CN211032799U - Crawler-type running gear and robot - Google Patents

Abstract

The utility model discloses a crawler-type running gear and robot that has it, crawler-type running gear includes: a chassis; two running gear, two running gear are located the left and right sides on chassis respectively, and every running gear all includes: track and track wheelset, the track winding is on track wheelset, and track wheelset includes: the driving wheel can drive the crawler belt to run; the driving wheel and the tensioning mechanism are respectively positioned at the two ends of the track in the front and rear directions, and the tensioning mechanism can adjust the tightness of the track; bearing mechanism, bearing mechanism are located the bottom of track, and bearing mechanism includes a plurality of bearing damper units who arranges at the interval in the front and back direction, and every bearing damper unit all includes: bearing wheel, shock absorber and bearing swing arm, bearing swing arm are connected between bearing wheel and shock absorber. According to the utility model discloses a crawler-type running gear not only has fine bearing capacity, and adaptable stair and the great road conditions of degree of undulation, operates steadily.

Description

Crawler-type running gear and robot

Technical Field

The utility model belongs to the technical field of the transport machinery technique and specifically relates to a crawler-type running gear and robot are related to.

Background

At present, a chassis walking device of a robot mainly adopts two modes: wheeled and tracked. The wheel type chassis is suitable for flat road surfaces and is not suitable for being used in complex environments. The crawler-type chassis walking device in the related art comprises a driving wheel, a tension wheel and a bearing wheel, and is applicable to complex environments, but is easy to roll over when encountering stairs and road conditions with large fluctuation.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least.

Therefore, the utility model provides a crawler-type running gear, crawler-type running gear is applicable in stair, the great road conditions of degree of undulation.

The utility model discloses still provide a robot that has above-mentioned crawler-type running gear.

According to the utility model discloses crawler-type running gear of first aspect, include: a chassis; two running gear, two running gear are located respectively the left and right sides on chassis, every the running gear all includes: track and track wheelset, the track winding is in on the track wheelset, the track wheelset includes: a drive wheel, wherein the drive wheel can drive the crawler belt to run; the driving wheel and the tensioning mechanism are respectively positioned at two ends of the track in the front-back direction, and the tensioning mechanism can adjust the tightness of the track; a load bearing mechanism located at a bottom of the track, the load bearing mechanism including a plurality of load bearing shock assemblies spaced apart in a fore-aft direction, each of the load bearing shock assemblies including: bearing wheel, shock absorber and bearing swing arm, the bearing swing arm is connected the bearing wheel with between the shock absorber.

According to the utility model discloses a crawler-type running gear is equipped with a plurality of bearing damper assembly through the bottom at the track, not only has fine bearing capacity, and adaptable stair and the great road conditions of degree of undulation, operates steadily.

According to the utility model discloses an embodiment, be equipped with the connecting axle on the bearing swing arm, the bearing swing arm passes through the connecting axle with the lateral wall on chassis links to each other.

According to the utility model discloses a further embodiment, every bearing damper assembly all includes: two splint of moving away to avoid possible earthquakes of arranging in pairs, two splint of moving away to avoid possible earthquakes with the bearing swing arm links to each other, just the bearing swing arm is located between two splint of moving away to avoid possible earthquakes, the shock absorber rotationally with two splint of moving away to avoid possible earthquakes link to each other.

Furthermore, one end of the shock absorber, which is far away from the shock absorbing clamping plate, is provided with a first connecting piece, and the shock absorber is connected with the side wall of the chassis through the first connecting piece.

According to another embodiment of the present invention, an elastic suspension member adapted to stretch is provided in the shock absorber.

According to a further embodiment of the invention, the tensioning mechanism comprises: the adjusting device is connected with the tensioning wheel to adjust the sliding position of the tensioning wheel, and the adjusting device is connected to the side wall of the chassis.

Further, the adjusting device includes: the sliding rod is connected to the tensioning wheel; the tensioning frame is fixed on the side wall of the chassis and can adjust the sliding position of the sliding rod; the sliding fixing frame is fixed on the side wall of the chassis, and the sliding rod is matched in the sliding fixing frame in a sliding mode.

