CN210258605U - High-performance self-adaptive crawler chassis device - Google Patents

Abstract

The utility model relates to a high performance self-adaptation track chassis device, including crawler-type chassis, shock-absorbing system, track, shock attenuation self-adaptation adjustment subassembly, power transmission subassembly, drive assembly, shock-absorbing system sets up in the collateral branch backup pad outside, and shock-absorbing system is connected with the track, and shock-absorbing system still is connected with the one end of power transmission subassembly, and the other end and the drive assembly of power transmission subassembly are connected, and on drive assembly was fixed in crawler-type chassis, shock attenuation self-adaptation adjustment subassembly one end was fixed in on the backup pad, and the other end is connected with the collateral branch backup pad. Through the reciprocating type adjustment mechanism of shock attenuation self-adaptation adjustment subassembly cooperation and telescopic hydraulic stem structure, realize the vertical angular adjustment about the relative moving platform body of system of moving away to avoid possible earthquakes, realize passing through crossing the obstacle on "+/-" -shaped, "inverted V" -shaped ramp or other complicated ground. The power transmission assembly under the variable angle realizes the continuous output of the power when the left and right angles of the shock absorption system relative to the movable platform body are adjusted.

Description

High-performance self-adaptive crawler chassis device

Technical Field

The utility model belongs to the technical field of the track mobile device, concretely relates to high performance self-adaptation track chassis device.

Background

The crawler-type mobile chassis has the advantages of flexible action, large contact area with the ground, strong obstacle crossing capability and the like, and has stronger obstacle crossing performance and complex terrain passing capability due to the fact that the crawler-type mobile chassis is provided with the suspension damping mechanism relative to the wheel-type mobile chassis. Therefore, the development direction of the crawler-type mobile chassis and the matched suspension structure as the walking mechanism of the relevant machinery always centers on the development in the aspects of safety and reliability, wide application range, simplicity and convenience in operation, environmental protection, energy conservation, low cost and the like, and the continuous improvement is always made at home and abroad in this respect.

At present, a crawler-type mobile chassis mainly adopts a damping suspension system with a specific structure, and generally comprises a left suspension structure and a right suspension structure which are respectively arranged symmetrically, wherein the number of suspensions is an even number. For example, the invention disclosed in the patent number 201610049480.X discloses a crawler chassis, the general chassis of a crawler robot disclosed in the patent number 201210043540.9, and the like.

In order to improve the obstacle crossing performance or the trafficability of the mobile chassis, the following methods are often adopted for improvement and optimization:

(1) the suspension structure is changed to realize the horizontal adjustment of left and right or front and back angles of the mobile platform

A typical technical scheme is that a chassis adjusting control system of a tracked vehicle is disclosed in patent 201820105211.5, the chassis inclination angle is detected through an inclination angle sensor, and horizontal setting of the left direction and the right direction of a platform is realized by changing a suspension left-right telescopic mechanism. In addition, the adjustable-angle trolley chassis disclosed in patent No. 201721341789.2 realizes the adjustment of the front and rear angles of the platform by controlling the deformation of the front and rear suspension structures, so that the adjustable-angle trolley chassis is suitable for different slopes.

(2) Suspension structure deformation for realizing height adjustment of mobile platform

The typical technical scheme is an adjustable crawler device disclosed in patent No. 201810575356.6, which adjusts the height of the chassis by adjusting the length of a hydraulic rod, thereby improving the trafficability of the crawler chassis.

(3) Forward heading angle of suspension structure deformation adjustment crawler mechanism

The typical technical scheme is that a crawler angle self-adaptive mechanism of the pipeline robot is disclosed as patent No. 201621305890.8, and the adaptability to pipelines with different pipe diameters is realized by adjusting an electric push rod to change the heading angle of crawler movement on two sides.

To sum up, thereby current crawler-type removes chassis's suspended structure generally only can change the height and realize horizontal angle or the altitude mixture control to the platform, when suspended structure passes through the ramp of "V-V" shape or "lambda" shape ramp or other both sides angle differences, the track can take place serious deformation, slight person damages the track or falls the area, heavy messenger's left and right sides track structure atress inequality takes place the automobile body damage, seriously endangers track life, for crawler-type removes chassis trafficability characteristic and hinders the nature greatly and put forward the challenge more.

Disclosure of Invention

An object of the utility model is to provide a high performance self-adaptation track chassis device is through the working angle who changes both sides system of moving away to avoid possible earthquakes in real time to make bearing wheel and the better laminating ground of track, solve present crawler-type chassis and pass through the difficult problem that the performance is weak when "V-V" shape or "lambda" shape ramp passes through.

