CN114919671B

CN114919671B - Running gear of topography survey robot

Info

Publication number: CN114919671B
Application number: CN202210359392.5A
Authority: CN
Inventors: 翁耀炜; 厉玲婷; 黄友余
Original assignee: Zhejiang College of Security Technology
Current assignee: Zhejiang College of Security Technology
Priority date: 2022-04-06
Filing date: 2022-04-06
Publication date: 2023-10-13
Anticipated expiration: 2042-04-06
Also published as: CN114919671A

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, a plurality of supporting rollers positioned between the two steering rollers, a track wound between the two steering rollers and the supporting rollers, a concave-convex grain arranged on the surface of the track, and a self-cleaning mechanism respectively arranged at one far side of the two steering rollers, wherein the self-cleaning mechanism comprises a first guiding press roller and a second guiding press roller which are tightly pressed by being matched with the track, the first guiding press roller is in contact with the inner side of the track, the diameter of the first guiding press roller is smaller than that of the steering rollers, the second guiding press roller is positioned between the adjacent first guiding press roller and the steering rollers, the second guiding press roller is in contact with the outer side of the track, and the track is wound on the first guiding press roller and the second guiding press roller in an S shape. The walking device of the terrain surveying robot can automatically clean sand and stones clamped by the crawler belt in the advancing or retreating process.

Description

Running gear of topography survey robot

Technical Field

The invention relates to a walking device of a terrain surveying robot.

Background

The landscape construction needs to survey the terrain, and the traditional surveying means needs manual field handheld equipment to survey. There are also robots in the prior art that are used to remotely maneuver a survey with a survey apparatus. The topography survey robot generally needs to use the track to walk in this kind of complicated topography, and the track is usually including action wheel, follow driving wheel, around establishing action wheel and follow the track etc. on the driving wheel, in order to improve its frictional force with ground, the surface of track is provided with skid-proof line generally, in the recess of line is blocked into easily when the track when some sand and stone road surface is passed through, leads to the robot to go on the level ground and is not steady, causes the error of measurement easily. Furthermore, the caught sand is prone to wear of the crawler belt during long-term operation.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the walking device of the terrain surveying robot, which can automatically clean sand and stone clamped in by the crawler belt in the advancing or retreating process.

In order to achieve the purpose, 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, a plurality of supporting rollers positioned between the two steering rollers, a crawler belt which is connected between the two steering rollers and the supporting rollers in a winding way, a self-cleaning mechanism which is respectively arranged at one side of the two steering rollers away from each other, and the self-cleaning mechanism comprises a first guiding press roller and a second guiding press roller which are respectively arranged at the other side of the two steering rollers, wherein the first guiding press roller is in contact with the inner side of the crawler belt in a matching way, the diameter of the first guiding press roller is smaller than that of the steering rollers, the second guiding press roller is positioned between the adjacent first guiding press roller and the steering rollers, the second guiding press roller is in contact with the outer side of the crawler belt in a matching way, and the crawler belt is wound on the first guiding press roller and the second guiding press roller in an S shape.

Further, the concave-convex grain comprises a plurality of anti-slip protrusions and anti-slip grooves which are uniformly and alternately distributed along the length direction of the crawler belt, long grooves which are arranged in an extending mode along the length direction of the crawler belt are formed in the outer side of the crawler belt, the long grooves are located in the middle position 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 capable of rolling along the long grooves.

Further, the second guide press roller comprises second rolling parts connected to two axial ends of the first rolling part, the second rolling parts are in contact with the anti-slip protrusions in a matched mode, and the diameter of the first rolling parts is larger than that of the second rolling parts.

Further, the depth of the long groove is larger than that of the anti-slip groove.

The beneficial effects of the invention are as follows: through the contact support cooperation of first direction compression roller and second direction compression roller and the inside and outside of track for when the track was driven through first direction compression roller, first direction compression roller can order about the concave and convex line's of track surface concave and convex line concave part can deformation open, makes the gravel and sand that card was gone into wherein can be by oneself drop down, thereby realizes advancing the device and march or the automatic gravel and sand of going into the track of card to clear up, guarantees the stability when the robot march.

Drawings

FIG. 1 is a schematic diagram of an embodiment of the present invention;

FIG. 2 is a schematic view of a part of an embodiment of the present invention;

FIG. 3 is a schematic view of the structure of the concave-convex pattern on the surface of the crawler belt according to the embodiment of the invention;

fig. 4 is a schematic view showing the cooperation of the second guide roller and the crawler belt according to the embodiment of the present invention.

