CN211167152U - Universal chassis for crawler robot - Google Patents
Universal chassis for crawler robot Download PDFInfo
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- CN211167152U CN211167152U CN201921855835.XU CN201921855835U CN211167152U CN 211167152 U CN211167152 U CN 211167152U CN 201921855835 U CN201921855835 U CN 201921855835U CN 211167152 U CN211167152 U CN 211167152U
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Abstract
The utility model provides a general chassis of track robot, frame including frame construction, the frame left and right sides is the left side of fixed connection respectively and hangs the subassembly and hang the subassembly on the right side, a left side hangs the subassembly and hangs the subassembly on the right side and all be equipped with the action wheel, be equipped with power device on the frame, power device with the action wheel passes through transmission and connects, be equipped with the installation hole site on the frame and be used for installing power transmission system, the frame of frame construction of money has alleviateed holistic weight when guaranteeing robot intensity, passes through the automobile body shell of the different functions of bolted connection on the frame, accomplishes the demand of multiple robot operation, and the commonality is strong, and modular design, production and equipment have reduced corresponding input cost and time, and control more easily on the whole precision.
Description
Technical Field
The utility model belongs to the technical field of the robot, especially, relate to a general chassis of track robot.
Background
Robots are machines that help people perform a specific task, freeing them from a great deal of tedious, repetitive, and dangerous work. With the progress of society, the way people deal with dangerous environments and terrorist activities is increasingly converted from pure manual operation into remote control robot execution. Various robots such as explosive-handling robots, anti-terrorist robots, and dangerous object detection robots are in operation. The robot needs different functions to execute different tasks, some robots need to be small and exquisite and flexible, some robots need to be firm and heavy, and the other robots need to be light in weight and high in strength, so that robot products need to be light in weight, serialized and diversified.
The track robot has strong adaptability, can adapt to the scene of majority and carry out the operation, and traditional track robot makes corresponding design according to different demands, processing and production, and the input of design, production is very big, and is with very high costs, and under the demand that requires more and more abundantly to robot function, the design and the production of the track robot of traditional integral type can not satisfy the demand in market.
SUMMERY OF THE UTILITY MODEL
The utility model discloses make the improvement to the problem that above-mentioned prior art exists, promptly the utility model provides a general chassis of tracked robot, the modularization equipment, the precision is high, assembles the automobile body main part of different functions, has reduced the time of design, development and the production on robot chassis, and the commonality is strong, the effectual cost that reduces.
In order to solve the technical problem, the utility model provides a general chassis of track robot, frame, the frame left and right sides is the left side of fixed connection respectively and hangs the subassembly and the right side hangs the subassembly, a left side hangs the subassembly and the right side hangs the subassembly and all is equipped with the action wheel, be equipped with power device on the frame, power device with the action wheel passes through transmission and connects, be equipped with the installation hole site on the frame and be used for installing power transmission system.
Preferably, transmission includes the speed reducer, the speed reducer is used for realizing that the differential is traveled through the action wheel that left collection flow box and right collection flow box connected respectively on left suspension assembly and the right suspension assembly.
Preferably, be equipped with from the transmission shaft between the action wheel on left side collection flow box and right collection flow box and left suspension subassembly and the right suspension subassembly, the transmission shaft include with the drive universal shaft end that left side collection flow box and right collection flow box are connected and the cross drive seat of setting on the action wheel, drive universal shaft end with through drive cross axle cooperation cylindric lock connection between the cross drive seat.
Preferably, the vehicle-mounted electric vehicle further comprises a power device, the power device comprises a motor arranged on the vehicle frame, the motor is connected with the speed reducer, and the motor is driven by a battery.
Preferably, the vehicle frame is a frame structure and comprises a cross beam and a longitudinal beam, and the left suspension assembly and the right suspension assembly are connected with the longitudinal beam.
Preferably, the cross beam and the longitudinal beam are made of profile steel, the connection mode is welding, and the left suspension assembly and the right suspension assembly are connected with the longitudinal beam in a welding mode.
Preferably, the frame is provided with bolt holes, and the frame is connected with the shell of the vehicle body through bolts.
Through above-mentioned technical scheme, the frame and the left and right subassembly that hangs of the frame construction that shaped steel welded pass through welded connection, have alleviateed holistic weight when guaranteeing robot strength, through the automobile body shell of bolted connection different functions on the frame, and the commonality is strong, and modular design, production and equipment have reduced corresponding input cost and time, and control more easily in the whole precision.