The utility model provides a technical scheme that its technical problem adopted is: a high-performance self-adaptive track chassis device comprises a track type chassis, a shock absorption system, a track, a shock absorption self-adaptive adjusting component, a power transmission component and a driving component, wherein the track type chassis comprises a vehicle body framework, an upper supporting plate and side supporting plates, the upper end surface of the vehicle body framework is fixedly provided with the upper supporting plate, the two sides of the vehicle body framework are respectively provided with the side supporting plates, and the shock absorption system, the track, the shock absorption self-adaptive adjusting component and the power transmission component are respectively provided with two sets which are respectively arranged on the two sides of the upper supporting plate; the system of moving away to avoid possible earthquakes sets up in the collateral branch backup pad outside, and the system of moving away to avoid possible earthquakes is connected with the track, and the system of moving away to avoid possible earthquakes still is connected with the one end of power transmission subassembly, and the other end and the drive assembly of power transmission subassembly are connected, and on the drive assembly was fixed in the crawler-type chassis, shock attenuation self-adaptation adjustment subassembly one end was fixed in on the backup pad.

Specifically, the system of moving away to avoid possible earthquakes is including hanging backup pad, damper, action wheel, bearing wheel, approach wheel, and the outside that the hanging backup pad is fixed in the collateral branch backup pad, and the action wheel is installed to the rear end of hanging backup pad, and the axle center of action wheel is connected with the one end of power transmission subassembly, and the bearing wheel that passes through damper and below of hanging backup pad is connected, and the approach wheel is installed to the front end of hanging backup pad, and the train outer fringe meshing that action wheel, bearing wheel, approach wheel are constituteed is connected with the track.

It is specific, shock attenuation self-adaptation adjustment subassembly includes adjusting motor, the lead screw, the sleeve, the connecting rod, the hydraulic stem, pedestal bearing, the bull stick, the support arm, the vertical lower terminal surface that is fixed in the backup pad of adjusting motor, adjusting motor's output shaft lead screw, the cover has the sleeve on the lead screw, sleeve and lead screw threaded connection, the front end of hinged joint connecting rod is passed through in the sleeve middle part outside, the front end of bull stick is connected through the hydraulic stem to the rear end of connecting rod, the hydraulic stem is extending structure, the hydraulic stem sets up with the bull stick is perpendicular, the bull stick sets up in pedestal bearing, the rear end of bull stick is fixed with the support arm, the support arm sets up with the bull stick is perpendicular, and the support arm still is perpendicular with the hydraulic stem in space.

Specifically, the power transmission assembly comprises a reversing seat, a first supporting bearing, a second supporting bearing, a first transmission shaft, a second transmission shaft, a first power shaft, a second power shaft and a power reversing transmission assembly, wherein the reversing seat is vertically arranged at the rear end of an upper supporting plate, the reversing seat is of a disc-shaped structure and is symmetrically provided with two arc-shaped grooves along the circumferential direction, the first supporting bearing and the second supporting bearing are respectively embedded in the two arc-shaped grooves, the first supporting bearing and the second supporting bearing are both connected in the arc-shaped grooves in a sliding manner through a pull rod and a stop block, the inner side of the first supporting bearing is connected with the first transmission shaft, the outer side of the first supporting bearing is connected with the first power shaft, the inner side of the second supporting bearing is connected with the second transmission shaft, the outer side of the second supporting bearing is connected with the second power shaft, the first transmission shaft and the second transmission shaft are arranged oppositely, and the first transmission shaft is connected with the second transmission, the first power shaft is connected with the driving component, and the second power shaft is connected with the axle center of a driving wheel in the shock absorption system.

Furthermore, through holes are formed in the first support bearing and the second support bearing, the first transmission shaft is fixedly connected with the first power shaft, and the joint of the first transmission shaft and the first power shaft is positioned in the through hole of the first support bearing; the second transmission shaft is fixedly connected with the second power shaft, and the joint of the second transmission shaft and the second power shaft is positioned in the through hole of the second support bearing.

Furthermore, the power reversing transmission assembly comprises a first reversing connector, a second reversing connector and a reversing ring, the first reversing connector is connected to the end portion of the first transmission shaft, the second reversing connector is connected to the end portion of the second transmission shaft, the first reversing connector and the second reversing connector are arranged oppositely, and the reversing ring is connected between the first reversing connector and the second reversing connector.

Furthermore, the opposite end faces of the first reversing connector and the second reversing connector are respectively provided with a square groove, and the reversing ring is clamped in the square grooves.

Furthermore, the reversing ring is perpendicular to the reversing seat, the reversing ring is of a circular ring structure, and the projection of the circle center of the reversing ring on the reversing seat is coincided with the center of the reversing seat.

The driving assembly comprises a power motor, a speed reducing assembly, a controller, a sensing assembly, a driver and an energy assembly, wherein the power motor and the speed reducing assembly are respectively provided with two sets, the power motor is fixed in a vehicle body framework, the output shaft of each set of power motor is connected with the input end of the speed reducing assembly, the output end of the speed reducing assembly is connected with a first power shaft, the controller is arranged in the vehicle body framework, the controller is electrically connected with the sensing assembly, the driver and the energy assembly, the sensing assemblies are multiple in number and are laser radars or distance measuring sensors, the sensing assembly is arranged at the front end of the vehicle body framework, the driver comprises driving plates for the power motor and an adjusting motor, and the driver and the energy assembly are arranged in the vehicle body framework.

