CN114919671A - Running gear of topography surveying robot - Google Patents
Running gear of topography surveying robot Download PDFInfo
- Publication number
- CN114919671A CN114919671A CN202210359392.5A CN202210359392A CN114919671A CN 114919671 A CN114919671 A CN 114919671A CN 202210359392 A CN202210359392 A CN 202210359392A CN 114919671 A CN114919671 A CN 114919671A
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- China
- Prior art keywords
- compression roller
- crawler
- guide compression
- steering
- guide
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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
- B62D55/088—Endless track units; Parts thereof with means to exclude or remove foreign matter, e.g. sealing means, self-cleaning track links or sprockets, deflector plates or scrapers
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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 walking device of a terrain surveying robot, which comprises two steering rollers respectively positioned at the front side and the rear side and a plurality of supporting rollers positioned between the two steering rollers, wherein a crawler belt is wound and connected between the two steering rollers and the supporting rollers, the surface of the crawler is provided with concave-convex grains, the walking device also comprises a self-cleaning mechanism which is respectively arranged at one side of the two steering rollers which are far away from each other, the self-cleaning mechanism comprises a first guide compression roller and a second guide compression roller which are matched and pressed with the crawler, the first guide compression roller is in contact with and supported by the inner side of the crawler in a matched mode, the diameter of the first guide compression roller is smaller than that of the steering roller, the second guide compression roller is located between the adjacent first guide compression roller and the steering roller, the second guide compression roller is in contact with and supported by the outer side of the crawler in a matched mode, and the crawler is S-shaped and wound on the first guide compression roller and the second guide compression roller. The walking device of the terrain surveying robot can automatically clean sand and stones clamped by the crawler belt in the process of advancing or retreating.
Description
Technical Field
The invention relates to a walking device of a terrain surveying robot.
Background
The landscape needs to survey the topography during construction, and the traditional survey means needs manual on-site handheld equipment to survey. There are also known techniques for surveying using a robot carrying surveying equipment in a remote controlled manner. The terrain surveying robot usually needs to use a crawler belt when walking in the complex terrain, the crawler belt usually comprises a driving wheel, a driven wheel, and the crawler belt wound on the driving wheel and the driven wheel, in order to improve the friction force between the crawler belt and the ground, the surface of the crawler belt is usually provided with anti-skid grains, when the crawler belt passes through some sand and stone pavements, the crawler belt is easily clamped into the depressions of the grains, so that the robot does not stably travel on the flat ground, and the measuring error is easily caused. In addition, the trapped gravel and sand can easily cause wear to the track during long-term operation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a walking device of a terrain surveying robot, which can automatically clean the sand and stone stuck in a crawler belt during the process of traveling or backing.
In order to achieve the aim, the invention provides a walking device of a terrain surveying robot, which comprises two steering rollers respectively positioned at the front side and the rear side and a plurality of supporting rollers positioned between the two steering rollers, wherein a crawler belt is wound and connected between the two steering rollers and the supporting rollers, the surface of the crawler is provided with concave-convex grains, the walking device also comprises self-cleaning mechanisms respectively arranged at the far sides of the two steering rollers, the self-cleaning mechanism comprises a first guide compression roller and a second guide compression roller which are matched and pressed with the crawler, the first guide compression roller is matched and contacted with the inner side of the crawler to support, the diameter of the first guide compression roller is smaller than that of the steering roller, the second guide compression roller is positioned between the adjacent first guide compression roller and the steering roller, the second guide compression roller is matched and contacted with the outer side of the crawler to support, and the crawler is S-shaped and wound on the first guide compression roller and the second guide compression roller.
Furthermore, the concave-convex lines comprise a plurality of anti-skid protrusions and anti-skid grooves which are uniformly and alternately distributed along the length direction of the crawler, long grooves which extend along the length direction of the crawler are formed in the outer side of the crawler, the long grooves are located in the middle of the crawler along the width direction of the crawler, and the middle of the second guide pressing roller comprises a first rolling part which can roll along the long grooves.
Furthermore, the second guide compression roller comprises second rolling parts connected to two axial ends of the first rolling part, the second rolling parts are in matched contact with the anti-skid protrusions for supporting, and the diameter of the first rolling part is larger than that of the second rolling part.
Further, the depth of the long groove is larger than that of the anti-slip groove.