Drawings
Fig. 1 is a schematic view of a general chassis and a vehicle body shell of a crawler robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a general chassis for a crawler robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a frame of a general chassis for a crawler robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a power device and a transmission device of a general chassis for a crawler robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a transmission shaft of a general chassis for a crawler robot according to an embodiment of the present invention;
fig. 6 is a top view of a transmission device of a general chassis for a tracked robot according to an embodiment of the present invention;
in the figure:
1. vehicle body shell 2, chassis 3 and vehicle frame
4. Battery 5, motor 6, left suspension assembly
7. Right suspension assembly 8, speed reducer 9 and cross beam
10. Longitudinal beam 11, left header box 12 and synchronous belt
13. Right collecting box 14, transmission shaft 15 and cross drive seat
16. Driving cross shaft 17, cylindrical pin 18 and driving universal shaft end
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
For example, fig. 1 is a schematic diagram of a general chassis and a vehicle body shell of a crawler robot according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a general chassis for a crawler robot according to an embodiment of the present invention; fig. 3 is a schematic structural diagram of a frame of a general chassis for a crawler robot according to an embodiment of the present invention; fig. 4 is a schematic structural diagram of a power device and a transmission device of a general chassis for a crawler robot according to an embodiment of the present invention; fig. 5 is a schematic structural diagram of a transmission shaft of a general chassis for a crawler robot according to an embodiment of the present invention.
Specifically, as shown in fig. 1 to 5, the utility model provides a general chassis of tracked robot, including frame 3, the left and right sides of frame 3 is fixed connection left side respectively and hangs subassembly 6 and right side and hang subassembly 7, and left side hangs subassembly 6 and right side and hangs subassembly 7 and all is equipped with the action wheel, is equipped with power device on the frame 3, power device with the action wheel passes through transmission to be connected, is equipped with the installation hole site on the frame 3 and is used for the installation power device and transmission. The power device drives the driving wheel to drive the driven wheel and the crawler to rotate through the transmission device, and then the robot is moved. An optimal scheme is equipped with the bolt hole on the frame 3, and 3 frames realize through bolted connection with the automobile body shell 1 of heterogeneous function 3 the utility model provides a general chassis of tracked robot carries on the robot of multiple functions, has reduced the input to design, research and development and production, assembly on robot chassis.
Preferably, the transmission device comprises a speed reducer 8, the speed reducer 8 is respectively connected with driving wheels on the left suspension assembly 6 and the right suspension assembly 7 through a left confluence box 11 and a right confluence box 13 for realizing differential driving, the driving wheels have good trafficability to complex roads such as curves and uneven roads, and the reliability and controllability of the crawler robot are improved. Preferably, a transmission shaft 14 is arranged between the left confluence box 11 and the right confluence box 13 and a driving wheel on the left suspension assembly 6 and the right suspension assembly 7, the transmission shaft 14 comprises a driving universal shaft end 18 connected with the left confluence box 11 and the right confluence box 13 and a cross driving seat 15 arranged on the driving wheel, and the driving universal shaft end 18 and the cross driving seat 15 are connected through a driving cross shaft 16 and a cylindrical pin 17. The driving cross shaft 16 can rotate relative to the cross driving seat 15, and meanwhile, the driving cross shaft 16 can also rotate relative to the driving universal shaft end 18, so that a small arbitrary angle can be adjusted between the transmission system and the left and right suspension assemblies, and the problem that the driving shaft 14 is difficult to hold back due to the fact that the left and right suspension assemblies are difficult to be concentric in the assembling process is solved.
An optimal scheme still includes power device, power device is including setting up motor 5 on frame 3, and motor 5 is connected with speed reducer 8, and battery 4 driving motor 5 rotates, and it needs to explain that gear drive or synchronous belt drive between motor 5 and the speed reducer 8, preferred, for synchronous belt drive, motor 5 passes through hold-in range 15 and drives the rotation of speed reducer 8. In a further preferred embodiment, a collecting box is provided between the battery 4 and the electric motor 5.
