turner comprises a first belt pulley and a second belt pulley, a turner arm is arranged between the first belt pulley and the second belt pulley, the robot body is connected with the first belt pulley and the second belt pulley through the two first crawlers and the four second crawlers, a first belt pulley cover is arranged at the position deviating from the robot body side on the first belt pulley, the diameter of the first belt pulley cover is larger than that of the first belt pulley, and a second belt pulley cover is arranged at the position deviating from the robot body side on the second belt pulley, the diameter of the second pulley cover is greater than the diameter of the second pulley.

2. The robotic system of claim 1, wherein the first pulley cover includes a first cover body and a first steel back plate disposed inside the first cover body, the first cover body and the first steel back plate being connected by a first support rib.

3. The robotic system of claim 2, wherein the first cover and the flipper arm are connected by a dowel pin, and the dowel pin passes through the first steel backing plate.

4. The robotic system of claim 1, wherein the second pulley cover includes a second cover body and a second steel back plate disposed inside the second cover body, the second cover body and the second steel back plate being connected by a second support rib.

5. The robotic system as claimed in claim 4, wherein the second cover is connected to the flipper arm by a dowel pin, and the dowel pin passes through the second steel back plate.

6. A robotic system as claimed in claim 3 or 5, characterized in that the cross-section of the dowel is arranged as a circle, an ellipse, a square, a triangle, a pentagon or a hexagon.

7. The robotic system as set forth in claim 1 wherein a diameter of the first pulley cover is less than an outer diameter of the second track.

8. The robotic system as set forth in claim 1 wherein a diameter of the second pulley cover is less than an outer diameter of the second track.

9. The robotic system as claimed in claim 1, wherein a back end of the robot body is connected to a payload device through a payload interface.

10. The robotic system as claimed in claim 9, wherein the payload device includes a heat sink and an antenna disposed on a side of the heat sink.