CN210063181U - Crawler robot chassis structure with U-shaped auxiliary legs - Google Patents
Crawler robot chassis structure with U-shaped auxiliary legs Download PDFInfo
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- CN210063181U CN210063181U CN201920500442.0U CN201920500442U CN210063181U CN 210063181 U CN210063181 U CN 210063181U CN 201920500442 U CN201920500442 U CN 201920500442U CN 210063181 U CN210063181 U CN 210063181U
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Abstract
The utility model provides a tracked robot chassis structure with supplementary leg of U type, include: the base structure comprises a base structure chassis, wherein two side surfaces of the base structure chassis are provided with convex parts; the other two side surfaces of the base structure chassis are penetrated with a first through hole and a second through hole which are parallel; the crawler belt walking device comprises two crawler belt walking components, wherein each crawler belt walking component comprises an inserting part; the inserting part is inserted with the convex part; the U-shaped auxiliary leg comprises a first auxiliary leg and a second auxiliary leg; the first auxiliary leg and the second auxiliary leg respectively comprise a U-shaped support and four wheels, the U-shaped support of the first auxiliary leg penetrates through the first through hole, the U-shaped support of the second auxiliary leg penetrates through the second through hole, two wheels in parallel arrangement are connected to two sides of the first end of the U-shaped support in an axle joint mode, and two wheels in parallel arrangement are connected to two sides of the second end of the U-shaped support in an axle joint mode. Auxiliary braking and auxiliary turning are carried out through the U-shaped auxiliary legs, and the abrasion loss of the crawler belt is reduced.
Description
Technical Field
The utility model relates to a robot field especially relates to a tracked robot chassis structure with supplementary leg of U type.
Background
In the prior art, the tracked robot has the characteristics of strong terrain adaptability, strong obstacle-crossing capability, strong loading capability and the like, and can be widely applied to the fields of transportation, routing inspection, fire fighting and the like.
However, in the prior art, the abrasion loss of the crawler robot is large when the crawler brakes and turns.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a purpose provides a tracked robot chassis structure with supplementary leg of U type to solve the track of tracked robot among the prior art when brake, turn, the great problem of wearing and tearing volume.
In order to solve the above problem, the utility model provides a tracked robot chassis structure with leg is assisted to U type, tracked robot chassis structure with leg is assisted to U type includes:
the base structure comprises a base structure chassis, wherein two side surfaces of the base structure chassis are provided with convex parts; the other two side surfaces of the base structure chassis are penetrated with a first through hole and a second through hole which are parallel;
the crawler belt walking device comprises two crawler belt walking components, wherein each crawler belt walking component comprises an insertion part; the insertion part is inserted into the convex part;
the U-shaped auxiliary leg comprises a first auxiliary leg and a second auxiliary leg;
first supplementary leg with the supplementary leg of second includes U type support and four wheels respectively, the U type support of first supplementary leg runs through first through-hole, the U type support of the supplementary leg of second runs through the second through-hole, the both sides coupling of the first end of U type support has two wheels of parallel arrangement, the both sides coupling of the second end of U type support has two wheels of parallel arrangement.
Further, the crawler traveling component comprises a crawler frame, a crawler, a supporting belt wheel, a loading wheel, an inducer and a driving wheel;
the insertion part is arranged on the crawler frame;
the carrier wheel is arranged at the top of the crawler frame;
the two bogie wheels are respectively arranged at the front part and the rear part of the crawler frame and respectively attached to the crawler;
the inducer is arranged at the front end of the crawler frame and is attached to the crawler;
the driving wheel is arranged below the inducer and is attached to the crawler.
Further, the crawler robot chassis structure with the U-shaped auxiliary legs further comprises a first driving motor;
the first driving motor is arranged on the base structure chassis, and the output part of the first driving motor is connected with the driving shaft of the driving wheel.
Further, the crawler robot chassis structure with the U-shaped auxiliary legs further comprises a second driving motor;
the second driving motor is arranged on the base structure chassis, and a first output part of the second driving motor drives the first auxiliary leg; a second output of the second drive motor drives the second auxiliary leg.
Through using the utility model provides a tracked robot chassis structure with supplementary leg of U type carries out auxiliary brake, supplementary turn through the supplementary leg of U type, has reduced the wearing and tearing volume of track.
