CN208278185U - Caterpillar type robot damping chassis - Google Patents
Caterpillar type robot damping chassis Download PDFInfo
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- CN208278185U CN208278185U CN201820932027.8U CN201820932027U CN208278185U CN 208278185 U CN208278185 U CN 208278185U CN 201820932027 U CN201820932027 U CN 201820932027U CN 208278185 U CN208278185 U CN 208278185U
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Abstract
The utility model is a kind of caterpillar type robot damping chassis, compared with prior art, it is combined using hanger bracket component, drive wheel assemblies and the tensioner wheel assembly in movement suspension, using inside suspension plate, outside suspension plate, car body connecting shaft, suspension connecting shaft and corresponding support sleeve multi-point grid structure, while mitigating the weight in structure, intensity is greatly increased.Using composite structures such as driving wheel matrix, the axis of rolling, graphite copper sheathing, support wheels, smooth movement, low noise, the service life is long, and easy to change, cost is controllable.Hierarchical combination structure is used using tensioner wheel assembly, is combined, is occupied little space by tensioner fixed frame, tensioner frame, expansion tightening wheel component delamination, tensioner stroke is big, and it is convenient to adjust, reliable and stable.The utility model is suitable for carrying various equipment on the chassis, to realize different functions, the practicality, stability, protective are higher, movement vibration filter effect is good, obstacle detouring and span ability, landform adaptability are extremely strong, it can be used as the mobile special operation robot developing platform of complicated landform, be widely used.
Description
Technical field
The utility model relates to mechanical equipment walking field, in particular to a kind of caterpillar type robot damping chassis.
Background technique
In order to adapt to special operation, many occasions need robot compounding practice, for job that requires special skills robot, in order to take
Good walking effect is obtained, crawler type walking mechanism is generallyd use.Crawler type walking mechanism and contact area of ground be big, obstacle detouring energy
Power is strong, but there is also disadvantages, on the one hand, the existing industry product type in caterpillar type robot chassis is less, substantially small-sized, miniature
Or teaching experiment type product, load-bearing capacity is weaker, and performance is unstable, and protective performance is weaker；On the other hand, when pavement behavior not
It is good or when existing compared with multi-obstacle avoidance, will cause significant shock, adverse effect brought to the normal work of robot, i.e., obstacle detouring and across
More ability is weaker, and damping effect is bad, and landform adaptability is not strong.
Summary of the invention
In order to solve the above-mentioned technical problem, the utility model provides a kind of caterpillar type robot damping chassis, technology
Scheme are as follows:
Including car body (1), movement suspension system is installed for installing mechanical equipment, car body (1) two sides in car body (1) top respectively
It unites (5), transmission system (4) driving movement suspension (5) movement, the movement suspension (5) includes crawler belt (a) and setting
In hanger bracket component (b), drive wheel assemblies (c), tensioner wheel assembly (d), swing arm unit (e) and carrier wheel in crawler belt (a)
(f), hanger bracket component (b) setting is in the middle part of crawler belt (a), and is mounted on car body (1) by car body connecting shaft, front
It installs tensioner wheel assembly (d), drive wheel assemblies (c) is installed at rear portion, and carrier wheel (f) is installed on top, and swing arm unit is installed in lower part
(e)；
The swing arm unit (e) is mounted on hanger bracket component (b) by articulated shaft (e-5) and elastic axis (e-8), swing arm
Component (e) includes thrust wheel, swing arm and damping, and the swing arm is swing arm I(e-4) and swing arm II(e-3), swing arm I(e-4) it is three
Point support, one of endpoint are mounted on the hanger bracket lower left corner by articulated shaft (e-5), other two endpoint passes through support connection
Axis installs the thrust wheel that two diameters do not wait, respectively thrust wheel I(e-1) and thrust wheel II(e-2), the swing arm II(e-3)
One end is mounted on hanger bracket by articulated shaft (e-5), and the other end installs thrust wheel I(e-1).
Further, the hanger bracket component (b) is made of outside suspension plate (b-3) and inside suspension plate (b-4), and two
Connecting shaft is installed between suspension plate, is easily installed tensioner wheel assembly (d), swing arm unit (e) and carrier wheel (f).