Furthermore, a fixing part is arranged on the sliding rod, the fixing part and the tensioning frame are arranged at intervals in the extending direction of the sliding rod, the fixing part and the tensioning frame are connected through a second connecting piece, and the distance between the fixing part and the tensioning frame can be adjusted through the second connecting piece.

Further, the track wheel set further includes: the guide wheel is arranged on the top or the side of the crawler belt.

According to a further embodiment of the invention, the drive wheel is located obliquely above the load bearing mechanism.

According to the utility model discloses robot of second aspect, include: the crawler type walking device according to the above embodiment.

According to the utility model discloses a robot is equipped with a plurality of bearing damper assembly through the bottom at the track, not only has fine bearing capacity, and adaptable stair and the great road conditions of degree of undulation, operates steadily.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural view of a running assembly of a crawler type running gear according to an embodiment of the present invention;

FIG. 2 is a perspective view of a load bearing shock assembly of a crawler track according to an embodiment of the present invention;

fig. 3 is a perspective view of a tensioning mechanism of a crawler type traveling device according to an embodiment of the present invention.

Reference numerals:

the track-type running gear 100, the chassis 200,

the track comprises a track 10, a driving wheel 21, a tensioning mechanism 22, a tensioning wheel 221, an adjusting device 222, a sliding rod 2221, a tensioning frame 2222, a sliding fixing frame 2223, a fixing part 2224, a connecting hole 2225, a matching hole 2226, a bearing mechanism 23, a bearing damping assembly 231, a bearing wheel 2311, a shock absorber 2312, a bearing swing arm 2313, a connecting shaft 2314, a shock absorbing clamping plate 2315, a first connecting piece 2316 and a guide wheel 24.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

A crawler type running gear 100 according to an embodiment of the first aspect of the present invention is described below with reference to fig. 1 to 3.

As shown in fig. 1, a crawler type traveling apparatus 100 according to an embodiment of the present invention includes a chassis 200 and two traveling assemblies. Two of which are located on the left and right sides of the chassis 200, respectively, and further, each of which includes a crawler belt 10 and a crawler belt wheel group.

Specifically, the track 10 is wound on the track wheel set, the track wheel set comprises a driving wheel 21, a tensioning mechanism 22 and a bearing mechanism 23, the driving wheel 21 can drive the track 10 to operate, the driving wheel 21 serves as a power source for movement of the traveling assembly, the driving wheel 21 and the tensioning mechanism 22 are respectively located at two ends of the track 10 in the front-back direction, as shown in fig. 1, the driving wheel 21 is located at the front end of the track 10, the tensioning mechanism 22 is located at the rear end of the track 10, and the tensioning mechanism 22 can be used for adjusting tightness of the track 10 to adapt to road conditions with large undulation degree and guarantee usability of the traveling assembly.

Further, the bearing mechanism 23 is located at the bottom of the crawler belt 10, the bearing mechanism 23 includes a plurality of bearing shock-absorbing assemblies 231 spaced apart in the front-rear direction, as shown in fig. 1, 5 bearing shock-absorbing assemblies 231 are provided at the bottom of the crawler belt 10, as shown in fig. 2, each bearing shock-absorbing assembly 231 includes a bearing wheel 2311, a shock absorber 2312 and a bearing swing arm 2313, the bearing wheel 2311 is mainly used for bearing the weight of the chassis 200 and the weight of an object above the chassis 200, and thus the applicability of the crawler belt walking device 100 is enhanced.

In the process of walking of the walking assembly, if a stair or a highly rugged road condition is encountered, that is, the crawler 10 rolls over a protruding object, the crawler 10 can play a role in damping and buffering through the shock absorber 2312, so that the rigidity of the crawler 10 is effectively released, the chassis 200 is not prone to rollover, and similarly, when the crawler 10 passes through a concave terrain (such as a groove), the shape of the crawler 10 can better adapt to the terrain through the buffering effect of the front shock absorber 2312, the chassis 200 is not prone to rollover, and the trafficability of the chassis 200 is enhanced.