Drawings
Fig. 1 is a schematic structural view of a crawler robot chassis with U-shaped auxiliary legs according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a U-shaped auxiliary leg of the tracked robot chassis structure with U-shaped auxiliary legs according to an embodiment of the present invention during braking;
fig. 3 is a schematic view of a U-shaped auxiliary leg structure provided in the embodiment of the present invention.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and are not limiting of the invention. It should be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a schematic structural view of a crawler robot chassis with U-shaped auxiliary legs according to an embodiment of the present invention. As shown in fig. 1, the chassis structure of the crawler robot with U-shaped auxiliary legs comprises: the crawler walking device comprises a crawler walking device 1, a base structure chassis 2, a first driving motor 31, a second driving motor 32 and a U-shaped auxiliary leg 4. Wherein a first drive motor 31 and a second drive motor 32 are provided on the base structure chassis 2, only the positions of which are illustrated in the figure, the specific shape of which is not shown.
Two sides of the base structure chassis 2 are provided with convex parts, and the other two sides are penetrated with a first through hole and a second through hole which are arranged in parallel.
The crawler belt unit 1 is composed of two identical crawler belt units, i.e., a left crawler belt unit 11 and a right crawler belt unit 12. The left crawler belt walking part 11 and the right crawler belt walking part 12 are symmetrically arranged on two side surfaces of the base structure chassis 2; wherein the two sides are not adjacent.
Fig. 2 is a schematic structural view of a U-shaped auxiliary leg of the tracked robot chassis structure with U-shaped auxiliary legs according to an embodiment of the present invention during braking. As shown in fig. 2, the left crawler belt unit 11 includes a driving wheel 111, bogie wheels 112 and 113, a crawler belt frame 114, a carrier wheel 115, a crawler belt 116, and an inducer 117. In which the bogie wheel 112 has a bogie wheel bilaterally symmetrical thereto, not shown, and the bogie wheel 113 also has a bogie wheel bilaterally symmetrical thereto, not shown. The carrier roller 115 has a carrier roller symmetrical to it left and right, not shown in the drawing. Inducer 117 has an inducer which is bilaterally symmetric to it and is not shown in the drawing.
The driving wheel 111 is arranged at the front end of the crawler frame 114 and is attached to the crawler 116, and the two loading wheels 112 and 113 are respectively arranged at the front part and the rear part of the crawler frame and are attached to the crawler; the supporting wheel 115 is arranged at the top of the crawler frame 114 and supports the upper part of the crawler 116, so that the crawler is prevented from excessively drooping, and the jumping and the side swinging of the crawler in the movement process are reduced; the inducer 117 is provided at the front end of the crawler frame 114 and attached to the crawler belt 116 to guide the traveling direction of the crawler belt 116. In a specific example, the inducer 117 may be controlled by a transmission signal of a direction control module provided on the crawler frame 114 to steer the inducer 117 to change the traveling direction of the tracked robot.
The track frame 114 functions to support the crawler track unit 11. The transmission mode of the crawler belt unit 11 is that after the first driving motor 31 receives an external signal, the first driving motor 31 can drive the driving wheel 111 to rotate, and the driving wheel 111 drives the crawler belt 116 to drive the loading wheels 112 and 113 and the carrier roller 115 to operate when rotating.
The crawler frame 114 is provided with an insertion portion 1141. The crawler belt unit 1 is connected to the base chassis 2 by inserting the projection into the insertion portion 1141 of the crawler belt frame 114. The specific shape of the plug-in portion 1141 can be designed by those skilled in the art according to the needs, and the application is not limited thereto.
Fig. 3 is a schematic view of a U-shaped auxiliary leg structure provided in the embodiment of the present invention. As shown in fig. 3, a U-shaped auxiliary leg 4 including a first auxiliary leg 41 and a second auxiliary leg 42; the first auxiliary leg 41 and the second auxiliary leg 42 respectively include a U-shaped bracket 415 and four wheels, the U-shaped bracket 415 penetrates through the first through hole of the chassis 2 of the foundation structure, two wheels are coupled to two sides of the first end of the U-shaped bracket 415, and two wheels are coupled to two sides of the second end of the U-shaped bracket 415.