The utility model discloses following beneficial effect has:

(1) through the reciprocating type adjustment mechanism of shock attenuation self-adaptation adjustment subassembly cooperation and telescopic hydraulic stem structure, vertical angular adjustment about the relative moving platform body of system of moving away to avoid possible earthquakes realizes passing through the obstacle crossing of all kinds of "V" -shaped, "inverted V" -shaped ramp or other complicated ground, has improved moving platform and has crossed the obstacle performance, has protected platform security and stability, has further promoted the suitability of platform to all kinds of complicated ground environment.

(2) Through the power transmission subassembly under the variable angle based on shock attenuation self-adaptation adjusting part, set up switching-over seat and power switching-over transmission subassembly, power when having realized the relative moving platform body of shock attenuation system about the angular adjustment is continuously exported, has guaranteed to hang moving platform's under the angular adjustment function power source, has promoted moving platform multifunctionality and high self-adaptability.

(3) Based on the damping self-adaptive adjustment component and the power transmission component, the real-time detection, analysis and decision of the road condition in front of the vehicle body are realized by matching the sensing component, so that the self-adaptive adjustment of the shock absorption system under different road conditions is controlled, the obstacle crossing adaptivity and the intelligent level of the intelligent mobile platform are improved, and the system has great significance for improving the full autonomy, the high safety and the strong climbing obstacle crossing shock absorption of the robot motion.

Drawings

Fig. 1 is a schematic perspective view of the crawler chassis device of the present invention.

Fig. 2 is a schematic structural view of the crawler chassis device of the present invention.

Fig. 3 is a left side view structure diagram of the crawler chassis device of the present invention.

Fig. 4 is a schematic view of the bottom structure of the crawler chassis device of the present invention.

Fig. 5 is a schematic view of the three-dimensional structure of the shock-absorbing self-adaptive adjusting assembly of the present invention.

Fig. 6 is a schematic view of the shock-absorbing adaptive adjustment assembly of the present invention.

Fig. 7 is the left side view structure schematic diagram of the shock absorption self-adaptive adjusting assembly of the present invention.

Fig. 8 is a schematic perspective view of the power transmission assembly of the present invention.

Fig. 9 is a front view schematic diagram of the power transmission assembly of the present invention.

Fig. 10 is a schematic top view of the power transmission assembly of the present invention.

Fig. 11 is a partially enlarged schematic view of a power reversing transmission assembly in the power transmission assembly of the present invention.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings.

As shown in fig. 1-4, a high-performance adaptive crawler chassis device comprises a crawler chassis 1, a shock absorption system 2, a crawler 3, a shock absorption adaptive adjustment assembly 4, a power transmission assembly 5 and a driving assembly 6. Crawler-type chassis 1 provides functions such as support, installation and protection for its affiliated part, and crawler-type chassis 1 includes automobile body skeleton 11, goes up backup pad 12 and collateral branch backup pad 13, and automobile body skeleton 11 is the support body on a whole set of crawler-type chassis, for platelike structure, and the outside is provided with a plurality of baffles and is used for realizing that automobile body major structure seals. The up end of automobile body skeleton 11 is fixed with backup pad 12, goes up backup pad 12 and is the horizontally rectangle flat structure, and the both sides of automobile body skeleton 11 are provided with collateral branch backup pad 13 respectively, and collateral branch backup pad 13 appearance is rectangular shaped plate, vertically sets up respectively in last backup pad 12 both sides. The shock absorption system 2, the caterpillar band 3, the shock absorption self-adaptive adjusting component 4 and the power transmission component 5 are provided with two sets and are respectively arranged at two sides of the upper supporting plate 12; shock mitigation system 2 sets up in the collateral branch backup pad 13 outside, and shock mitigation system 2 is connected with track 3, and shock mitigation system 2 still is connected with the one end of power transmission subassembly 5, and the other end and the drive assembly 6 of power transmission subassembly 5 are connected, and drive assembly 6 is fixed in on the crawler- type chassis 1, and 4 one end of shock attenuation self-adaptation adjusting part are fixed in on backup pad 12, and the other end is connected with collateral branch backup pad 13.

The shock absorption system 2 mainly realizes the shock absorption effect through various structures, so that the contact shock and the like of the crawler belt and the ground are weakened or even eliminated, and the stability and the safety of the upper equipment are ensured; meanwhile, the obstacle crossing performance of various V-shaped slopes, inverted V-shaped slopes or other complex ground surfaces can be realized by adjusting the angle of the self-hanging framework.