Further, drive wheel assemblies (c) are by driving wheel matrix (c-1), the axis of rolling (c-2), graphite copper sheathing (c-3) and branch
Support wheel (c-4) composition, the driving wheel matrix (c-1) and support wheel (c-4) coaxially, along their circumference it is equidistant install several
The axis of rolling (c-2), and the axis of rolling (c-2) runs through driving wheel matrix (c-1) and support wheel (c-4), the every axis of rolling (c-2) is inside and outside
It is symmetrically installed graphite copper sheathing (c-3).
Further, the tensioner wheel assembly (d) includes expansion tightening wheel (d-1), tensioner frame (d-2), tensioner fixed frame (d-3)
With tensioner jackscrew (d-4), expansion tightening wheel (d-1) is installed on before tensioner frame (d-2) in prong by axis, and tensioner frame (d-2) passes through cunning
Slot bolt (d-5) is in the sliding slot of tensioner fixed frame (d-3) by adjusting before and after tensioner jackscrew (d-4).
Further, the driving wheel matrix (c-1), expansion tightening wheel (d-1), thrust wheel and carrier wheel (f) with crawler belt (a)
Inner wall engagement contact.
Further, the thrust wheel I(e-1) it is arranged behind thrust wheel II(e-2).
Further, one end of the damping (e-6) is connect with swing arm, and the other end is socketed spring, and passes through elastic axis (e-
8) it is mounted on hanger bracket component.
The utility model has the following beneficial effects: the utility model is a kind of caterpillar type robot damping chassis, with existing skill
Art is compared, and is combined using hanger bracket component, drive wheel assemblies and the tensioner wheel assembly in movement suspension, outstanding using inside
Hanging plate, outside suspension plate, car body connecting shaft, suspension connecting shaft and corresponding support sleeve multi-point grid structure, mitigate in structure
Weight while, intensity greatly increases.Using the composite structures such as driving wheel matrix, the axis of rolling, graphite copper sheathing, support wheel, fortune
Turn smooth, low noise, the service life is long, and easy to change, cost is controllable.Hierarchical combination structure is used using tensioner wheel assembly, by tensioner
Fixed frame, tensioner frame, the combination of expansion tightening wheel component delamination, occupy little space, and tensioner stroke is big, and it is convenient to adjust, reliable and stable.This reality
Be suitable for carrying various equipment on the chassis with novel, to realize different functions, the practicality, stability, protective compared with
Height, movement vibration filter effect is good, and obstacle detouring and span ability, landform adaptability are extremely strong, and it is special to can be used as complicated landform movement
Work robot development platform, is widely used.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram；
Fig. 2 is that the utility model moves suspension structure schematic diagram；
Fig. 3 is the utility model hanger bracket component structure diagram；
Fig. 4 is the utility model drive wheel assemblies structural schematic diagram；
Fig. 5 is the utility model expansion tightening wheel component structure diagram；
Fig. 6 is the utility model swing arm unit structural schematic diagram；
Fig. 7 is the utility model swing arm I structural schematic diagram；
Fig. 8 is the utility model swing arm II structural schematic diagram；
As shown, 1 car body, 2 dynamical systems, 3 control systems, 4 transmission systems, 5 movement suspension, a crawler belt, b are outstanding
Hanger component, c drive wheel assemblies, d tensioner wheel assembly, e swing arm unit, b-1 car body connecting shaft, b-2 hangs connecting shaft, outside b-3
Side mounting plate, the interior survey suspension plate of b-4, b-5 support sleeve, c-1 driving wheel, the c-2 axis of rolling, c-3 graphite copper sheathing, c-4 support wheel,
D-1 expansion tightening wheel, d-2 tensioner frame, d-3 tensioner fixed frame, d-4 tensioner jackscrew, d-5 chute bolt, e-1 thrust wheel I, e-2 branch weight
Take turns II, e-3 swing arm II, e-4 swing arm I, e-5 articulated shaft, e-6 damping, e-7 swing arm set, e-8 elastic axis.
Specific embodiment
As shown, the utility model is a kind of caterpillar type robot damping chassis, chassis is whole by car body 1, dynamical system
System 2, control system 3, transmission system 4 and side-to-side movement suspension 5 form, the dynamical system 2, control system 3 and transmission
System 4 is mounted on inside car body 1, and dynamical system 2 is control system 3 and transmission system 4 provides power supply, the driving fortune of transmission system 4
Dynamic suspension 5 moves.