In addition, by connecting the bearing swing arm 2313 between the bearing wheel 2311 and the shock absorber 2312, when the walking assembly faces high, low and fluctuating road conditions in the forward moving process, the bearing swing arm 2313 swings according to the running conditions of the crawler 10 and the bearing wheel 2311, so that the stress in all directions is better balanced, and the movement of the bearing shock absorption assembly 231 and the crawler 10 is more stable.

According to the utility model discloses crawler-type running gear 100 through be equipped with a plurality of bearing damper 231 in the bottom of track 10, not only has fine bearing capacity, and adaptable stair and the great road conditions of degree of undulation, and chassis 200 is difficult for tumbling, has strengthened chassis 200's trafficability characteristic, operates steadily.

As shown in fig. 2, according to an embodiment of the present invention, a connecting shaft 2314 is disposed on the bearing swing arm 2313, the bearing swing arm 2313 is connected to the side wall of the chassis 200 via the connecting shaft 2314, the connecting shaft 2314 disposed on the bearing swing arm 2313 can make the bearing damping assembly 231 and the chassis 200 better fit and connect, and the appearance is more beautiful.

According to another embodiment of the present invention, each bearing and shock-absorbing assembly 231 comprises two shock-absorbing splints 2315 arranged in pairs, the two shock-absorbing splints 2315 are connected with the bearing swing arm 2313, the shock-absorbing splints 2315 have a certain bearing function, the bearing swing arm 2313 is located between the two shock-absorbing splints 2315, the shock absorber 2312 is rotatably connected with the two shock-absorbing splints 2315, and the shock-absorbing splints 2315 have a connecting function.

Further, a first connecting member 2316 is disposed at an end of the shock absorber 2312 away from the shock absorbing clamping plate 2315 (i.e., the upper end of the shock absorber 2312 shown in fig. 2), and the shock absorber 2312 is connected with the side wall of the chassis 200 through the first connecting member 2316, so that the structure is more stable and reliable.

According to the utility model discloses a still another embodiment, be equipped with in the shock absorber 2312 and be suitable for flexible elastic pendant, crawler-type running gear 100 is when the road conditions that faces high, low undulation, when the track 10 rolls over to protruding object, the elastic pendant in track 10 accessible shock absorber 2312 takes place the invagination, turn into the elastic potential energy of elastic pendant with the tension of track 10, thereby make the rigidity of track 10 release effectively, chassis 200 is difficult to take place to turn on one's side, the elastic pendant that lies in anterior shock absorber 2312 when the same track 10 is through concave topography can be compressed in advance, so that track 10 shape can adapt to the topography better, chassis 200 is difficult to overturn, chassis 200 trafficability has been strengthened. Alternatively, the elastic suspension may be a spring.

When the crawler-type traveling device 100 moves, the bearing wheels 2311 compress the shock absorber 2312 when pressing an obstacle, the elastic hanging pieces are compressed to play a buffering role, and after stabilization, the elastic hanging pieces in the shock absorber 2312 recover to the original shape to play a buffering and shock-absorbing role.

As shown in fig. 1 and 3, according to another embodiment of the present invention, the tensioning mechanism 22 includes a tensioning wheel 221 and an adjusting device 222, the tensioning wheel 221 and the adjusting device 222 are connected to adjust the sliding position of the tensioning wheel 221, and the adjusting device 222 is connected to a side wall of the chassis 200 to facilitate adjustment of the tightness of the track 10. It is understood that the sliding position of the idler 221 can be adjusted by the adjusting device 222, and as shown in fig. 1, the adjusting device 222 can adjust the position of the idler 221 in the front-rear direction, thereby controlling the tightness of the track 10.

