CN214451408U - Crawler chassis - Google Patents
Crawler chassis Download PDFInfo
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- CN214451408U CN214451408U CN202120658530.0U CN202120658530U CN214451408U CN 214451408 U CN214451408 U CN 214451408U CN 202120658530 U CN202120658530 U CN 202120658530U CN 214451408 U CN214451408 U CN 214451408U
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Abstract
The utility model discloses a crawler chassis, which belongs to the field of obstacle crossing mechanical equipment and comprises a first driving support, a first driving device, a first transmission component, a first transmission rod, a second driving support, a second transmission component, a second support rod, a second wave generator, a second flexible wheel and a second steel wheel; the first driving device is arranged on the first driving support, the first driving support can support the first driving device, the first transmission rod is connected with the first driving support and can rotate relative to the first driving support, the first driving device is connected with the first transmission rod through the first transmission assembly, and the first driving device can drive the first transmission rod to rotate through the first transmission assembly. The obstacle crossing capacity can be greatly improved based on the improved structural design, the design is ingenious, the design is reasonable, the stability and the reliability are good, the application value is high, the application prospect is good, and the method is worthy of large-scale popularization and application.
Description
Technical Field
The utility model belongs to the technical field of machinery and specifically relates to an obstacle-surmounting mechanical equipment field specifically is a crawler chassis.
Background
The crawler mobile robot has the advantages of large traction force, difficulty in slipping, good cross-country performance and the like, and can be used as an explosive-handling robot, a fire-fighting robot, a rescue robot, a patrol robot and the like. How to further improve the obstacle crossing capability of the tracked robot is the key point of research of people.
At present, for improving the obstacle crossing capability of a tracked robot, some patents disclose corresponding tracked obstacle crossing mechanisms. For example, chinese patent application CN201620063682.5 discloses a planet wheel crawler type explosive ordnance disposal robot, which includes a planet wheel crawler module. The planet wheel track module comprises a planet wheel support, a track, a belt, an intermediate belt wheel, a planet wheel belt wheel and a planet wheel fixing shaft, wherein the planet wheel support is triangular, the front part and the rear part are two, the planet wheel support close to the robot body side is installed on an outer shaft of the robot body through bolts, the three planet wheel fixing shaft is installed at three angular point positions of the planet wheel support through nuts respectively, the planet wheel belt is installed on the planet wheel fixing shaft through a bearing, a spline groove is formed in a center hole of the intermediate belt wheel, the intermediate belt wheel is assembled on an inner shaft of the robot body through the spline groove, the planet wheel belt wheel is provided with a groove, and the belt is installed on the groove of the planet wheel belt wheel and the intermediate belt wheel.
Chinese patent application CN201610025642.6 discloses an armed investigation and percussion robot with good heat concealment, which comprises a wheel-track type robot platform, wherein the wheel-track type robot platform comprises a chassis cabin body and track traveling mechanisms arranged on the left and right sides of the chassis cabin body. Two metal fin arms which are bilaterally symmetrical are arranged on the outer sides of the two crawler traveling mechanisms, each metal fin arm comprises a fin arm anti-corrosion metal crawler belt, a fin arm metal support, a fin arm driving wheel fixedly connected with a chassis driven wheel and a fin arm driven wheel rotatably connected with the fin arm metal support, and the fin arm anti-corrosion metal crawler belt is sleeved on the fin arm driving wheel and the fin arm driven wheel; a fin arm angle control motor is arranged in the middle of the front cabin of the chassis cabin body and is connected with a fin arm rotation driving speed reducer, and a rotating shaft is inserted on the fin arm rotation driving speed reducer; two ends of the rotating shaft respectively extend out of the left and right side panels of the chassis cabin body, penetrate through the chassis driven wheel and the fin arm driving wheel and are fixedly connected with the fin arm metal support; and a manual rotating shaft is arranged in an output port of the fin arm rotation driving speed reducer.
Chinese patent application CN201721138292.0 discloses a double-track type all-terrain robot walking mechanism, which comprises a main driving mechanism, a driven driving mechanism and a deformation driving mechanism for controlling the deformation of the driven driving mechanism. The deformation driving mechanism comprises a steering engine, a long crank, a short crank and a lifting arm, wherein the steering engine is fixed on a rack through a steering engine support, one end of the long crank is connected with an output shaft of the steering engine, the other end of the long crank is hinged with the upper end of the short crank, the lower end of the short crank is fixedly connected to the lifting arm, and two ends of the lifting arm are horizontally arranged between two walking mechanisms through fixing devices respectively.