As shown in fig. 2, each set of suspension system 2 at least includes a suspension support plate 21, a damping assembly 22, a driving wheel 23, a bearing wheel 24 and a proximity wheel 25, the suspension support plate 21 is a hollow plate structure, the suspension support plate 21 is fixed on the outer side of the side support plate 13, the damping assembly 22 is a suspension damping mechanism composed of the damping plate, elastic elements and the like, the number of the damping mechanisms is multiple, the damping mechanisms are arranged on the suspension support plate 21, and the elastic elements are matched to realize the support of the caterpillar band 3. The suspension support plate 21 is connected with a bearing wheel 24 below through a damping component 22, and the bearing wheel 24 is in contact with the crawler 3, so that the contact area between the mobile chassis and the ground is ensured, and the mobile chassis and the upper equipment are borne.

The driving wheel 23 is installed on the two sides of the rear end of the suspension support plate 21, the axis of the driving wheel 23 is connected with the second power shaft 57 of the power transmission assembly 5, and the driving wheel 23 is driven to rotate by itself under the force transmission effect of the second power shaft 57, so that the crawler 3 is driven to rotate, and the power movement effect is achieved.

The front end of the suspension support plate 21 is provided with a proximity wheel 25, the proximity wheel 25 is fixed at the front end positions of two sides of the suspension support plate 21 through a rotating shaft, and the proximity wheel 25 is matched with the damping assembly 22, the bearing wheel 24 and the crawler 3 to form a tensioning state, so that the effects of obstacle crossing and obstacle avoidance and obstacle crossing support on obstacles are achieved. The outer edge of a wheel train consisting of the driving wheel 23, the bearing wheel 24 and the approach wheel 25 is engaged with the crawler 3.

The number of the tracks 3 is two, the function of the damping track is mainly to realize rotation by being driven by the driving wheel 23, so that the continuous rolling laying function is realized by the supporting function of the bearing wheels 24 on the tracks 3, and the track type chassis 1 is driven to move.

The shock absorption self-adaptive adjusting assemblies 4 are arranged on two sides of the lower wall surface of the upper supporting plate 12 in a bilateral symmetry mode. As shown in fig. 5-7, each set includes an adjusting motor 41, a lead screw 42, a sleeve 43, a connecting rod 44, a hydraulic rod 45, a base bearing 46, a rotating rod 47, and a support arm 48.

Adjusting motor 41 is step-by-step or servo motor, and adjusting motor 41 vertically sets up in the lower extreme of last backup pad 12 central authorities one side, and the up end of adjusting motor 41 body is connected fixedly with the lower terminal surface of last backup pad 12, and adjusting motor 41's output shaft lead screw 42, the cover has sleeve 43 on the lead screw 42, and sleeve 43 is inside to be provided with the screw thread, sleeve 43 and lead screw 42 threaded connection, when lead screw 42 forward or reverse rotation, sleeve 43 can reciprocate. The front end of hinged joint connecting rod 44 is passed through in the sleeve 43 middle part outside, and connecting rod 44 is the cylinder structure, transversely sets up, and the front end of bull stick 47 is connected through hydraulic stem 45 to the rear end of connecting rod 44, and hydraulic stem 45 is extending structure, and when sleeve 43 was driven the up-and-down motion by adjusting motor 41, connecting rod 44 can take place the slant upward or the slant downstream to drive the passive length concertina movement that takes place along axial direction of hydraulic stem 45. Hydraulic stem 45 sets up with bull stick 47 is perpendicular, and bull stick 47 is the cylinder structure, and bull stick 47 sets up in base bearing 46, and bull stick 47 can wind base bearing 46 angle rotation, and base bearing 46 is the drum structure, and base bearing 46 level is fixed in on backup pad 12 one side. The rear end of the rotating rod 47 is fixed with a support arm 48, the support arm 48 is of a cylindrical structure, the support arm 48 is perpendicular to the rotating rod 47, the support arm 48 is also perpendicular to the hydraulic rod 45 in space, and the support arm 48 is connected and fixed on the side support plate 13. When the support arm 48 is angularly deflected with the rotation rod 47, it drives the side support plate 13 and the suspension system 2 thereon to be angularly deflected.

The whole working effect of the shock absorption self-adaptive adjusting component 4 is as follows: when adjusting motor 41 rotates, drive lead screw 42 and rotate, because sleeve 43 is by connecting rod 44, hydraulic stem 45 is clamped, so sleeve 43 can't rotate, can only upwards or downstream, thereby drive connecting rod 44 slant upward or slant downstream, because hydraulic stem 45 at connecting rod 44 rear possesses automatic flexible function, thereby drive hydraulic stem 45 and realize the flexible adjustment of length, drive connecting rod 44 and hydraulic stem 45 simultaneously and take place the angular deviation adjustment, and then drive bull stick 47 at hydraulic stem 45 rear and rotate, bull stick 47 rear is connected with support arm 48, the outer terminal surface of support arm is fixed with collateral branch fagging 13 and shock absorber system 2, so finally realize driving shock absorber system 2 and take place vertical angular adjustment relative automobile body skeleton 11 or last fagging 12, realize shock absorber system 2 working angle's adjustment, thereby adapt to different angle ramp road surfaces.