Further, the adjusting device 222 includes a sliding bar 2221, a tensioning frame 2222 and a sliding fixing frame 2223, the sliding bar 2221 is connected to the tensioning wheel 221, as shown in fig. 3, one end of the sliding bar 2221 is connected to the tensioning wheel 221, the other end of the sliding bar 2221 is formed as a free end, the tensioning frame 2222 is fixed to a side wall of the chassis 200, the tensioning frame 2222 can adjust the sliding position of the sliding bar 2221, the adjustment of the position of the tensioning wheel 221 is realized by adjusting the sliding position of the sliding bar 2221, and further, the adjustment of the tightness of the track 10 is realized, the sliding fixing frame 2223 is fixed to a side wall of the chassis 200, the sliding bar 2221 is slidably fitted into the sliding fixing frame 2223, the sliding bar 2221 is limited by the sliding fixing frame 2223, as shown in fig. 1, the sliding bar 2221 can only slide along the front-back direction defined by the sliding fixing frame 2223.

As shown in fig. 1, specifically, when it is required to tension the track 10, the tensioning frame 2222 and the sliding bar 2221 are loosened, and the sliding bar 2221 is slid backward in the direction defined by the sliding holder 2223 until the tightness of the track 10 is proper, at which time the sliding bar 2221 is fixed by the tensioning frame 2222.

Further, a fixing portion 2224 is provided on the sliding bar 2221, the fixing portion 2224 and the tension frame 2222 are spaced apart in the extending direction of the sliding bar 2221, the fixing portion 2224 and the tension frame 2222 are connected by a second connecting member, and the distance between the fixing portion 2224 and the tension frame 2222 is adjustable by the second connecting member.

Further, a connection hole 2225 is formed in the fixing portion 2224, a matching hole 2226 is formed in the tension frame, and the second connecting member may be inserted into the connection hole 2225 and the matching hole 2226 to fix the fixing portion 2224 and the tension frame 2222, so as to fix the positions of the sliding rod 2221 and the tension wheel 221. Alternatively, the second connector may be a screw.

As shown in fig. 1 and 3, it can be understood that, when tensioning and adjusting the track 10, it is necessary to unscrew the second link so that the sliding bar 2221 can slide in the front-rear direction, then slide the sliding bar 2221 backwards to slide the tensioning wheel 221 backwards to tension the track 10, and when sliding to a predetermined tensioning position, fix the sliding bar 2221 by screwing the second link so that the fixing portion 2224 of the sliding bar 2221 and the tensioning frame 2222 are fixedly connected.

Further, the track wheel set further includes guide wheels 24, the guide wheels 24 are disposed on the top or the side of the track 10, as shown in fig. 1, the guide wheels 24 include four, two of which are disposed on the top of the track 10, and the other two of which are disposed at the front and rear ends of the track 10 (one of which is disposed between the driving wheel 21 and the bogie wheel 2311, and the other one of which is disposed between the tensioning wheel 221 and the bogie wheel 2311), the guide wheels 24 can support the track 10 on the one hand, and can guide the track 10 to move along a predetermined direction on the other hand, thereby avoiding deviation, and facilitating more stable walking when the track 10 moves. In the description of the present invention, "a plurality" means two or more.

According to the utility model discloses a further embodiment, drive wheel 21 is located bearing mechanism 23's oblique top for track 10 between drive wheel 21 and the bearing wheel 2311 is oblique ascending contained angle with level ground, is favorable to crawler-type running gear 100 to have the ability of climbing the barrier of a take the altitude.

The utility model discloses track 10 running gear 100 is when the walking, through the walking of drive wheel 21 drive track 10, for the walking of track 10 provides drive power, through straining device 22 tensioning track 10 to guarantee the stability and the reliability of track 10 walking, bearing damper 231 supports chassis 200 weight and transmits track 10 power, and leading wheel 24 plays the effect of supporting track 10 and direction.

Further, the driving wheel 21 is located at the front end of the chassis 200, the wheel diameter of the driving wheel 21 is larger than that of the bearing wheel 2311, the wheel diameter of the driving wheel 21 is also larger than that of the tension wheel 221, the driving wheel 21 is located obliquely above the bearing wheel 2311, and the crawler belt 10 between the driving wheel 21 and the bearing wheel 2311 as well as the guide wheel 24 is arranged at a certain included angle with the horizontal direction, so that the crawler belt type traveling device 100 has the capability of climbing obstacles with a certain height, and the passing performance of the crawler belt type traveling device 100 is enhanced. 5 bearing shock-absorbing component 231 are installed to chassis 200's downside, and bearing wheel 2311 is connected with shock absorber 2312, can strengthen track 10's bearing capacity like this, can make track 10 running gear 100 have stronger suitability, and when road conditions (like the stair) through continuous height fluctuation, the barrier compression shock absorber 2312, the elasticity pendant is compressed, makes track 10 take place certain caving in, is favorable to chassis 200's stability.