How to further simplify the obstacle crossing structure of the tracked robot, increase the stability and reliability of the tracked robot and reduce the mechanical cost is a dream for people to find. To this end, the present application provides a crawler chassis.
SUMMERY OF THE UTILITY MODEL
An object of the present invention is to provide a crawler chassis, which is designed based on a multi-section chassis, and can realize relative rotation between chassis, so as to achieve the purpose of obstacle crossing. Furthermore, the obstacle crossing capacity can be greatly improved based on the improved structural design, the design is ingenious, the design is reasonable, the stability and the reliability are good, the application value is high, the application prospect is good, and the method is worthy of large-scale popularization and application.
In order to realize the purpose, the utility model discloses a technical scheme as follows:
a crawler chassis comprises a first driving support, a first driving device, a first transmission assembly, a first transmission rod, a second driving support, a second transmission assembly, a second support rod, a second wave generator, a second flexible wheel and a second steel wheel;
the first driving device is arranged on the first driving support, the first driving support can provide support for the first driving device, the first transmission rod is connected with the first driving support and can rotate relative to the first driving support, the first driving device is connected with the first transmission rod through a first transmission assembly, and the first driving device can drive the first transmission rod to rotate through the first transmission assembly;
the second wave generator is arranged on the second support rod and can freely rotate relative to the second support rod, the second wave generator, the second flexible gear and the second steel gear are sequentially connected from inside to outside and form a torque output assembly, and the second wave generator can drive the second flexible gear to rotate relative to the second steel gear;
the first transmission rod is connected with the second wave generator through a second transmission assembly and can drive the second wave generator to rotate relative to the second support rod;
the first driving support is connected with the second flexible gear, the second driving support is connected with the second steel gear, and the first driving device can drive the second driving support to rotate relative to the first driving support through the mutual matching of the second flexible gear and the second steel gear; or the second driving support is connected with the second flexible gear, the first driving support is connected with the second steel gear, and the first driving device can drive the second driving support to rotate relative to the first driving support through the mutual matching of the second flexible gear and the second steel gear.
First drive arrangement is servo motor, first drive assembly includes first driving gear, first communicating belt, first driven gear, first driving gear sets up on servo motor's output shaft, first driven gear sets up on first transfer line, first communicating belt sets up on first driving gear and first driven gear and first drive arrangement loops through first driving gear, first communicating belt, first driven gear and can drive first transfer line and rotate.
The second transmission assembly comprises a second driving gear and a second communicating belt, the second driving gear is arranged on the first transmission rod, an outer transmission gear is arranged on the second wave generator, the second communicating belt is arranged on the outer transmission gear of the second driving gear and the second wave generator, and the first transmission rod can drive the second wave generator to rotate through the second driving gear and the second communicating belt.
Still include the first rotating bearing who links to each other with first drive support, first rotating bearing is a set of, first rotating bearing sets up at the both ends of first transfer line and first transfer line can rotate for first rotating bearing relatively.
The second rotary bearing is arranged on the second supporting rod, and the second wave generator is connected with the second supporting rod through the second rotary bearing.
The crawler belt wheel assembly is characterized by further comprising a first crawler wheel and a second crawler wheel, wherein the first crawler wheel and the second crawler wheel are respectively arranged on the second supporting rod and form a crawler wheel assembly, and the first crawler wheel and the second crawler wheel can respectively rotate relative to the second supporting rod.
The first track wheel and the second track wheel are relatively static.
The crawler belt wheel sets are two sets and are respectively arranged at two ends of the second supporting rod.
The second transmission assembly and the torque output assembly are respectively divided into two groups.
The device further comprises a control system, and the control system is connected with the first driving device.
In view of the foregoing, the present application provides a crawler chassis. Based on a brand-new structure, the relative rotation between the first driving support and the second driving support can be realized, and then the corresponding obstacle crossing function is realized. The crawler robot manufactured by the crawler chassis can smoothly pass through complex terrains such as sand stones, grasslands, steps, holes, narrow bridges and high platforms, is light to walk, and has strong obstacle-crossing and climbing performances and wide application range. The crawler robot has the advantages of ingenious design, reasonable design, simple structure, good obstacle crossing performance, stability and reliability, has important significance and better application prospect for promoting the development of the crawler robot, and is worthy of large-scale popularization and application.
Drawings
Fig. 1 is a schematic view of a crawler chassis according to embodiment 1.
Fig. 2 is a longitudinal sectional view at the second support bar in embodiment 1.
Fig. 3 is a horizontal sectional view of the crawler robot according to embodiment 1.