The beneficial effects of the invention are: the cooperation is supported in the contact of the inside and outside of through first direction compression roller and second direction compression roller and track for when the track was driven through first direction compression roller, the concave recess of the unsmooth line on track surface can be driven to the first direction compression roller and can be deformed and open, makes the sand and stone that the card was gone into wherein can drop by oneself, thereby realizes advancing or the automatic sand and stone to the card track of in-process that moves back of advancing the device clears up, guarantees the stability when the robot marchs.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a portion of an embodiment of the present invention;
FIG. 3 is a schematic structural view of a concave-convex pattern on the surface of a crawler according to an embodiment of the present invention;
fig. 4 is a schematic view showing the cooperation of a second guide roll and a track according to an embodiment of the present invention.
Detailed Description
Embodiments of the invention for a walking device of a terrain surveying robot are shown in fig. 1-4: the walking device comprises two steering rollers 1 respectively positioned at the front side and the rear side and a plurality of supporting rollers 2 positioned between the two steering rollers 1, wherein the longitudinal height of the two steering rollers 1 is higher than that of the supporting rollers 2, the supporting rollers 2 are arranged close to the ground, a rubber-made crawler 3 is arranged between the two steering rollers 1 and the supporting rollers 2 in a winding manner, concave-convex grains are arranged on the surface of the crawler 3 and can improve the friction force when the crawler 3 is contacted with the ground, the walking device further comprises a self-cleaning mechanism respectively arranged at one side, far away from the two steering rollers 1, the self-cleaning mechanism is positioned at the far side along the advancing direction or the retreating direction, the self-cleaning mechanism comprises a first guide compression roller 41 and a second guide compression roller 42 which are matched and pressed with the crawler 3, the first guide compression roller 41 is matched and contacted with the inner side of the crawler 3 for supporting, and the diameter of the first guide compression roller 41 is smaller than that of the steering rollers 1, the second guide pressing roller 42 is positioned between the adjacent first guide pressing roller 41 and the steering roller 1, the second guide pressing roller 42 is matched with and supported by the outer side of the crawler 3 in a contact manner, the crawler 3 is S-shaped and wound on the first guide pressing roller 41 and the second guide pressing roller 42, the longitudinal heights of the first guide pressing roller 41 and the second guide pressing roller 42 are higher than those of the support rollers 2, so that the crawler 3 connected between the second guide pressing roller 42 and the adjacent support rollers 2 is in a state of inclined extension, the design can improve the passing performance of the travelling device, and the gravel has enough discharge height.
The concave-convex grains comprise a plurality of anti-skid protrusions 31 and anti-skid grooves 32 which are uniformly and alternately distributed along the length direction of the crawler 3, better friction force can be provided when the concave-convex grains are contacted with the ground, the outer side of the crawler 3 is provided with a long groove 33 which extends along the length direction of the crawler 3, the long groove 33 is positioned in the middle of the crawler 3 along the width direction of the crawler 3, the middle of the second guide compression roller 42 comprises a first rolling part 421 which can roll along the long groove 33, the bottom end face of the long groove 33 is relatively flat, the concave-convex grains can improve the stability of the crawler 3 during conveying when the concave-convex grains are matched with the first rolling part 421 of the second guide compression roller 42 to roll, and abrasion to the concave-convex grains is reduced.
The first guide press roller 41 includes second rolling portions 422 connected to both ends of the first rolling portion 421 in the axial direction, the second rolling portions 422 are in contact with the anti-slip protrusions 31 in a matched manner, the diameter of the first rolling portion 421 is larger than that of the second rolling portions 422, the second rolling portions 422 have a good supporting effect on the anti-slip protrusions 31 on the surface of the crawler 3, stability of the shape of the crawler 3 can be guaranteed, and bending deformation of the crawler is limited.
The depth of the long groove 33 is greater than that of the anti-slip groove 32, so that the cooperation effect with the first rolling part 421 can be improved.