Car body 1 is frame square tube, stiffener plate and composite skin composite structure, and light-weight, it is chassis that structural strength is high
Matrix.Dynamical system 2 use 48 volts of large capacity, high rate discharge lithium ion direct current (DC48V) batteries, have it is light-weight, capacity is big,
The features such as service life is long, repeats charge and discharge, is the power resources on chassis, is placed in vehicle body.Control system 3 is by signal source, motor
The composition such as driver, encoder, sensor, is the control mechanism on robot chassis, can set according to requiring to be developed again
In vehicle body.Transmission system 4 is made of motor, speed reducer, axle bed, output shaft etc., the power and letter that control system is provided
Number it is converted to forms of motion, is placed in vehicle body.Move suspension 5 by crawler belt a, hanger bracket component b, drive wheel assemblies c, rise
The composition such as bearing up pulley component d, swing arm unit e.The movement of transmission system acts on movement suspension, can effectively filtering motions walking
Vibration in the process adapts to the handling capacity of complicated landform.Movement suspension 5 is installed on 1 two sides of car body, and bilateral symmetry fills
Match.
Crawler belt a using rubber belt track embed Kafra fiber, it is flexible but have high tensile strength, be coated on hanger bracket
B, drive wheel assemblies c, tensioner wheel assembly d, be suspension movement ground-engaging element outside swing arm unit e.
Hanger bracket component b is the connecting component of suspension and car body and the main installation base body of suspension systems components.It adopts
With inside suspension plate b-4, outside suspension plate b-3, car body connecting shaft b-1, suspension connecting shaft b-2 and corresponding support sleeve b-5
Multi-point grid structure, while mitigating the weight in structure, intensity is greatly increased.Inside suspension plate b-4 and outside suspension plate b-3
It is fixed on car body 1 by car body connecting shaft b-1, hangs connecting shaft b-2 and support sleeve b-5 and guarantee inside suspension plate b-4, outer
Distance and entire combination between side mounting plate b-3.
Drive wheel assemblies c is located at the rear portion of suspension, using driving wheel matrix c-1, axis of rolling c-2, graphite copper sheathing c-3
With support wheel c-4 composite structure, smooth movement, low noise, the service life is long, and easy to change, cost is controllable.Driving wheel matrix c-1 and
It is along the circumferential direction inside and outside on the axis of rolling 10, the every axis of rolling on support wheel c-4 to be symmetrically installed 4 graphite copper sheathing c-3, stone
Mounting gasket and bolt on the outside of black copper sheathing c-3, prevent graphite copper sheathing from falling off.
Tensioner wheel assembly d is located at the front of suspension, using hierarchical combination structure, by tensioner fixed frame d-3, tensioner frame
D-2, the combination of expansion tightening wheel d-1 component delamination, occupy little space, and tensioner stroke is big, and it is convenient to adjust, reliable and stable.Expansion tightening wheel d-1 is logical
Axis is crossed to be installed on before tensioner frame d-2 in prong, tensioner frame d-2 by 4 groups of chute bolt d-5 tensioner fixed frame d-3 sliding slot
Adjustment before and after the interior d-4 by tensioner jackscrew.
Swing arm unit e is made of totally 5 groups of swing arm assemblies, and first group of assembly is by swing arm Ie-4, thrust wheel Ie-1, thrust wheel
IIe-2, damping e-6, swing arm set e-7 composition, in addition 4 groups of structures are identical, by swing arm IIe-3, thrust wheel Ie-1, damping e-6,
Swing arm covers e-7 composition.Every group of swing arm is connected among outside suspension plate b-3, inside suspension plate b-4 by articulated shaft e-5；Swing arm
Damping e-6 is worn on axis to outside suspension plate b-3, inside suspension plate b-4 by elastic axis e-8.The load that crawler belt a is born passes through Zhi Chong
Wheel Ie-1, thrust wheel IIe-2 are applied on swing arm unit e, are filtered and are shaken by damping e-6.
The utility model be caterpillar type robot chassis is realized under the instruction of control system advances, retrogressing, unilateral side left-hand rotation,
Unilateral right-hands rotation, the reversed original place glide steering of bilateral etc. act, and speed can climb under complicated landform from zero to desin speed electrodeless variable-speed
Slope, obstacle detouring.The utility model practicability, stability, protective are higher, and movement vibration filter effect is good, obstacle detouring and span ability,
Landform adaptability is extremely strong.Larger practical load such as weaponry, investigation equipment, fire water monitor, mechanical arm etc. can be carried to expand
Exhibition application.It can be widely applied to the industries such as military project, fire-fighting, municipal administration, security protection, collaboration transport.
