CN213974218U

CN213974218U - Robot crawler chassis with high maneuverability

Info

Publication number: CN213974218U
Application number: CN202022942249.8U
Authority: CN
Inventors: 王仿; 郝道争; 王磊磊; 梁斌
Original assignee: Xuzhou Koala Robot Technology Co ltd
Current assignee: Xuzhou Koala Robot Technology Co ltd
Priority date: 2020-12-10
Filing date: 2020-12-10
Publication date: 2021-08-17
Anticipated expiration: 2030-12-10

Abstract

The utility model discloses a robot crawler chassis of high mobility, the on-line screen storage device comprises a base, the equal activity in both sides of base is provided with the side connecting plate, the internally mounted of side connecting plate has synchronous machine, synchronous machine's front end fixed mounting has the synchronous machine gear, the top of synchronous machine gear is provided with the worm gear, the centre of worm gear is run through fixed mounting and is had synchronous worm, the both ends below of synchronous worm all is provided with synchronous worm wheel, the centre of synchronous worm wheel is run through fixed mounting and is connected the pivot, the one end of connecting the pivot is run through the side and the tip outside fixed mounting of side connecting plate and is had the rotation regulation arm. The utility model discloses an install swivelling joint arm, connection supporting shoe, swivelling joint arm, joint support pole and adjust the supporting shoe and can adjust the vertical height of track for some barriers subaerial can be avoided to the track chassis when the removal of utmost, and the guarantee robot walking is smooth and easy.

Description

Robot crawler chassis with high maneuverability

Technical Field

The utility model relates to a crawler-type robot technical field specifically is a robot crawler chassis of high mobility.

Background

With the rapid development of social economy, the tracked robot mainly refers to a robot carrying a tracked chassis mechanism, has the advantages of large traction force, difficulty in slipping, good cross-country performance and the like, can carry devices such as a camera, a detector and the like to replace human beings to carry out dangerous work (such as explosion elimination, chemical detection and the like), and reduces unnecessary casualties.

However, the longitudinal height of a track and the ground clearance height of a chassis of the existing tracked robot are fixed, so that the existing tracked robot is not smooth to walk in areas with more ground obstacles, and the use of the existing tracked robot is influenced; therefore, the existing requirements are not met, and a robot crawler chassis with high maneuverability is provided for the purpose.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot track chassis of high mobility to the track vertical height and the chassis terrain clearance of the current tracked robot who provides in solving above-mentioned background art are fixed, and are not smooth and easy to some more regional walks of ground obstacle, influence the use scheduling problem.

In order to achieve the above object, the utility model provides a following technical scheme: a robot crawler chassis with high maneuverability comprises a base, wherein side connecting plates are movably arranged on two sides of the base, a synchronous motor is arranged inside each side connecting plate, a synchronous motor gear is fixedly arranged at the front end of the synchronous motor, a worm gear is arranged above the synchronous motor gear, a synchronous worm is fixedly arranged in the middle of the worm gear in a penetrating manner, synchronous worm wheels are arranged below two ends of each synchronous worm, a connecting rotating shaft is fixedly arranged in the middle of each synchronous worm wheel in a penetrating manner, one end of each connecting rotating shaft penetrates through the side surface of each side connecting plate, a rotary adjusting arm is fixedly arranged on the outer side of the end of each connecting rotating shaft, a connecting supporting rod is movably arranged at one end of each rotary adjusting arm in a penetrating manner, an adjusting supporting block is fixedly arranged at the other end of each connecting supporting rod, and a crawler power mechanism protecting shell is movably arranged below each side connecting plate, the utility model discloses a side connection device, including side connecting plate, fixed mounting, threaded sleeve, adjusting screw, end face fixed mounting, the even activity of one side of side connecting plate is provided with two swivelling joint arms, swivelling joint arm's internally mounted has adjusting motor, adjusting motor's front end fixed mounting has drive gear, drive gear's one side is provided with the sleeve pipe gear, the fixed mounting is run through to the centre of sleeve pipe gear has the threaded sleeve pipe, the activity is run through in the middle of the threaded sleeve pipe and is provided with adjusting screw, adjusting screw's one end runs through swivelling joint arm's tip and tip terminal surface fixed mounting has the connection supporting shoe.

Preferably, a supporting shaft pin penetrates through and is fixedly installed in one end of the rotary connecting arm, one end of the supporting shaft pin is movably inserted in the side connecting plate, and a torsion spring is arranged between the supporting shaft pin and the side connecting plate.

Preferably, one side of the synchronous worm wheel is provided with a support ring, one side of the support ring is embedded with a ball, and the part of the ball protrudes out of the side face of the support ring and is attached to the inner side of the side edge connecting plate.