As shown in fig. 8 to 11, the power transmission assembly 5 includes a reversing base 51, a first support bearing 52, a second support bearing 53, a first transmission shaft 54, a second transmission shaft 55, a first power shaft 56, a second power shaft 57, and a power reversing transmission assembly 58. The number of the power transmission assemblies 5 is two, the two power transmission assemblies are respectively arranged between the driving wheel 23 and the speed reducing assembly 62, and the main functions are as follows: when the shock absorption adaptive adjustment assembly 4 adjusts the angle of the shock absorption system 2, the power transmission assembly 5 realizes the output of power from the output shaft of the speed reduction assembly 62 to the driving wheel 23 through the angle adjustment.

The reversing seat 51 is vertically arranged at the rear end of the upper supporting plate 12, the reversing seat 51 is of a disc-shaped structure, two arc-shaped grooves 511 are symmetrically arranged along the circumferential direction, a first supporting bearing 52 and a second supporting bearing 53 are respectively embedded in the two arc-shaped grooves 511, the first supporting bearing 52 and the second supporting bearing 53 are both connected in the arc-shaped grooves 511 in a sliding mode through pull rods and check blocks, and the first supporting bearing 52 and the second supporting bearing 53 can rotate around the circle center of the reversing seat 51 in the arc-shaped grooves 511.

Through holes are formed in the first support bearing 52 and the second support bearing 53, the first transmission shaft 54 is fixedly connected with the first power shaft 56 to realize power transmission, and the connection part of the first transmission shaft 54 and the first power shaft 56 is positioned in the through hole of the first support bearing 52; the second transmission shaft 55 and the second power shaft 57 are fixedly connected to realize power transmission, and the joint of the second transmission shaft 55 and the second power shaft 57 is located in the through hole of the second support bearing 53.

The inner side of the first support bearing 52 is connected with a first transmission shaft 54, the outer side of the first support bearing 52 is connected with a first power shaft 56, the inner side of the second support bearing 53 is connected with a second transmission shaft 55, the outer side of the second support bearing 53 is connected with a second power shaft 57, the first transmission shaft 54 and the second transmission shaft 55 are oppositely arranged, the first transmission shaft 54 is connected with the second transmission shaft 55 through a power reversing transmission assembly 58, the first power shaft 56 is connected with an output shaft of a speed reduction assembly 62 on the driving assembly 6, and the second power shaft 57 is connected with the axis of a driving wheel 23 in the shock absorbing system 2.

The power reversing transmission assembly 58 mainly realizes self angle adjustment, and realizes angle adjustment between the first transmission shaft 54 and the second transmission shaft 55 which are connected with the left and the right of the power reversing transmission assembly. The power reversing transmission assembly 58 includes a first reversing connector 581, a second reversing connector 582, and a reversing ring 583.

The first reversing connector 581 and the second reversing connector 582 are both of a semi-cylindrical structure, the outer arc-shaped wall surface of the first reversing connector 581 is connected to the end portion of the first transmission shaft 54, the outer arc-shaped wall surface of the second reversing connector 582 is connected to the end portion of the second transmission shaft 55, the first reversing connector 581 and the second reversing connector 582 are oppositely arranged, square grooves 5811 are formed in the opposite end surfaces of the first reversing connector 581 and the second reversing connector 582, and the reversing rings 583 are clamped in the square grooves 5811. The center axes of the first and second reversing connectors 581 and 582 coincide with the center of the reversing seat 51. The reversing ring 583 is of a circular ring structure, the reversing ring 583 is perpendicular to the reversing seat 51, the reversing ring 583 is of a circular ring structure, and the projection of the circle center of the reversing ring 583 on the reversing seat 51 is coincided with the center of the reversing seat 51. The reversing ring 583 serves a power transmitting and reversing function therein, and can perform both transmission of power from the first transmission shaft 54 to the second transmission shaft 55 and reversing of power from the first transmission shaft 54 to the second transmission shaft 55.

The overall working mechanism of the power reversing transmission assembly 58 is as follows:

1) the power transmission function: when the power motor 61 drives the speed reduction assembly 62 to rotate, the output end of the speed reduction assembly 62 drives the first power shaft 56 to rotate, and the power transmission flow is as follows: the power motor 61 → the speed reducing component 62 → the first power shaft 56 → the first support bearing 52 → the first transmission shaft 54 → the power reversing transmission component 58 → the second transmission shaft 55 → the second power shaft 57 → the driving wheel 23, and finally the driving wheel 23 and the track 3 thereon are driven to move, so that the motion driving function of the track chassis is realized.