The above is to preferred embodiments of the present invention, it should be noted that for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvement and increase can also be made, these improve and
Increase the protection being also considered as to the utility model.
Claims (6)
1. a kind of caterpillar type robot damping chassis, including car body (1), car body (1) top is for installing mechanical equipment, car body
(1) movement suspension (5) is installed in two sides respectively, which is characterized in that the movement suspension (5) includes crawler belt (a) and sets
Hanger bracket component (b), drive wheel assemblies (c), tensioner wheel assembly (d), swing arm unit (e) and the carrier wheel being placed in crawler belt (a)
(f), hanger bracket component (b) setting is in the middle part of crawler belt (a), and is mounted on car body (1) by car body connecting shaft, front
It installs tensioner wheel assembly (d), drive wheel assemblies (c) is installed at rear portion, and carrier wheel (f) is installed on top, and swing arm unit is installed in lower part
(e)；
The swing arm unit (e) is mounted on hanger bracket component (b) by articulated shaft (e-5) and elastic axis (e-8), swing arm unit
(e) include thrust wheel, swing arm and damping, the swing arm is swing arm I(e-4) and swing arm II(e-3), swing arm I(e-4) it is three point branch
Support, one of endpoint are mounted on the hanger bracket component lower left corner by articulated shaft (e-5), other two endpoint passes through support connection
Axis installs the thrust wheel that two diameters do not wait, respectively thrust wheel I(e-1) and thrust wheel II(e-2), the swing arm II(e-3)
One end is mounted on hanger bracket component by articulated shaft (e-5), and the other end installs thrust wheel I(e-1).
2. a kind of caterpillar type robot damping chassis as described in claim 1, which is characterized in that the hanger bracket component (b)
It is made of outside suspension plate (b-3) and inside suspension plate (b-4), connecting shaft is installed between two suspension plates, is easily installed tensioner
Wheel assembly (d), swing arm unit (e) and carrier wheel (f).
3. a kind of caterpillar type robot damping chassis as described in claim 1, which is characterized in that the drive wheel assemblies (c)
It is made of driving wheel matrix (c-1), the axis of rolling (c-2), graphite copper sheathing (c-3) and support wheel (c-4), the driving wheel matrix
(c-1) and support wheel (c-4) coaxially, along their circumference several axis of rolling (c-2) of equidistant installation, and the axis of rolling (c-2) passes through
Driving wheel matrix (c-1) and support wheel (c-4) are worn, the every axis of rolling (c-2) is inside and outside to be symmetrically installed graphite copper sheathing (c-3).
4. a kind of caterpillar type robot damping chassis as described in claim 1, which is characterized in that the tensioner wheel assembly (d)
Including expansion tightening wheel (d-1), tensioner frame (d-2), tensioner fixed frame (d-3) and tensioner jackscrew (d-4), expansion tightening wheel (d-1) passes through axis
Be installed on before tensioner frame (d-2) in prong, tensioner frame (d-2) by chute bolt (d-5) tensioner fixed frame (d-3) sliding slot
It is interior to be adjusted by tensioner jackscrew (d-4) front and back.
5. a kind of caterpillar type robot damping chassis as claimed in claim 4, which is characterized in that the driving wheel matrix (c-
1), expansion tightening wheel (d-1), thrust wheel and carrier wheel (f) are contacted with the engagement of crawler belt (a) inner wall.
6. a kind of caterpillar type robot damping chassis as described in claim 1, which is characterized in that the thrust wheel I(e-1) it sets
It sets behind thrust wheel II(e-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820932027.8U CN208278185U (en) | 2018-06-15 | 2018-06-15 | Caterpillar type robot damping chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820932027.8U CN208278185U (en) | 2018-06-15 | 2018-06-15 | Caterpillar type robot damping chassis |
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| Publication Number | Publication Date |
|---|---|
| CN208278185U true CN208278185U (en) | 2018-12-25 |
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ID=64700031
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820932027.8U Active CN208278185U (en) | 2018-06-15 | 2018-06-15 | Caterpillar type robot damping chassis |
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| CN (1) | CN208278185U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849284A (en) * | 2021-02-25 | 2021-05-28 | 杭州申昊科技股份有限公司 | Crawler-type inspection robot |
-
2018
- 2018-06-15 CN CN201820932027.8U patent/CN208278185U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849284A (en) * | 2021-02-25 | 2021-05-28 | 杭州申昊科技股份有限公司 | Crawler-type inspection robot |
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