Preferably, the outer surface of the adjusting screw and the inner surface of the threaded sleeve are provided with threads with the same turning directions, and the adjusting screw is connected with the threaded sleeve through the threads.

Preferably, the connecting support rod is movably inserted into the end part inside the rotary adjusting arm, a limiting plate is arranged at the end part inside the rotary adjusting arm, and a buffer spring is arranged between the limiting plate and the rotary adjusting arm.

Preferably, a connecting shaft penetrates through the middle of one end part of each of the connecting support block and the adjusting support block, supporting rollers are arranged on the outer sides of two ends of the connecting shaft, and the outer sides of the supporting rollers are completely attached to the inner side of the crawler.

Preferably, the two ends of the synchronous worm are used for driving the thread of the synchronous worm wheel meshed with the synchronous worm and the spiral directions of the outer spiral teeth of the two synchronous worm wheels are completely opposite.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model is characterized in that when the robot walks on the hollow ground, the power supply of the synchronous motor is switched on and started, after the synchronous motor is started, the synchronous motor drives the synchronous motor gear to rotate, so that the synchronous worm which penetrates through the middle of the worm gear and the worm gear rotates, at the moment, the synchronous worm drives the synchronous worm wheel which is meshed with the two ends of the synchronous worm to rotate the rotary adjusting arm which is connected with the rotating shaft around the axis of the connecting rotating shaft, so that the rotary adjusting arm drives the connecting support rod to rotate, so that the adjusting support blocks rotate synchronously, at the moment, the two adjusting support blocks rotate towards the centers of the side connecting plates, because the rotation of the adjusting support blocks can drive the heights of the side connecting plates to jack up, at the moment, the longitudinal height of the crawler belt can be changed, and simultaneously, the crawler presses the connecting support blocks, so that the connecting support blocks drive the adjusting screw rods and the rotary connecting arms to rotate around the supporting shaft pins which are connected with the side connecting plates, the supporting blocks are matched and adjusted to ensure that the crawler belts are kept tight and cannot be separated, the protective shell of the crawler belt power mechanism can automatically extend out of the side connecting plate to ensure that the bottoms of the crawler belts are tightly attached to the ground, the longitudinal height of the crawler belts can be adjusted, so that the crawler belt chassis can avoid obstacles on the ground when moving as far as possible, and the smooth walking of the robot is ensured;

2. the utility model discloses an when the track need be changed, switch-on adjusting motor's power and start, the threaded sleeve pipe that runs through in the middle of sleeve pipe gear and the sleeve pipe gear rotates when driving drive gear rotation after the adjusting motor starts, threaded sleeve pipe this moment can pass through and adjusting screw between the screw rod friction, make adjusting screw move to the inside shrink of swivelling joint arm along threaded sleeve's axis, connect the supporting shoe simultaneously and remove, make originally by connecting the supporting shoe and adjusting the track that the supporting shoe supported the slack appears, can be quick take off the track, implement the change.

Drawings

Fig. 1 is a schematic overall structure diagram of the present invention;

fig. 2 is a side view of the utility model in its entirety;

FIG. 3 is a schematic structural view of the side connection plate of the present invention;

FIG. 4 is an enlarged view of the structure of FIG. 2;

fig. 5 is an enlarged view of a structure at B in fig. 2 according to the present invention.

In the figure: 1. a base; 2. side edge connecting plates; 3. the crawler power mechanism protects the shell; 4. rotating the connecting arm; 5. adjusting the screw rod; 6. connecting a supporting block; 7. rotating the adjusting arm; 8. connecting the supporting rods; 9. adjusting the supporting block; 10. a threaded bushing; 11. a sleeve gear; 12. a transmission gear; 13. adjusting the motor; 14. connecting the rotating shaft; 15. a synchronous worm gear; 16. a synchronous worm; 17. a worm gear; 18. a synchronous motor gear; 19. a synchronous machine.

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.

The regulating motor 13 (model 5IK60 RGN-CF) and the synchronous motor 19 (model ncv 28-400-60C) are available from market or from private customization.