Specifically, the first auxiliary leg 41 is composed of four small wheels, namely a left front outer small wheel 411, a left front inner small wheel 412, a left rear inner small wheel 413 and a left rear outer small wheel 414, and a U-shaped bracket 415. Both the first auxiliary leg 41 and the second auxiliary leg 42 can achieve 360 degrees of rotation.
Further, the chassis structure of the tracked robot with the U-shaped auxiliary legs further comprises a first driving motor (not shown in the figure); the first driving motor is arranged on the base structure chassis, and the output part of the first driving motor is connected with the driving shaft of the driving wheel.
Further, the chassis structure of the tracked robot with the U-shaped auxiliary legs further comprises a second driving motor (not shown in the figure); the second driving motor is arranged on the chassis of the basic structure, and a first output part of the second driving motor drives the first auxiliary leg 41; the second output of the second drive motor drives the second auxiliary leg 42.
Further, the chassis structure of the tracked robot with the U-shaped auxiliary legs can further comprise a power supply system (not shown in the figure). The power supply system is arranged on the base structure chassis 2.
In a specific embodiment, the power supply system adopts a dual power supply system of a super capacitor and a storage battery, the super capacitor can realize short-time quick discharge, and when the super capacitor is used as a short-time driving power supply, the super capacitor can quickly provide large current so as to obtain high power to provide strong power, so that the power requirements of the crawler robot under the conditions of starting, braking, climbing and the like are met.
When the automobile is normally driven, the storage battery can be used for rapidly charging, instantaneous large current generated by the generator is rapidly stored when the automobile is braked, and energy is recovered, so that the limitation on large current discharge of the storage battery is reduced, and the cycle service life of the storage battery is prolonged.
The operation of the chassis structure of the tracked robot with U-shaped auxiliary legs is described as follows:
1. and stopping braking.
Specifically, as shown in fig. 3, when a sudden braking is required, the second driving motor 32 receives an external signal and then drives the first auxiliary leg 41 and the second auxiliary leg 42 to rotate and contact the ground, the left front inner small wheel 411 and the right front inner small wheel 421 form an acute angle with the ground, at this time, the crawler 1 is separated from the ground and suspended in the air, and because the crawler robot moves forward and has inertia and has a forward acceleration, the first auxiliary leg 41 and the second auxiliary leg 42 tend to move forward, but because the first auxiliary leg 41 and the second auxiliary leg 42 form an angle with the ground, the acceleration causes the first auxiliary leg 41 and the second auxiliary leg 42 to move inward in a retracting manner, so that the first auxiliary leg 41 and the second auxiliary leg 42 can be stopped.
2. When the right side meets the ground with a pit or an obstacle, the second driving motor receives an external signal and then can drive the second auxiliary leg 42 to rotate and descend until the wheels are vertical to the ground, so that the base structure chassis 2 can keep a small inclination amplitude or the base structure chassis 2 inclines to cross the obstacle.
3. The falling angle of the single auxiliary leg can be driven by the driving of the second driving motor 32, and the single crawler traveling part lands on the ground to realize the quick quarter turn.
If the tracked robot turns to the left, the second driving motor drives the first auxiliary leg 41 to rotate and descend, the left front outer side small wheel 412 is in contact with the ground to form an acute angle with the ground, and the left auxiliary leg and the right tracked running part 12 form a left turn, so that a turning mode close to a right angle is realized, and the abrasion loss of the track 116 is zero in the process.
In the prior art, the steering of the tracked robot is realized by adjusting the speeds of the two tracks by the first driving motor, so that the track on the inner side of the turning is greatly abraded. When the tracked robot chassis structure with the U-shaped legs is applied to tracked robots, the U-shaped auxiliary legs can be driven by the second driving motor to rotate and descend to turn, and the tracked robot chassis structure can be well avoided.
4. When the crawler robot runs quickly, if the crawler robot meets a wall body, the crawler robot in the prior art can collide against the wall body due to untimely braking and steering, and equipment is damaged if the crawler robot is serious. When the crawler robot chassis structure with the U-shaped auxiliary legs is applied, the postures of the first auxiliary leg 41 and the second auxiliary leg 42 can be adjusted by the second driving motor, so that the left front inner small wheel 412 and the right front inner side 421 are kept horizontal to the ground, the wheels of the first auxiliary leg 41 or the second auxiliary leg 42 contact the wall, and the steering is realized, and the collision to the wall is avoided.
