CN207758898U - A kind of crawler body running gear and explosive-removal robot - Google Patents
A kind of crawler body running gear and explosive-removal robot Download PDFInfo
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- CN207758898U CN207758898U CN201721321707.8U CN201721321707U CN207758898U CN 207758898 U CN207758898 U CN 207758898U CN 201721321707 U CN201721321707 U CN 201721321707U CN 207758898 U CN207758898 U CN 207758898U
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- wheel
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- body running
- explosive
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Abstract
The utility model is related to a kind of crawler body running gear and explosive-removal robots.The crawler body running gear of the utility model includes chassis and the Athey wheel mounted on chassis both sides, crawler belt is wound on the Athey wheel, the chassis medium position or close medium position are equipped with the resigning region invaginated towards chassis for crawler belt the when of crossing raised barrier.When facing the road conditions of high and low fluctuating using the crawler body running gear of the utility model, crawler belt is engaged in internal strife to raised barrier, and crawler belt can invaginate to resigning region, so that track rigidity is released effectively, chassis is not easy to tumble.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to a kind of crawler body running gear and explosive machine
People.
Background technology
Explosive-removal robot is a kind of automation equipment that can disassemble, shift explosive, for scouting, removing instead of people,
Suspicious explosive is transported, suitable for the densely populated places such as market, supermarket, subway station, airport, the suspicious explosive in environment complexity place
Disposition.
Increasingly serious with anti-terrorism situation, the position of suspicious explosive installation is more hidden, complicated, such as explosive quilt
It is placed on high building or in mountainous region, to the climbing of explosive-removal robot and obstacle climbing ability, more stringent requirements are proposed for this.It is existing explosive
Machine chassis running gear includes the forms such as wheeled, crawler type.The walking of wheel undercarriage running gear is found in actual use
It is unstable, when wheeled explosive-removal robot vises explosive walking, once explosive is fallen, easily cause explosive explosion.It is existing
The underpan walking device of crawler type explosive-removal robot includes driving wheel, expansion tightening wheel, to enhance the load-bearing capacity of crawler body often
Thrust wheel is set between driving wheel and expansion tightening wheel.But existing crawler type explosive-removal robot is worked as through high and low rough roads such as stair
When condition, easily cause to tumble.
Utility model content
The purpose of this utility model is to provide a kind of crawler body running gear, applicable high and low fluctuating road conditions have
Stronger passability；The purpose of this utility model also resides in the explosive machine for providing a kind of above-mentioned crawler body running gear of installation
People.
To achieve the above object, the technical solution of the crawler body running gear of the utility model is：Technical solution 1：One
Crawler body running gear, including chassis and the Athey wheel mounted on chassis both sides are planted, crawler belt is wound on the Athey wheel,
The chassis medium position or close medium position are equipped with the resigning region invaginated towards chassis for crawler belt the when of crossing raised barrier.
When facing the road conditions of high and low fluctuating using the crawler body running gear of the utility model, when crawler belt is engaged in internal strife to convex
When going out object, crawler belt can be such that track rigidity is released effectively to resigning area depression, and chassis is not easy to tumble, and enhances chassis
Passability.
Technical solution 2, on the basis of technical solution 1：The Athey wheel include the driving wheel for being located at crawler belt both ends,
Expansion tightening wheel, is equipped with thrust wheel between the driving wheel and expansion tightening wheel, the resigning region is located between two intermediate thrust wheels.
Driving wheel, expansion tightening wheel and thrust wheel can make crawler body running gear stablize use.
Technical solution 3, on the basis of technical solution 2：The thrust wheel is four, and the resigning region is located at intermediate
Between two thrust wheels.The chassis and the object above chassis that four thrust wheels can support higher weight, are conducive to enhance chassis
The applicability of running gear, resigning region are conducive to crawler body running gear stabilization between being located at two intermediate thrust wheels.
Technical solution 4, on the basis of technical solution 3：The driving wheel is located at the oblique upper of thrust wheel.Driving wheel be with
The oblique upper of thrust wheel makes the crawler belt between driving wheel and thrust wheel, in angle obliquely, be conducive to chassis with horizontal crawler belt
Barrier of the running gear climbing with certain altitude.
Technical solution 5, on the basis of technical solution 1：The carrier wheel for support crawler belt is additionally provided on the chassis.Support
Belt wheel can be above support chassis crawler belt, be conducive to underpan walking device and stablize use.
Technical solution 6, on the basis of 1 ~ 5 any technical solution of technical solution：The chassis is equipped in the longitudinal direction
The recess portion for avoiding barrier corresponding with resigning region.Recess portion can avoid raised barrier, for some height rise and fall compared with
Big road conditions, setting recess portion are conducive to prevent underpan walking device from tumbling.