According to the utility model discloses robot of second aspect, include: according to the crawler type traveling apparatus 100 in the above embodiment.

According to the utility model discloses a robot is equipped with a plurality of bearing damper 231 through the bottom at track 10, not only has fine bearing capacity, and adaptable stair and the great road conditions of degree of undulation, operates steadily.

The robot can be an explosive-handling robot, can disassemble and transfer explosives, is used for replacing a person to detect, disassemble and transport the explosives, and is suitable for processing suspicious explosives in places with dense personnel and complex environments in markets, supermarkets, subway stations and airports.

Other constructions and operations of the crawler track 100 and the robot according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (11)

1. A crawler-type traveling apparatus, comprising:

a chassis;

two running gear, two running gear are located respectively the left and right sides on chassis, every the running gear all includes: track and track wheelset, the track winding is in on the track wheelset, the track wheelset includes:

a drive wheel, wherein the drive wheel can drive the crawler belt to run;

the driving wheel and the tensioning mechanism are respectively positioned at two ends of the track in the front-back direction, and the tensioning mechanism can adjust the tightness of the track;

a load bearing mechanism located at a bottom of the track, the load bearing mechanism including a plurality of load bearing shock assemblies spaced apart in a fore-aft direction, each of the load bearing shock assemblies including: bearing wheel, shock absorber and bearing swing arm, the bearing swing arm is connected the bearing wheel with between the shock absorber.

2. The crawler-type traveling device according to claim 1, wherein a connecting shaft is provided on the bearing swing arm, and the bearing swing arm is connected to the side wall of the chassis through the connecting shaft.

3. The crawler track of claim 1, wherein each of said load bearing shock assemblies comprises: two splint of moving away to avoid possible earthquakes of arranging in pairs, two splint of moving away to avoid possible earthquakes with the bearing swing arm links to each other, just the bearing swing arm is located between two splint of moving away to avoid possible earthquakes, the shock absorber rotationally with two splint of moving away to avoid possible earthquakes link to each other.

4. The crawler-type traveling device according to claim 3, wherein a first connecting member is provided at an end of the shock absorber remote from the shock absorbing bridge, and the shock absorber is connected to the side wall of the chassis via the first connecting member.

5. The crawler-type traveling apparatus according to claim 1, wherein an elastic suspension member adapted to be stretched is provided in the shock absorber.

6. The crawler-type traveling apparatus according to claim 1, wherein the tension mechanism comprises: the adjusting device is connected with the tensioning wheel to adjust the sliding position of the tensioning wheel, and the adjusting device is connected to the side wall of the chassis.

7. The crawler-type traveling apparatus according to claim 6, wherein said adjusting means comprises:

the sliding rod is connected to the tensioning wheel;

the tensioning frame is fixed on the side wall of the chassis and can adjust the sliding position of the sliding rod;

the sliding fixing frame is fixed on the side wall of the chassis, and the sliding rod is matched in the sliding fixing frame in a sliding mode.

8. The crawler belt according to claim 7, wherein a fixing portion is provided on the slide bar, the fixing portion and the tension frame are provided at a distance in an extending direction of the slide bar, the fixing portion and the tension frame are connected by a second connecting member, and a distance between the fixing portion and the tension frame is adjustable by the second connecting member.

9. The crawler track of claim 8, wherein said track wheel set further comprises: the guide wheel is arranged on the top or the side of the crawler belt.

10. The crawler track of claim 1, wherein said drive wheel is positioned diagonally above said load bearing mechanism.

11. A robot, comprising: the crawler-type traveling apparatus according to any one of claims 1 to 10.

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