Fig. 4 is a schematic structural view illustrating that the first driving support of the crawler robot is lifted upwards relative to the second driving support in the embodiment 1.
Fig. 5 is a schematic structural view illustrating a first driving support of the crawler robot falling downward relative to a second driving support in embodiment 1.
The labels in the figure are: 1. the driving device comprises a first driving support, 2, a first driving device, 3, a first transmission assembly, 4, a first transmission rod, 5, a second driving support, 6, a second transmission assembly, 7, a second supporting rod, 8, a second wave generator, 9, a second flexible wheel, 10, a second steel wheel, 11, a first crawler wheel, 12 and a second crawler wheel.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in the figures, the present embodiment provides a crawler chassis, which includes a first driving support, a first driving device, a first transmission assembly, a first transmission rod, a second driving support, a second transmission assembly, a second support rod, a second wave generator, a second flexible wheel, and a second steel wheel. The second wave generator, the second flexible gear and the second steel gear are sequentially connected from inside to outside to form a torque output assembly, and the second wave generator can drive the second flexible gear to rotate relative to the second steel gear. In this embodiment, the number of the second transmission assemblies and the number of the torque output assemblies are two.
The first rotating bearings are connected with the first driving support, and are in a group and symmetrically arranged at two ends of the first transmission rod. By adopting the structure, the first transmission rod can rotate relative to the first rotating bearing. The first driving device is arranged on the first driving support, and the first driving support can provide support for the first driving device. In this embodiment, the first driving device is a servo motor. The first transmission assembly comprises a first driving gear, a first communicating belt and a first driven gear, the first driving gear is arranged on an output shaft of the servo motor, the first driven gear is arranged on the first transmission rod, and the first communicating belt is arranged on the first driving gear and the first driven gear. By adopting the structure, the first driving device can drive the first transmission rod to rotate sequentially through the first driving gear, the first communicating belt and the first driven gear.
The second rotary bearing is arranged on the second supporting rod, the second wave generator is connected with the second supporting rod through the second rotary bearing, and the second wave generator can freely rotate relative to the second supporting rod. The second transmission assembly comprises a second driving gear and a second communicating belt, the second driving gear is arranged on the first transmission rod, outer transmission teeth are arranged on the second wave generator, the second communicating belt is arranged on the second driving gear and the outer transmission teeth of the second wave generator, and the first transmission rod can drive the second wave generator to rotate sequentially through the second driving gear and the second communicating belt.
In this embodiment, the first driving support is connected to the second flexible gear, and the second driving support is connected to the second steel gear. The first driving device can drive the second driving support to rotate relative to the first driving support through the mutual matching of the second flexible gear and the second steel gear. As a deformation, the second driving support is connected with the second flexible gear, the first driving support is connected with the second steel gear, and the first driving device can drive the second driving support to rotate relative to the first driving support through the mutual matching of the second flexible gear and the second steel gear.
By adopting the structure, when the servo motor works, the second driving support can be driven to rotate relative to the first driving support through the matching of the first driving component, the second driving component and the torque output component. Meanwhile, based on the improved structure, large torque output can be realized, and the obstacle crossing requirement is effectively met. Further, the device also comprises a control system, and the control system is connected with the first driving device.
The first crawler wheel and the second crawler wheel are respectively arranged on the second support rod to form a crawler wheel set, the first crawler wheel and the second crawler wheel can respectively rotate relative to the second support rod, and the first crawler wheel and the second crawler wheel are relatively static. Meanwhile, the crawler wheel sets are two and are respectively arranged at two ends of the second supporting rod.
Further, as shown in fig. 3, the present embodiment further includes a track driving assembly and a track driven assembly. The crawler driving assembly and the crawler driven assembly are respectively of two types, the crawler driving assembly is symmetrically arranged on the first driving support, the crawler driven assembly is symmetrically arranged on the second driving support, and the crawler wheel set is positioned between the crawler driving assembly and the crawler driven assembly. In this embodiment, the track driving assembly includes a third driving motor and a third track wheel connected to the control system, the third driving motor is disposed on the first driving support, and the third driving motor is capable of driving the third track wheel to rotate. The crawler driven assembly comprises a fourth crawler wheel and a fourth rotating shaft, the fourth rotating shaft and the second driving support can provide support for the fourth rotating shaft, the fourth crawler wheel is arranged on the fourth rotating shaft, and the fourth crawler wheel can rotate relative to the fourth rotating shaft. The first crawler wheel and the third crawler wheel and the second crawler wheel and the fourth crawler wheel are respectively connected through a crawler belt.