2) Power transmission angle adjustment function: in the working process of the shock absorption self-adaptive adjusting assembly 4, due to the action of the adjusting motor 41, the relative angle adjustment of the shock absorption system 2 and the track 3 relative to the vehicle body frame 11 and the upper support plate 12 is finally realized, at the moment, in the power transmission assembly 5 composed of the first support bearing 52, the second support bearing 53, the first transmission shaft 54, the second transmission shaft 55, the first power shaft 56, the second power shaft 57 and the power reversing transmission assembly 58, the power transmission is not in a straight line form any more, but is reversed along with the angle deflection of the shock absorption system 2, and specifically, the following steps are as follows: when the suspension system 2 and the driving wheel 23 thereon are deflected angularly relative to the vehicle body frame 11, the second power shaft 57 connected to the driving wheel 23 is also deflected at this time, so as to drive the second supporting bearing 53 connected to the second power shaft 57 to deflect relative to the reversing base 51, and further drive the second transmission shaft 55 and the second power shaft 57 to deflect, and at this time, the reversing function is realized through the first reversing connector 581, the second reversing connector 582 and the reversing ring 583 in the power reversing transmission assembly 58, so that it is ensured that the continuous power transmission can be performed when the suspension system 2 is deflected relative to the vehicle body finally.

The driving part 6 is a power driving source and a torque transmission medium of the self-adaptive crawler chassis device. As shown in fig. 3 and 4, the driving assembly 6 includes a power motor 61, a speed reducing assembly 62, a controller 63, a sensing assembly 64, a driver 65 and an energy source assembly 66.

Two sets of power motors 61 and speed reducing assemblies 62 are respectively provided, the power motors 61 are servo motors and are power sources of robot motion, the two sets of power motors 61 are respectively installed at the rear positions of the left side and the right side in the vehicle body framework 11, the output shaft of each set of power motor 61 is connected with the input end of the speed reducing assembly 62, and the output end of the speed reducing assembly 62 is connected with the first power shaft 56 to transmit output power to the power transmission assembly 5. The speed reduction assembly 62 is the shaft structure, and the overall arrangement is between motor 61 and action wheel 23, and the centre is through mechanisms such as belt and belt pulley realization power transmission and speed reduction effect, and the effect does: the high-speed and low-torque power of the power motor 61 is converted into low-speed and high-torque power, so that the power strength and the load capacity of the self-adaptive crawler chassis device are improved.

The controller 63 is a control core of the system and is arranged on the inner side of the lower end face of the upper supporting plate 12, the controller 63 is electrically connected with the sensing assembly 64, the driver 65 and the energy assembly 66, and the ground environment information returned by the sensing assembly 64 is collected for analysis and decision making, so that the driver 65 is controlled to drive the power motor 61 and the adjusting motor 41.

The sensing component 64 is provided in a plurality of numbers, and can be a laser radar or a distance measuring sensor, and the sensing component 64 is arranged at the front end of the vehicle body framework 11 and used for detecting the ground heave condition.

The driver 65 includes drive plates for the power motor 61 and the adjustment motor 41, and the driver 65 and the power source assembly 66 are disposed in the vehicle body frame 11. The power source assembly 66 is used to provide power to the electrical components on the chassis.

The overall working effect of the drive member 6 is: the controller 63 controls the sensing assembly 64 to acquire information of road conditions in front of the vehicle body and transmit acquired environmental parameters to the controller 63, the controller 63 analyzes and decides and then gives a control signal, the control signal is processed by the driver 65 and then drives the power motor 61 to realize vehicle body motion control, meanwhile, the adjusting motor 41 is driven to realize control and drive of the shock absorption self-adaptive adjusting assembly 4, then the shock absorption system 2 is adjusted to realize self-adaptive obstacle crossing on the road surface, and the system safety and obstacle crossing passing performance are ensured.

The working method of the high-performance self-adaptive crawler chassis device comprises the following steps:

1) the method comprises the following steps of:

a. the controller 63 controls the sensing assembly 64 to acquire information of road conditions in front of the vehicle body and transmit acquired environmental parameters to the controller 63, the controller 63 performs analysis and decision and then gives a control signal, and the control signal is processed by the driver 65 and then drives the power motor 61 to realize vehicle motion control.

b. The driving adjusting motor 41 controls and drives the shock absorption self-adaptive adjusting component 4, and at the moment, the shock absorption self-adaptive adjusting component 4 is in an initial state and does not perform angle adjusting action; the vehicle body framework 11 on the shock absorption system 2 is vertical to the upper supporting plate 12, the two sets of shock absorption systems 2 move in parallel, and the crawler-type chassis 1 moves forwards or backwards in a straight line.

c. The controller 63 drives the two sets of power motors 61 at different rotating speeds or drives the two sets of power motors to rotate forward and backward through a driver 65 in the driving electric assembly 6, and then performs differential speed or steering adjustment on the driving wheels 23 on the two sides and the crawler 3, so that turning movement is realized.

d. During the steps a, b and c, the power transmission in the power transmission assembly 5 consisting of the first support bearing 52, the second support bearing 53, the first transmission shaft 54, the second transmission shaft 55, the first power shaft 56, the second power shaft 57 and the power reversing transmission assembly 58 is in a linear form.