Referring to fig. 1 to 5, the present invention provides an embodiment: a robot crawler chassis with high maneuverability comprises a base 1, wherein both sides of the base 1 are movably provided with side connecting plates 2, a synchronous motor 19 is arranged inside the side connecting plates 2, the front end of the synchronous motor 19 is fixedly provided with a synchronous motor gear 18, a worm gear 17 is arranged above the synchronous motor gear 18, a synchronous worm 16 is fixedly arranged in the middle of the worm gear 17 in a penetrating way, synchronous worm wheels 15 are arranged below both ends of the synchronous worm 16, a connecting rotating shaft 14 is fixedly arranged in the middle of the synchronous worm wheels 15 in a penetrating way, one end of the connecting rotating shaft 14 penetrates through the side surface of the side connecting plates 2, a rotary adjusting arm 7 is fixedly arranged outside the end part, one end of the rotary adjusting arm 7 is movably provided with a connecting supporting rod 8 in a penetrating way, the other end of the connecting supporting rod 8 is fixedly provided with an adjusting supporting block 9, a crawler power mechanism protecting shell 3 is movably arranged below the side connecting plates 2, two rotating connection arms 4 are uniformly and movably arranged on one side of the side connection plate 2, an adjusting motor 13 is arranged inside the rotating connection arms 4, a transmission gear 12 is fixedly arranged at the front end of the adjusting motor 13, a sleeve gear 11 is arranged on one side of the transmission gear 12, a threaded sleeve 10 is fixedly arranged in the middle of the sleeve gear 11 in a penetrating mode, an adjusting screw 5 is movably arranged in the middle of the threaded sleeve 10 in a penetrating mode, and a connection supporting block 6 is fixedly arranged at the end portion and the end face of the end portion of the adjusting screw 5 in a penetrating mode and is connected with the end face of the rotating connection arm 4.

Furthermore, the inside fixed mounting that runs through of one end of swivel joint arm 4 has a supporting axle pin, and the one end activity of supporting axle pin is pegged graft in the inside of side connecting plate 2 and is provided with the torsional spring with the centre of side connecting plate 2.

Through adopting above-mentioned technical scheme, the supporting pin fixes a position, installs to swivelling joint arm 4, and the swivelling joint arm 4 of being convenient for rotates, and the torsional spring is convenient for reset under the circumstances of not atress to swivelling joint arm 4.

Further, one side of the synchronous worm wheel 15 is provided with a support ring, one side of the support ring is embedded with balls, and the side surface of the part of the balls protruding out of the support ring is attached to the inner side of the side edge connecting plate 2.

Through adopting above-mentioned technical scheme, the supporting ring is spacing to connecting pivot 14, avoids connecting pivot 14 atress back from the inside separation of side connecting plate 2, leads to the device to break down, influences the use.

Further, the outer surface of the adjusting screw rod 5 and the inner surface of the threaded sleeve 10 are provided with threads with the same rotation direction, and the adjusting screw rod 5 is connected with the threaded sleeve 10 through threads.

Through adopting above-mentioned technical scheme, threaded connection makes threaded sleeve 10 can drive adjusting screw 5 and remove along its axis when rotatory for adjusting screw 5 drives and connects supporting shoe 6 and remove, makes the track slack appear.

Furthermore, the connecting support rod 8 is movably inserted into the end part inside the rotary adjusting arm 7 and is provided with a limiting plate, and a buffer spring is arranged between the limiting plate and the rotary adjusting arm 7.

Through adopting above-mentioned technical scheme, the limiting plate can avoid the inside separation of joint support pole 8 from rotatory regulating arm 7, and buffer spring can cushion when the robot walking is on hollow ground, guarantees that the robot walking is smooth and easy.

Furthermore, a connecting shaft penetrates through the middle of one end part of each of the connecting support block 6 and the adjusting support block 9, a support roller is arranged on the outer sides of two ends of the connecting shaft, and the outer side of the support roller is completely attached to the inner side of the crawler.

Through adopting above-mentioned technical scheme, the connecting axle makes the supporting roller install and do not influence the rotation of supporting roller, and the function that the rate of guarantee can be smooth for the robot walks.

Further, the threads of the synchronous worm wheel 15 engaged with the synchronous worm 16 are driven by the two ends of the synchronous worm 16, and the spiral directions of the outer spiral teeth of the two synchronous worm wheels 15 are completely opposite.

By adopting the technical scheme, when the threads at the two ends of the synchronous worm 16 are opposite in rotating direction, the two synchronous worm wheels 15 can drive the connecting rotating shaft 14 and the rotary adjusting arm 7 to rotate in different directions, and smooth adjustment of the device is ensured.