Preferably, the frame 3 is a frame structure, and comprises a cross beam 9 and a longitudinal beam 10, and the left suspension 6 and the right suspension assembly 7 are connected with the longitudinal beam 10. In a further preferable scheme, the cross beam 9 and the longitudinal beam 10 are made of profile steel, the connection mode is welding, the left suspension assembly 6, the right suspension assembly 7 and the longitudinal beam 10 are in welding connection, and the overall weight of the device is reduced to the greatest extent while the structural strength and rigidity are ensured. Preferably, the section steel is a square tube.
Through above-mentioned technical scheme, frame 3 and the left and right subassembly that hangs of the frame construction that the shaped steel welded pass through welded connection, have alleviateed holistic weight when guaranteeing robot strength, through bolted connection different functions's automobile body shell 1 on the frame 3, and the commonality is strong, and modular design, production and equipment have reduced corresponding input cost and time, and more easily control on the whole precision.
The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All the equivalent changes and improvements made according to the application scope of the present invention should still fall within the patent coverage of the present invention.
Claims (7)
1. The general chassis for the crawler robot is characterized by comprising a frame, wherein the left side and the right side of the frame are respectively and fixedly connected with a left suspension assembly and a right suspension assembly, the left suspension assembly and the right suspension assembly are respectively provided with a driving wheel, the frame is provided with a power device, the power device is connected with the driving wheel through a transmission device, and the frame is provided with mounting holes for mounting a power transmission system.
2. The track robot universal chassis according to claim 1, wherein the transmission device comprises a speed reducer, and the speed reducer is connected with driving wheels on the left suspension assembly and the right suspension assembly through a left confluence box and a right confluence box respectively for realizing differential driving.
3. The track robot universal chassis according to claim 2, wherein a driven transmission shaft is arranged between the left and right combiner boxes and the driving wheels on the left and right suspension assemblies, the transmission shaft comprises driving universal shaft ends connected with the left and right combiner boxes and a cross driving seat arranged on the driving wheels, and the driving universal shaft ends and the cross driving seat are connected through driving cross matching cylindrical pins.
4. The universal chassis for the crawler robots as recited in claim 3, further comprising a power unit, wherein the power unit comprises a motor disposed on the frame, the motor is connected to the speed reducer, and the motor is driven by a battery.
5. The track robot universal chassis of claim 4, wherein the frame is a frame structure comprising a cross member and a longitudinal member, the left and right suspension assemblies being connected to the longitudinal member.
6. The track robot universal chassis according to claim 5, wherein the cross beam and the longitudinal beam are made of profile steel and are connected by welding, and the left suspension assembly and the right suspension assembly are connected with the longitudinal beam by welding.
7. The track robot universal chassis according to claim 6, wherein the frame is provided with bolt holes, and the frame is connected with the vehicle body shell through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921855835.XU CN211167152U (en) | 2019-10-31 | 2019-10-31 | Universal chassis for crawler robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921855835.XU CN211167152U (en) | 2019-10-31 | 2019-10-31 | Universal chassis for crawler robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211167152U true CN211167152U (en) | 2020-08-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921855835.XU Active CN211167152U (en) | 2019-10-31 | 2019-10-31 | Universal chassis for crawler robot |
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| CN (1) | CN211167152U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113216310A (en) * | 2021-05-17 | 2021-08-06 | 江苏徐工工程机械研究院有限公司 | Chassis system and excavator |
-
2019
- 2019-10-31 CN CN201921855835.XU patent/CN211167152U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113216310A (en) * | 2021-05-17 | 2021-08-06 | 江苏徐工工程机械研究院有限公司 | Chassis system and excavator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhang Wu Inventor after: OuYang Xiaoping Inventor after: Guo Kai Inventor before: Zhang Wu Inventor before: OuYang Xiaoping Inventor before: Guo Kai Inventor before: Wu Jianfei |
|
| CB03 | Change of inventor or designer information | ||
| CP03 | Change of name, title or address |
Address after: 300459, No. 399, Xiang Xiang Road, Tanggu hi tech Zone, Tianjin Binhai New Area Patentee after: Tianjin Institute of advanced technology Address before: No.399 Huixiang Road, Tanggu Ocean high tech Zone, Binhai New Area, Tianjin Patentee before: TIANJIN BINHAI CIVIL-MILITARY INTEGRATED INNOVATION INSTITUTE |
|
| CP03 | Change of name, title or address |