2) When the V-shaped ramp is crossed, the self-adaptive suspension angle adjustment step of the crawler chassis device is as follows: the controller 63 controls the sensing assembly 64 to acquire information of road conditions in front of the vehicle body and transmit acquired environmental parameters to the controller 63, the controller 63 analyzes and decides and then gives a control signal, the control signal is processed by the driver 65 and then drives the power motor 61 to realize vehicle motion control, and simultaneously drives the adjusting motor 41 to control and drive the shock absorption self-adaptive adjusting assembly 4, so that the shock absorption system 2 is adjusted to realize self-adaptive obstacle crossing on the road surface; the method specifically comprises the following steps:

a. the control driving steps of the damping adaptive adjustment assembly 4 are as follows: controller 63 controls driver 65 drive accommodate motor 41 corotation, drive lead screw 42 and rotate, drive connecting rod 44 upwards or the downward motion of slant, thereby it realizes the flexible adjustment of length to drive hydraulic stem 45, drive connecting rod 44 and hydraulic stem 45 simultaneously and take place the angular deflection adjustment, and then drive the bull stick 47 at hydraulic stem 45 rear and rotate, bull stick 47 rear is connected with support arm 48, the outer terminal surface of support arm is fixed with collateral branch fagging 13 and shock mitigation system 2, so finally realize driving shock mitigation system 2 and taking place vertical angle increase adjustment relative automobile body skeleton 11 or last fagging 12, realize shock mitigation system 2 working angle's adjustment, thereby adapt to "V" shape ramp road surface, the contained angle that constitutes by two sets of shock mitigation systems 2 at this moment is the acute angle, and the angle of acute angle is unanimous with the contained angle of "V" shape ramp.

b. In power transmission, power motor 61 drives speed reduction assembly 62 and rotates, and speed reduction assembly 62's output drives first power shaft 56 and rotates, and the power transmission flow is: the power motor 61 → the speed reducing component 62 → the first power shaft 56 → the first support bearing 52 → the first transmission shaft 54 → the power reversing transmission component 58 → the second transmission shaft 55 → the second support bearing 53 → the second power shaft 57 → the driving wheel 23, and finally the driving wheel 23 and the track 3 thereon are driven to move, so that the motion driving function of the track chassis is realized.

c. In the aspect of power transmission angle adjustment, the adjusting motor 41 rotates forward, the suspension system 2 and the driving wheel 23 thereon deflect angularly relative to the vehicle body frame 11, and at this time, the second power shaft 57 connected with the driving wheel 23 also deflects to drive the second support bearing 53 connected with the second power shaft 57 to deflect relative to the reversing seat 51, so as to drive the second transmission shaft 55 to deflect, and at this time, the reversing function is realized through the first reversing connector 581, the second reversing connector 582 and the reversing ring 583 in the power reversing transmission assembly 58, so that finally, when the suspension system 2 deflects relative to the vehicle body, power can be continuously transmitted.

3) The self-adaptive suspension angle adjusting step of the crawler chassis device when the crawler chassis device crosses the reverse V-shaped slope is opposite to the control process in the step 2).

4) When the device crosses other slopes with angle differences on the two sides, the adjustment process of the crawler chassis device is similar to the process principle in the step 1) or the step 2), and the difference is that the adjustment angles of the damping self-adaptive adjustment assemblies 4 on the left side and the right side to the shock absorption system 2 are different, so that the efficient and safe obstacle crossing of the slopes with angle differences on the left side and the right side is completed.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and are not intended to limit the spirit and scope of the present invention. Under the prerequisite that does not deviate from the design concept of the utility model, the ordinary person in the art should fall into the protection scope of the utility model to the various changes and improvements that the technical scheme of the utility model made.

The technology, shape and construction parts which are not described in detail in the present invention are all known technology.

Claims (9)

1. A high-performance self-adaptive crawler chassis device is characterized by comprising a crawler chassis, a shock absorption system, a crawler, a shock absorption self-adaptive adjusting component, a power transmission component and a driving component, wherein the crawler chassis comprises a vehicle body framework, an upper supporting plate and side supporting plates, the upper end surface of the vehicle body framework is fixedly provided with the upper supporting plate, the two sides of the vehicle body framework are respectively provided with the side supporting plates, and the shock absorption system, the crawler, the shock absorption self-adaptive adjusting component and the power transmission component are respectively provided with two sets which are respectively arranged on the two sides of the upper supporting plate; the system of moving away to avoid possible earthquakes sets up in the collateral branch backup pad outside, and the system of moving away to avoid possible earthquakes is connected with the track, and the system of moving away to avoid possible earthquakes still is connected with the one end of power transmission subassembly, and the other end and the drive assembly of power transmission subassembly are connected, and on the drive assembly was fixed in the crawler-type chassis, shock attenuation self-adaptation adjustment subassembly one end was fixed in on the backup pad.

