CN212149071U

CN212149071U - Crawler-type mobile robot

Info

Publication number: CN212149071U
Application number: CN202020650247.9U
Authority: CN
Inventors: 梁午昶; 郑友雄; 包晓丽
Original assignee: Haiweichang Automation Engineering Suzhou Co ltd
Current assignee: Haiweichang Automation Engineering Suzhou Co ltd
Priority date: 2020-04-26
Filing date: 2020-04-26
Publication date: 2020-12-15
Anticipated expiration: 2030-04-26

Abstract

The utility model discloses a crawler-type mobile robot, including the robot, the bottom of robot is provided with the chassis, both sides are provided with the drive wheel around the chassis, the cover is equipped with the track on two drive wheels, the left and right sides on chassis is provided with flexible pendulous device through the connecting plate, there is arc side pipe both sides and the below that is located flexible pendulous device about the chassis through lift groove sliding connection, the arc wall has been seted up to the surface of arc side pipe, the inside of arc wall is provided with the slider, one side fixed mounting of slider has the connecting rod, the outer end of connecting rod is rotated and is connected with the bearing wheel, the week side of bearing wheel with be connected with the track through tooth. The utility model discloses a set up flexible device and components such as arc side's pipe of swaing, made the bearing wheel turn to when meetting comparatively precipitous barrier, guaranteed that the side direction atress of bearing wheel also must cushion, reduced the damage to bearing wheel bearing.

Description

Crawler-type mobile robot

Technical Field

The utility model relates to a mobile robot technical field specifically is a crawler-type mobile robot.

Background

The crawler-type mobile robot is a robot which advances by taking crawler rotation as power, a damping device of a bearing wheel of the existing crawler-type mobile robot is often directional, the bearing wheel can only move up and down in the moving process of the robot, and when an obstacle is encountered, the lateral stress of a bearing shaft is increased due to the fact that the diameter of the bearing wheel is small, so that the bearing wheel bearing is greatly damaged, and the service life of the bearing wheel bearing is shortened.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a crawler-type mobile robot has solved foretell problem.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a crawler-type mobile robot, includes the robot, the bottom of robot is provided with the chassis, both sides are provided with the drive wheel around the chassis, and the cover is equipped with the track on two drive wheels, the left and right sides on chassis is provided with flexible device that sways through the connecting plate, there is arc side pipe both sides and the below that is located flexible device that sways through lift groove sliding connection about the chassis, the arc wall has been seted up to the surface of arc side pipe, the inside of arc wall is provided with the slider, one side fixed mounting of slider has the connecting rod, the outer end of connecting rod is rotated and is connected with the bearing wheel, the week side of bearing wheel with be connected with the track through tooth.

Preferably, flexible device of swaing includes the fixed block of fixed mounting in the connecting plate bottom, the bottom fixed mounting of fixed block has first flexible piece, the top of connecting rod is rotated and is connected with the flexible piece of second, the first flexible piece is rotated respectively with the flexible relative one end of piece of second and is connected with first turning block and second turning block, fixedly connected with spring between the relative one side of first turning block and second turning block, the left and right sides of first flexible piece and the flexible piece of second all is provided with the expansion plate, and the sliding tray has all been seted up to one side of two expansion plates, first turning block and second turning block all are through connecting block and two sliding tray sliding connection.

Preferably, the outside of slider is provided with the ball, and the outside of ball and the inner wall contact of arc square pipe.

Preferably, both sides of the telescopic plates are rotatably connected with the outer sides of the first telescopic block and the second telescopic block, and blocking plates are fixedly mounted on the front side and the rear side between the two telescopic plates.

Advantageous effects

The utility model provides a crawler-type mobile robot. The method has the following beneficial effects:

this crawler-type mobile robot through having set up components such as flexible pendulous device and arc side pipe, makes the bearing wheel turn to when meetting comparatively precipitous barrier, guarantees that the lateral direction atress of bearing wheel also must cushion, reduces the damage to bearing wheel bearing.

Drawings

Fig. 1 is a side view of the present invention;

FIG. 2 is a schematic view of the telescopic swing device of the present invention;

fig. 3 is a front view of the telescopic swing device of the present invention.

In the figure: 1. a robot body; 2. a chassis; 3. a drive wheel; 4. a crawler belt; 5. a connecting plate; 6. a lifting groove; 7. an arc-shaped square tube; 8. an arc-shaped slot; 9. a slider; 10. a connecting rod; 11. a load-bearing wheel; 12. a fixed block; 13. a first telescopic block; 14. a second telescopic block; 15. a first rotating block; 16. a second turning block; 17. a spring; 18. a retractable plate; 19. a sliding groove; 20. connecting blocks; 21. a ball bearing; 22. a barrier plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, 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.