The technical solution of the explosive-removal robot of the utility model is：Technical solution 1：A kind of explosive-removal robot includes chassis row
Walking apparatus and the manipulator for explosion eliminating above underpan walking device, the crawler body running gear crawler body walking
Device, including chassis and the Athey wheel mounted on chassis both sides, are wound with crawler belt on the Athey wheel, position in the chassis
It sets or close to medium position equipped with the resigning region invaginated towards chassis for crawler belt when crossing raised barrier.
When facing high and low fluctuating road conditions using the explosive-removal robot of the utility model, when crawler belt is engaged in internal strife to bossed body,
Crawler belt can be such that track rigidity is released effectively to resigning area depression, and chassis is not easy to tumble, and enhances chassis passability.
Technical solution 2, on the basis of technical solution 1：The Athey wheel include the driving wheel for being located at crawler belt both ends,
Expansion tightening wheel, is equipped with thrust wheel between the driving wheel and expansion tightening wheel, the resigning region is located between two intermediate thrust wheels.
Driving wheel, expansion tightening wheel and thrust wheel can make crawler body running gear stablize use.
Technical solution 3, on the basis of technical solution 2：The thrust wheel is four, and the resigning region is located at intermediate
Between two thrust wheels.The chassis and the object above chassis that four thrust wheels can support higher weight, are conducive to enhance chassis
The applicability of running gear, resigning region are conducive to crawler body running gear stabilization between being located at two intermediate thrust wheels.
Technical solution 4, on the basis of technical solution 3：The driving wheel is located at the oblique upper of thrust wheel.Driving wheel be with
The oblique upper of thrust wheel makes the crawler belt between driving wheel and thrust wheel, in angle obliquely, be conducive to chassis with horizontal crawler belt
Barrier of the running gear climbing with certain altitude.
Technical solution 5, on the basis of technical solution 1：The carrier wheel for support crawler belt is additionally provided on the chassis.Support
Belt wheel can be above support chassis crawler belt, be conducive to underpan walking device and stablize use.
Technical solution 6, on the basis of 1 ~ 5 any technical solution of technical solution：The chassis is equipped in the longitudinal direction
The recess portion for avoiding barrier corresponding with resigning region.Recess portion can avoid raised barrier, for some height rise and fall compared with
Big road conditions, setting recess portion are conducive to prevent underpan walking device from tumbling.
Description of the drawings
Fig. 1 is the structural schematic diagram of the embodiment 1 of the crawler body running gear of the utility model；
Fig. 2 is the structural schematic diagram of the embodiment 2 of the crawler body running gear of the utility model；
Fig. 3 is the structural schematic diagram of the embodiment 3 of the crawler body running gear of the utility model；
Fig. 4 is the structural schematic diagram of the embodiment 4 of the crawler body running gear of the utility model；
Fig. 5 is the structural schematic diagram of the embodiment of the explosive-removal robot of the utility model；
In attached drawing：1, driving wheel；2, expansion tightening wheel；3, thrust wheel；4, carrier wheel；5, recess portion；6, crawler belt；7, thrust wheel；8、
Thrust wheel；9, thrust wheel；10, manipulator for explosion eliminating；11, controller；12, explosion-proof ball.
Specific implementation mode
The embodiment of the utility model is described further below in conjunction with the accompanying drawings.
The specific embodiment 1 of the crawler body running gear of the utility model, as shown in Figure 1, a kind of crawler body is walked
Device includes chassis, and the crawler belt 6 mounted on chassis both sides, be disposed in crawler belt 6 driving wheel 1, expansion tightening wheel 2, thrust wheel 3 with
And carrier wheel 4, when crawler body running gear walking in the present embodiment, driving wheel 1 drives crawler belt 6 to walk, and expansion tightening wheel 2 is tensioned
Crawler belt 6,3 support chassis weight of thrust wheel simultaneously transmit 6 power of crawler belt, and carrier wheel 4 plays the role of support chassis upper crawler belt 6.
Driving wheel 1 in the present embodiment is located at the left end on chassis, and 1 wheel footpath of driving wheel is more than thrust wheel 3 and expansion tightening wheel 2
Wheel footpath, driving wheel 1 are located at the oblique upper of thrust wheel 3, and the crawler belt 6 between driving wheel 1 and thrust wheel 3 is in a clamp with horizontal direction
Angle, the benefit designed in this way, which is crawler body running gear, can climb the barrier with certain altitude, be conducive to enhance crawler belt
The passability of underpan walking device.The downside installation on chassis is there are four thrust wheel 3, and thrust wheel 3 in pairs, arrange by one of which
In close to one end of driving wheel 1, another group is arranged between one end of expansion tightening wheel 2, intermediate two thrust wheels 3 with confession
What crawler belt 6 invaginated allows as region.It is designed in this way conducive to thrust wheel 3 to chassis supports, crawler body running gear can be enhanced
Load-bearing capacity, can make crawler body running gear have stronger applicability.Tray bottom between intermediate two thrust wheels 3
With the recess portion 5 being passed through for barrier, recess portion 5 is corresponding with resigning region.The benefit that recess portion 5 is arranged is when the shoe in the present embodiment
With underpan walking device in the road conditions to be risen and fallen by similar stair height continuous in this way, barrier can be passed through recess portion 5, be conducive to
Stablize on chassis.The carrier wheel 4 in crawler body running gear in the present embodiment is located above chassis below crawler belt 6.