2. The high-performance self-adaptive crawler chassis device according to claim 1, wherein the shock-absorbing self-adaptive adjusting assembly comprises an adjusting motor, a lead screw, a sleeve, a connecting rod, a hydraulic rod, a base bearing, a rotating rod and a support arm, wherein the adjusting motor is vertically fixed on the lower end surface of the upper support plate, an output shaft of the adjusting motor is connected with the lead screw, the lead screw is sleeved with the sleeve, the sleeve is in threaded connection with the lead screw, the outer side of the middle part of the sleeve is connected with the front end of the connecting rod through a hinge, the rear end of the connecting rod is connected with the front end of the rotating rod through the hydraulic rod, the hydraulic rod is of a telescopic structure and is vertically arranged with the rotating rod, the rotating rod is arranged in the base bearing, the support arm is fixed at the rear end of the rotating rod and is vertically arranged with the rotating rod.

3. The adaptive crawler chassis device according to claim 1, wherein the suspension system comprises a suspension support plate, a damping assembly, a driving wheel, a bearing wheel, and a proximity wheel, the suspension support plate is fixed to the outer side of the side support plate, the driving wheel is installed at the rear end of the suspension support plate, the axis of the driving wheel is connected to one end of the power transmission assembly, the suspension support plate is connected to the bearing wheel below through the damping assembly, the proximity wheel is installed at the front end of the suspension support plate, and the outer edge of a wheel train consisting of the driving wheel, the bearing wheel, and the proximity wheel is engaged with the crawler.

4. The high performance adaptive crawler chassis device according to any one of claims 1 to 3, wherein the power transmission assembly comprises a reversing seat, a first supporting bearing, a second supporting bearing, a first transmission shaft, a second transmission shaft, a first power shaft, a second power shaft, and a power reversing transmission assembly, the reversing seat is vertically disposed at the rear end of the upper supporting plate, the reversing seat is disc-shaped and symmetrically provided with two arc-shaped grooves along the circumferential direction, the first supporting bearing and the second supporting bearing are respectively embedded in the two arc-shaped grooves, the first supporting bearing and the second supporting bearing are both slidably connected in the arc-shaped grooves through a pull rod and a stop block, the inner side of the first supporting bearing is connected with the first transmission shaft, the outer side of the first supporting bearing is connected with the first power shaft, the inner side of the second supporting bearing is connected with the second transmission shaft, and the outer side of the second supporting bearing is connected with the second power shaft, the first transmission shaft and the second transmission shaft are oppositely arranged and are connected with the second transmission shaft through the power reversing transmission assembly, the first power shaft is connected with the driving assembly, and the second power shaft is connected with the axis of the driving wheel in the shock absorption system.

5. The high performance adaptive track undercarriage device according to claim 4 wherein the first support bearing and the second support bearing are each provided with a through hole therein, the first transmission shaft is fixedly connected with the first power shaft, and the connection point of the first transmission shaft and the first power shaft is located in the through hole of the first support bearing; the second transmission shaft is fixedly connected with the second power shaft, and the joint of the second transmission shaft and the second power shaft is positioned in the through hole of the second support bearing.

6. The high performance adaptive track undercarriage assembly according to claim 4 wherein said power reversing drive assembly comprises a first reversing connector attached to an end of said first drive shaft, a second reversing connector attached to an end of said second drive shaft, said first reversing connector and said second reversing connector being disposed in opposing relation, and a reversing ring attached between said first reversing connector and said second reversing connector.

7. The high performance adaptive crawler chassis apparatus of claim 6, wherein said first reversing connector and said second reversing connector are provided with square grooves on their opposite end surfaces, and said reversing ring is engaged in said square grooves.

8. The high-performance self-adaptive crawler chassis device according to claim 6, wherein the reversing ring is arranged perpendicular to the reversing seat, the reversing ring is of a circular ring structure, and a projection of a circle center of the reversing ring on the reversing seat is coincident with the center of the reversing seat.

9. The high performance adaptive track undercarriage assembly according to claim 1 wherein said drive assembly comprises a power motor, a speed reduction assembly, a controller, a sensing assembly, a drive, energy component, power motor and speed reduction subassembly have two sets respectively, power motor is fixed in the automobile body skeleton, the output shaft of every set of power motor reduces the input of subassembly, the output of speed reduction subassembly is connected with the first power shaft in the power transmission subassembly, the controller sets up in the automobile body skeleton, the electrical sensor subassembly of connecting of controller, the driver, energy component, sensing component quantity is a plurality of, for laser radar or range finding sensor, sensing component sets up at the automobile body skeleton front end, the driver is including the drive plate of the adjusting motor who drives among power motor and the shock attenuation self-adaptation adjusting part, the driver, energy component sets up in the automobile body skeleton.

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