The above embodiment is only one of the preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a walking device of robot is surveyed to topography, including two steering rolls that are located both sides around respectively, a plurality of backing rolls that are located between two steering rolls, around establishing between two steering rolls and the backing roll and be connected with the track, the surface of track is provided with concave-convex line, its characterized in that: the walking device is characterized by further comprising a self-cleaning mechanism which is arranged on one side, far away from each other, of each of the two steering rollers, the self-cleaning mechanism comprises a first guide compression roller and a second guide compression roller which are matched and pressed with the crawler, the first guide compression roller is matched and contacted with the inner side of the crawler to support, the diameter of the first guide compression roller is smaller than that of the steering rollers, the second guide compression roller is located between the adjacent first guide compression roller and the steering rollers, the second guide compression roller is matched and contacted with the outer side of the crawler to support, and the crawler is S-shaped and wound on the first guide compression roller and the second guide compression roller.
2. The walking device of the terrain surveying robot of claim 1, wherein: the concave-convex lines comprise a plurality of anti-skid protrusions and anti-skid grooves which are uniformly and alternately distributed along the length direction of the crawler belt, the outer side of the crawler belt is provided with an elongated slot which extends along the length direction of the crawler belt, the elongated slot is positioned in the middle of the crawler belt along the width direction of the crawler belt, and the middle of the second guide compression roller comprises a first rolling part which can roll along the elongated slot.
3. The walking device of the terrain surveying robot of claim 2, wherein: the second guide compression roller comprises second rolling parts connected to two axial ends of the first rolling part, the second rolling parts are in matched contact with the anti-skid protrusions to support, and the diameter of the first rolling part is larger than that of the second rolling part.
4. A walking device of a terrain surveying robot as claimed in claim 2 or 3, wherein: the depth of the long groove is larger than that of the anti-slip groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210359392.5A CN114919671B (en) | 2022-04-06 | 2022-04-06 | Running gear of topography survey robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210359392.5A CN114919671B (en) | 2022-04-06 | 2022-04-06 | Running gear of topography survey robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114919671A true CN114919671A (en) | 2022-08-19 |
| CN114919671B CN114919671B (en) | 2023-10-13 |
Family
ID=82805538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210359392.5A Active CN114919671B (en) | 2022-04-06 | 2022-04-06 | Running gear of topography survey robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN114919671B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2617631A1 (en) * | 2010-09-16 | 2013-07-24 | Independent Administrative Institution Japan Agency for Marine-Earth Science and Technology | Crawler device and crawler robot |
| CN205872226U (en) * | 2016-07-09 | 2017-01-11 | 江西金利隆橡胶履带有限公司 | Recess gear type point rubber track |
| CN206012757U (en) * | 2016-08-26 | 2017-03-15 | 泗洪县春云机械制造有限公司 | A kind of derailment-proof rubber belt track of high temperature resistant |
| CN206963386U (en) * | 2017-07-12 | 2018-02-06 | 武汉科珈种业科技有限公司 | A kind of caterpillar band harvester walking mechanism |
| CN108725614A (en) * | 2018-07-17 | 2018-11-02 | 陈雨薇 | A kind of novel running gear for halftrack tractor chassis |
| CN211918854U (en) * | 2019-12-30 | 2020-11-13 | 泗洪县春云机械制造有限公司 | Agricultural just clean formula crawler attachment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN214267802U (en) * | 2020-11-30 | 2021-09-24 | 深圳市杉川机器人有限公司 | Track, crawler-type walking wheel and sweeping robot |
-
2022
- 2022-04-06 CN CN202210359392.5A patent/CN114919671B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2617631A1 (en) * | 2010-09-16 | 2013-07-24 | Independent Administrative Institution Japan Agency for Marine-Earth Science and Technology | Crawler device and crawler robot |
| CN205872226U (en) * | 2016-07-09 | 2017-01-11 | 江西金利隆橡胶履带有限公司 | Recess gear type point rubber track |
| CN206012757U (en) * | 2016-08-26 | 2017-03-15 | 泗洪县春云机械制造有限公司 | A kind of derailment-proof rubber belt track of high temperature resistant |
| CN206963386U (en) * | 2017-07-12 | 2018-02-06 | 武汉科珈种业科技有限公司 | A kind of caterpillar band harvester walking mechanism |
| CN108725614A (en) * | 2018-07-17 | 2018-11-02 | 陈雨薇 | A kind of novel running gear for halftrack tractor chassis |
| CN211918854U (en) * | 2019-12-30 | 2020-11-13 | 泗洪县春云机械制造有限公司 | Agricultural just clean formula crawler attachment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114919671B (en) | 2023-10-13 |
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