Detailed Description

An embodiment of the running gear of the terrain surveying robot of the present invention is shown in fig. 1-4: including two turn to roller 1 that are located the front and back both sides respectively, be located a plurality of backing rolls 2 between two turn to roller 1, the vertical height of two turn to roller 1 is higher than backing roll 2, and a plurality of backing rolls 2 are close to ground range setting, around establishing the track 3 that is connected with the rubber system between two turn to roller 1 and the backing roll 2, the surface of track 3 is provided with concave-convex texture, concave-convex texture can improve the frictional force when track 3 and ground contact, running gear still includes the self-cleaning mechanism who sets up the one side that keeps away from at two turn to roller 1 respectively, and self-cleaning mechanism is located along advancing or the furthest side that retreats, self-cleaning mechanism is including first direction compression roller 41, the second direction compression roller 42 that compresses tightly with track 3 cooperation, and first direction compression roller 41 is close to the inboard cooperation contact support of track 3, and is less than turn to roller 1, and second direction compression roller 42 is located between adjacent first direction compression roller 41 and the roller 1, and the outside cooperation contact support of second direction compression roller 42 and track 3, and 3 are the winding of S-shaped is established at first direction compression roller 41 and second direction compression roller 42 and the second direction compression roller 2 is close to the high enough to the high-pressure roller that makes the roller that the roller is connected to the high-pressure roller is enough to extend like this.

The concave-convex grain comprises a plurality of anti-slip bulges 31 and anti-slip grooves 32 which are uniformly and alternately distributed along the length direction of the crawler belt 3, a better friction force can be provided when the anti-slip bulges are contacted with the ground, a long groove 33 which is arranged in an extending way along the length direction of the crawler belt 3 is arranged at the outer side of the crawler belt 3, the long groove 33 is positioned at the middle position of the crawler belt 3 along the width direction of the crawler belt, the middle part of the second guide press roll 42 comprises a first rolling part 421 which can roll along the long groove 33, the bottom end surface of the long groove 33 is relatively flat, and the stability of the crawler belt 3 during conveying can be improved when the anti-slip roller is matched with the first rolling part 421 of the second guide press roll 42 to roll, so that the abrasion to the concave-convex grain is reduced.

The first guiding pressing roller 41 comprises a second rolling part 422 connected to two axial ends of the first rolling part 421, the second rolling part 422 is supported by being matched with the anti-slip protrusions 31, the diameter of the first rolling part 421 is larger than that of the second rolling part 422, the second rolling part 422 has a good supporting effect on the anti-slip protrusions 31 on the surface of the crawler belt 3, the stability of the form of the crawler belt 3 can be ensured, and the bending deformation of the crawler belt is limited.

The depth of the long groove 33 is greater than that of the anti-slip groove 32, so that the engagement effect with the first rolling portion 421 can be improved.

The above embodiment is only one of the preferred embodiments of the present invention, and common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention are included in the scope of the present invention.

Claims

1. The utility model provides a running gear of topography survey robot, is including two steering roller, a plurality of backing rolls that are located between two steering roller that are located the front and back both sides respectively, winds between two steering roller and the backing roll and establishes and be connected with the track, the surface of track is provided with concave-convex pattern, its characterized in that: the walking device further comprises self-cleaning mechanisms respectively arranged on the far sides of the two steering rollers, the self-cleaning mechanisms comprise first guide compression rollers and second guide compression rollers, the first guide compression rollers and the inner sides of the tracks are in matched contact and support, the diameter of the first guide compression rollers is smaller than that of the steering rollers, the second guide compression rollers are positioned between the adjacent first guide compression rollers and the steering rollers, the second guide compression rollers and the outer sides of the tracks are in matched and contact and support, and the tracks are wound on the first guide compression rollers and the second guide compression rollers in an S shape; the concave-convex grain comprises a plurality of anti-slip protrusions and anti-slip grooves which are uniformly and alternately distributed along the length direction of the crawler belt, long grooves which are arranged in an extending mode along the length direction of the crawler belt are formed in the outer side of the crawler belt, the long grooves are located in the middle position of the crawler belt along the width direction of the crawler belt, and the middle of the second guide press roller comprises a first rolling part capable of rolling along the long grooves.

2. The running gear of a terrain surveying robot of claim 1, 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 contact with the anti-slip protrusions in a matched mode, and the diameter of the first rolling parts is larger than that of the second rolling parts.

3. The running gear of a terrain surveying robot according to claim 1 or 2, characterized in that: the depth of the long groove is larger than that of the anti-skid groove.