5. When the first auxiliary leg 41 and the second auxiliary leg 42 alternately rotate clockwise or counterclockwise, the gravity center of the tracked robot chassis structure with the U-shaped auxiliary legs is vertically alternated, and thus the tracked robot with the tracked robot chassis structure with the U-shaped auxiliary legs can realize transverse jumping walking.
Through using the utility model provides a tracked robot chassis structure with U type leg can carry out auxiliary brake, supplementary turn through the supplementary leg of U type, has reduced the wearing and tearing volume of track.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above embodiments, further detailed description of the objects, technical solutions and advantages of the present invention, it should be understood that the above embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. A tracked robot chassis structure with U-shaped auxiliary legs, characterized in that the tracked robot chassis structure with U-shaped auxiliary legs comprises:
the base structure comprises a base structure chassis, wherein two side surfaces of the base structure chassis are provided with convex parts; the other two side surfaces of the base structure chassis are penetrated with a first through hole and a second through hole which are parallel;
the crawler belt walking device comprises two crawler belt walking components, wherein each crawler belt walking component comprises an insertion part; the insertion part is inserted into the convex part;
the U-shaped auxiliary leg comprises a first auxiliary leg and a second auxiliary leg;
first supplementary leg with the supplementary leg of second includes U type support and four wheels respectively, the U type support of first supplementary leg runs through first through-hole, the U type support of the supplementary leg of second runs through the second through-hole, the both sides coupling of the first end of U type support has two wheels of parallel arrangement, the both sides coupling of the second end of U type support has two wheels of parallel arrangement.
2. The track robot chassis structure with U-shaped auxiliary legs according to claim 1, wherein the track traveling members comprise a track frame, a track, a carrier roller, a bogie wheel, an inducer, and a driving wheel;
the insertion part is arranged on the crawler frame;
the carrier wheel is arranged at the top of the crawler frame;
the two bogie wheels are respectively arranged at the front part and the rear part of the crawler frame and respectively attached to the crawler;
the inducer is arranged at the front end of the crawler frame and is attached to the crawler;
the driving wheel is arranged below the inducer and is attached to the crawler.
3. The track robot undercarriage structure having a U-shaped auxiliary leg according to claim 2, further comprising a first drive motor;
the first driving motor is arranged on the base structure chassis, and the output part of the first driving motor is connected with the driving shaft of the driving wheel.
4. The track robot undercarriage structure having a U-shaped auxiliary leg according to claim 1, further comprising a second drive motor;
the second driving motor is arranged on the base structure chassis, and a first output part of the second driving motor drives the first auxiliary leg; a second output of the second drive motor drives the second auxiliary leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920500442.0U CN210063181U (en) | 2019-04-12 | 2019-04-12 | Crawler robot chassis structure with U-shaped auxiliary legs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920500442.0U CN210063181U (en) | 2019-04-12 | 2019-04-12 | Crawler robot chassis structure with U-shaped auxiliary legs |
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| Publication Number | Publication Date |
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| CN210063181U true CN210063181U (en) | 2020-02-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920500442.0U Active CN210063181U (en) | 2019-04-12 | 2019-04-12 | Crawler robot chassis structure with U-shaped auxiliary legs |
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| CN (1) | CN210063181U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111468356A (en) * | 2020-04-27 | 2020-07-31 | 山东科技大学 | Automatic film coating device for solar photovoltaic panel |
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- 2019-04-12 CN CN201920500442.0U patent/CN210063181U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111468356A (en) * | 2020-04-27 | 2020-07-31 | 山东科技大学 | Automatic film coating device for solar photovoltaic panel |
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Effective date of registration: 20210303 Address after: 273500 7th floor, No. 509, Gangshan North Road, Zoucheng City, Jining City, Shandong Province Patentee after: Shandong apipi Education Technology Co., Ltd Address before: No. 409, Huling Third Road, Guting Town, Yutai County, Jining City, Shandong Province 272300 Patentee before: Zhou Jingying |