The working principle is as follows: when the robot is used, when the robot walks on a hollow ground, the power supply of the synchronous motor 19 is switched on and started, the synchronous motor 19 drives the synchronous motor gear 18 to rotate to enable the synchronous worm 16 penetrating through the middle of the worm gear 17 and the worm gear 17 to rotate after being started, the synchronous worm 16 drives the synchronous worm wheel 15 meshed with the two ends of the synchronous worm to rotate to enable the rotary adjusting arm 7 of the connecting rotating shaft 14 to rotate around the axis of the connecting rotating shaft 14, the rotary adjusting arm 7 drives the connecting support rod 8 to rotate to enable the adjusting support blocks 9 to rotate synchronously, at the moment, the two adjusting support blocks 9 rotate towards the centers of the side connecting plates 2, the height of the side connecting plates 2 is jacked up due to the rotation of the adjusting support blocks 9, at the moment, the longitudinal height of the crawler can be changed, meanwhile, the crawler presses the connecting support blocks 6, and enables the adjusting screw rod 5 and the rotary connecting arm 4 to drive the adjusting screw rod 5 and the rotary connecting arm 4 to rotate around the supporting shaft pin connected with the side connecting plates 2 through the rotary connecting arm 4 The supporting shoe 9 is adjusted in the cooperation to guarantee that the track keeps tight, the separation can not appear, and crawler power unit protection casing 3 can be automatic stretch out side connecting plate 2 and guarantee that the bottom of track pastes tight ground in addition, can adjust the vertical height of track for some barriers on the ground can be avoided to crawler chassis when moving in the utmost, and it is smooth and easy to ensure that the robot walks.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A high mobility's robot crawler chassis, includes base (1), its characterized in that: the side connection plate is movably arranged on two sides of the base (1), a synchronous motor (19) is arranged inside the side connection plate (2), a synchronous motor gear (18) is fixedly arranged at the front end of the synchronous motor (19), a worm gear (17) is arranged above the synchronous motor gear (18), a synchronous worm (16) is fixedly arranged in the middle of the worm gear (17) in a penetrating mode, synchronous worm wheels (15) are arranged below two ends of the synchronous worm (16), a connection rotating shaft (14) is fixedly arranged in the middle of the synchronous worm wheels (15) in a penetrating mode, a rotary adjusting arm (7) is fixedly arranged at one end of the connection rotating shaft (14) in a penetrating mode on the side face and the outer side of the end portion of the side connection plate (2), a connection support rod (8) is movably arranged at one end of the rotary adjusting arm (7), and an adjusting support block (9) is fixedly arranged at the other end of the connection support rod (8), the utility model discloses a quick-witted bearing support of side, including side connecting plate (2), the below activity of side connecting plate (2) is provided with track power unit protection casing (3), the even activity in one side of side connecting plate (2) is provided with two swivelling joint arms (4), the internally mounted of swivelling joint arm (4) has adjusting motor (13), the front end fixed mounting of adjusting motor (13) has drive gear (12), one side of drive gear (12) is provided with sleeve gear (11), fixed mounting is run through to the centre of sleeve gear (11) has threaded sleeve (10), the centre of threaded sleeve (10) is run through the activity and is provided with adjusting screw (5), the one end of adjusting screw (5) is run through the tip and the tip terminal surface fixed mounting of swivelling joint arm (4) and is connected supporting shoe (6).

2. A highly maneuverable robotic crawler chassis according to claim 1, wherein: a supporting shaft pin penetrates through and is fixedly installed in one end of the rotary connecting arm (4), one end of the supporting shaft pin is movably inserted in the side connecting plate (2) in an inserting mode, and a torsion spring is arranged between the supporting shaft pin and the side connecting plate (2).

3. A highly maneuverable robotic crawler chassis according to claim 1, wherein: one side of the synchronous worm wheel (15) is provided with a support ring, one side of the support ring is embedded with balls, and the side face of the part of the balls protruding out of the support ring is attached to the inner side of the side edge connecting plate (2).

4. A highly maneuverable robotic crawler chassis according to claim 1, wherein: the outer surface of the adjusting screw rod (5) and the inner side of the threaded sleeve (10) are provided with threads with the same turning directions, and the adjusting screw rod (5) is connected with the threaded sleeve (10) through threads.

5. A highly maneuverable robotic crawler chassis according to claim 1, wherein: the end part of the connecting support rod (8) movably inserted in the rotary adjusting arm (7) is provided with a limiting plate, and a buffer spring is arranged between the limiting plate and the rotary adjusting arm (7).

6. A highly maneuverable robotic crawler chassis according to claim 1, wherein: the middle of one end part of each of the connecting support block (6) and the adjusting support block (9) is provided with a connecting shaft in a penetrating and movable mode, the outer sides of two ends of each connecting shaft are provided with support rollers, and the outer sides of the support rollers are completely attached to the inner side of the crawler.

7. A highly maneuverable robotic crawler chassis according to claim 1, wherein: the two ends of the synchronous worm (16) are used for driving the threads of the synchronous worm wheel (15) meshed with the synchronous worm and the spiral directions of the outer spiral teeth of the two synchronous worm wheels (15) are completely opposite.