The specific embodiment 2 of the crawler body running gear of the utility model, if Fig. 2 shows, on the chassis in the present embodiment
Side is not provided with carrier wheel, other are same as Example 1, repeat no more.
The specific embodiment 3 of the crawler body running gear of the utility model, as shown in figure 3, having in the present embodiment
One thrust wheel 7, thrust wheel 7 are located at the rear ramp of driving wheel 1, and the benefit designed in this way advantageously reduces crawler body walking dress
The weight set, but also have the load-bearing capacity for reducing crawler body running gear.Other are same as Example 1, repeat no more.
The specific embodiment 4 of the crawler body running gear of the utility model, as shown in figure 4, having in the present embodiment
Two thrust wheels, thrust wheel 8 are located at the rear ramp of driving wheel 1, and thrust wheel 9 is located at the front of expansion tightening wheel 2, the benefit designed in this way
The weight of crawler body running gear is advantageously reduced, but also has the load-bearing capacity for reducing crawler body running gear.Other with
Embodiment 1 is identical, repeats no more.
The explosive-removal robot of the utility model include crawler body running gear and be mounted on crawler body running gear
On manipulator for explosion eliminating 19, controller 11 and explosion-proof ball 12, the crawler body running gear and above-described embodiment of the utility model
In crawler body running gear structure it is identical, repeat no more.
Claims (12)
1. crawler body running gear, including chassis and the Athey wheel mounted on chassis both sides, it is wound on the Athey wheel
Crawler belt, it is characterised in that：The chassis medium position is equipped with when crossing raised barrier for crawler belt close to medium position the bottom of towards
The resigning region of disk invagination.
2. crawler body running gear according to claim 1, it is characterised in that：The Athey wheel includes being located at shoe
Driving wheel, expansion tightening wheel with both ends are equipped with thrust wheel between the driving wheel and expansion tightening wheel, the resigning region is located at two branch
Between roller.
3. crawler body running gear according to claim 2, it is characterised in that：The thrust wheel is four, described to allow
Position region is located between two intermediate thrust wheels.
4. crawler body running gear according to claim 3, it is characterised in that：The driving wheel is located at the oblique of thrust wheel
Top.
5. crawler body running gear according to claim 1, it is characterised in that：It is additionally provided with for support on the chassis
The carrier wheel of crawler belt.
6. according to claim 1 ~ 5 any one of them crawler body running gear, it is characterised in that：The chassis is in front and back
Upwards equipped with the recess portion for avoiding barrier corresponding with resigning region.
7. explosive-removal robot, including crawler body running gear and the explosive machinery on crawler body running gear
Hand, the crawler body running gear, including chassis and the Athey wheel mounted on chassis both sides are wound on the Athey wheel
Crawler belt, it is characterised in that：The chassis medium position is equipped with when crossing raised barrier for crawler belt close to medium position the bottom of towards
The resigning region of disk invagination.
8. explosive-removal robot according to claim 7, it is characterised in that：The Athey wheel includes being located at crawler belt both ends
Driving wheel, expansion tightening wheel, be equipped with thrust wheel between the driving wheel and expansion tightening wheel, the resigning region be located at two thrust wheels it
Between.
9. explosive-removal robot according to claim 8, it is characterised in that：The thrust wheel is four, the resigning region
Between two intermediate thrust wheels.
10. explosive-removal robot according to claim 9, it is characterised in that：The driving wheel is located at the oblique upper of thrust wheel.
11. explosive-removal robot according to claim 7, it is characterised in that：It is additionally provided on the chassis for support crawler belt
Carrier wheel.
12. according to claim 7 ~ 11 any one of them explosive-removal robot, it is characterised in that：The chassis is in the longitudinal direction
Equipped with the recess portion for avoiding barrier corresponding with resigning region.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721321707.8U CN207758898U (en) | 2017-10-13 | 2017-10-13 | A kind of crawler body running gear and explosive-removal robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721321707.8U CN207758898U (en) | 2017-10-13 | 2017-10-13 | A kind of crawler body running gear and explosive-removal robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207758898U true CN207758898U (en) | 2018-08-24 |
Family
ID=63177965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721321707.8U Active CN207758898U (en) | 2017-10-13 | 2017-10-13 | A kind of crawler body running gear and explosive-removal robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207758898U (en) |
-
2017
- 2017-10-13 CN CN201721321707.8U patent/CN207758898U/en active Active
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