Referring to fig. 1-3, the present invention provides a technical solution: a crawler-type mobile robot comprises a robot body 1, wherein a chassis 2 is arranged at the bottom of the robot body 1, driving wheels 3 are arranged on the front side and the rear side of the chassis 2, a crawler belt 4 is sleeved on the two driving wheels 3, telescopic swinging devices are arranged on the left side and the right side of the chassis 2 through a connecting plate 5, arc-shaped square tubes 7 are slidably connected on the left side and the right side of the chassis 2 and below the telescopic swinging devices through lifting grooves 6, arc-shaped grooves 8 are formed in the outer surfaces of the arc-shaped square tubes 7, sliders 9 are arranged inside the arc-shaped grooves 8, a connecting rod 10 is fixedly arranged on one side of each slider 9, the outer end of each connecting rod 10 is rotatably connected with a bearing wheel 11, the peripheral sides of the bearing wheels 11 are connected with the crawler belt 4 through teeth, each telescopic swinging device comprises a fixed block 12 fixedly arranged at the bottom of the connecting plate 5, a first telescopic, the opposite ends of the first telescopic block 13 and the second telescopic block 14 are respectively rotatably connected with a first rotating block 15 and a second rotating block 16, a spring 17 is fixedly connected between the opposite sides of the first rotating block 15 and the second rotating block 16, telescopic plates 18 are respectively arranged at the left side and the right side of the first telescopic block 13 and the second telescopic block 14, a sliding groove 19 is respectively arranged at one side of each telescopic plate 18, the first rotating block 15 and the second rotating block 16 are respectively and slidably connected with the two sliding grooves 19 through a connecting block 20, when the robot runs, the bearing wheel 11 bends towards the rear side of the advancing direction, due to the effect of the spring 17, the arc-shaped square tube 7 has a buffering effect on the bearing wheel 11, when the robot changes the running direction and meets steep obstacles, compared with the driving wheel 3, the bearing wheel 11 with small straight drop can be blocked, the spring 17 is compressed, the sliding block 9 moves in the arc-shaped square tube 7, so that the bearing wheel 11 moves towards the rear side of the moving direction, thus, the obstacle can be smoothly passed.

Wherein the outside of slider 9 is provided with ball 21, and the outside of ball 21 and the contact of the inner wall of arc square pipe 7, ball 21 reduces the frictional force of slider 9 and the inner wall of arc square pipe 7.

Wherein both sides of expansion plate 18 all rotate with the outside of first expansion block 13 and second expansion block 14 and be connected, and both sides are fixed mounting has barrier plate 22 around between two expansion plates 18, and barrier plate 22 prevents that spring 17 from warping crooked.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A crawler-type mobile robot, includes robot body (1), its characterized in that: the bottom of robot body (1) is provided with chassis (2), both sides are provided with drive wheel (3) around chassis (2), and the cover is equipped with track (4) on two drive wheel (3), the left and right sides of chassis (2) is provided with flexible device that sways through connecting plate (5), there are arc side pipe (7) below the left and right sides of chassis (2) and the below that is located flexible device that sways through lift groove (6) sliding connection, arc wall (8) have been seted up to the surface of arc side pipe (7), the inside of arc wall (8) is provided with slider (9), one side fixed mounting of slider (9) has connecting rod (10), the outer end of connecting rod (10) is rotated and is connected with bearing wheel (11), the week side of bearing wheel (11) with through tooth and track (4) be connected.

2. A tracked mobile robot as claimed in claim 1, wherein: the telescopic swinging device comprises a fixed block (12) fixedly arranged at the bottom of the connecting plate (5), a first telescopic block (13) is fixedly arranged at the bottom of the fixed block (12), a second telescopic block (14) is rotatably connected at the top of the connecting rod (10), one end of the first telescopic block (13) opposite to one end of the second telescopic block (14) is respectively and rotatably connected with a first rotating block (15) and a second rotating block (16), a spring (17) is fixedly connected between the opposite sides of the first rotating block (15) and the second rotating block (16), the left side and the right side of the first telescopic block (13) and the second telescopic block (14) are both provided with telescopic plates (18), one side of each telescopic plate (18) is provided with a sliding groove (19), the first rotating block (15) and the second rotating block (16) are connected with the two sliding grooves (19) in a sliding mode through connecting blocks (20).

3. A tracked mobile robot as claimed in claim 1, wherein: the outer side of the sliding block (9) is provided with a ball (21), and the outer side of the ball (21) is in contact with the inner wall of the arc-shaped square pipe (7).

4. A tracked mobile robot as claimed in claim 2, wherein: the two sides of the telescopic plates (18) are rotatably connected with the outer sides of the first telescopic block (13) and the second telescopic block (14), and blocking plates (22) are fixedly mounted on the front side and the rear side between the two telescopic plates (18).