The working process of the device is as follows:
(1) the third driving motor works to drive the third crawler wheel to rotate; when the third crawler wheel rotates, the fourth crawler wheel is driven to rotate by sequentially passing through the crawler between the first crawler wheel and the third crawler wheel, the first crawler wheel, the second crawler wheel and the crawler between the second crawler wheel and the fourth crawler wheel, so that the integral motion of the device is realized;
(2) when the second driving support needs to be lifted upwards, the first driving device works to drive the second driving support to be lifted upwards relative to the first driving support, as shown in fig. 3; at the moment, the third driving motor works, and the part of the fourth crawler wheel climbs upwards;
(3) after the second driving support is contacted with the ground, the third driving motor continues to act and work, so that the second crawler wheel and the fourth crawler wheel are driven to rotate, and the first driving support is driven to move forwards; meanwhile, the first driving device works to drive the second driving support to rotate relative to the first driving support, so that the second driving support and the first driving support are located on the same plane, and obstacle crossing operation is completed.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A crawler chassis is characterized by comprising a first driving support, a first driving device, a first transmission assembly, a first transmission rod, a second driving support, a second transmission assembly, a second support rod, a second wave generator, a second flexible wheel and a second steel wheel;
the first driving device is arranged on the first driving support, the first driving support can provide support for the first driving device, the first transmission rod is connected with the first driving support and can rotate relative to the first driving support, the first driving device is connected with the first transmission rod through a first transmission assembly, and the first driving device can drive the first transmission rod to rotate through the first transmission assembly;
the second wave generator is arranged on the second support rod and can freely rotate relative to the second support rod, the second wave generator, the second flexible gear and the second steel gear are sequentially connected from inside to outside and form a torque output assembly, and the second wave generator can drive the second flexible gear to rotate relative to the second steel gear;
the first transmission rod is connected with the second wave generator through a second transmission assembly and can drive the second wave generator to rotate relative to the second support rod;
the first driving support is connected with the second flexible gear, the second driving support is connected with the second steel gear, and the first driving device can drive the second driving support to rotate relative to the first driving support through the mutual matching of the second flexible gear and the second steel gear; or the second driving support is connected with the second flexible gear, the first driving support is connected with the second steel gear, and the first driving device can drive the second driving support to rotate relative to the first driving support through the mutual matching of the second flexible gear and the second steel gear.
2. The crawler chassis according to claim 1, wherein the first driving device is a servo motor, the first transmission assembly includes a first driving gear, a first communicating belt and a first driven gear, the first driving gear is disposed on an output shaft of the servo motor, the first driven gear is disposed on the first transmission rod, the first communicating belt is disposed on the first driving gear and the first driven gear, and the first driving device can drive the first transmission rod to rotate through the first driving gear, the first communicating belt and the first driven gear in sequence.
3. The crawler chassis according to claim 1, wherein the second transmission assembly comprises a second driving gear and a second communicating belt, the second driving gear is disposed on the first transmission rod, the second wave generator is disposed with outer transmission teeth, the second communicating belt is disposed on the second driving gear and the outer transmission teeth of the second wave generator, and the first transmission rod can drive the second wave generator to rotate through the second driving gear and the second communicating belt in sequence.
4. The track chassis of claim 1, further comprising a first pivot bearing coupled to the first drive mount, the first pivot bearing comprising a set of first pivot bearings, the first pivot bearings being disposed on opposite ends of the first drive rod and the first drive rod being rotatable relative to the first pivot bearings.
5. The track chassis of claim 1, further comprising a second rotational bearing disposed on the second support bar, the second wave generator coupled to the second support bar via the second rotational bearing.
6. The crawler chassis according to any one of claims 1 to 5, further comprising a first crawler wheel and a second crawler wheel, wherein the first crawler wheel and the second crawler wheel are respectively disposed on the second support rod and form a crawler wheel group, and the first crawler wheel and the second crawler wheel are respectively capable of rotating relative to the second support rod.
7. The track chassis of claim 6, wherein the first and second wheels are relatively stationary.
8. The crawler chassis of claim 6, wherein the crawler wheel sets are two sets and the crawler wheel sets are respectively disposed at both ends of the second support rod.
9. The track chassis of claim 1, wherein the second drive assembly and the torque output assembly are in two respective sets.
10. A crawler chassis according to any of claims 1 to 5, further comprising a control system, said control system being connected to the first drive means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120658530.0U CN214451408U (en) | 2021-03-31 | 2021-03-31 | Crawler chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120658530.0U CN214451408U (en) | 2021-03-31 | 2021-03-31 | Crawler chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214451408U true CN214451408U (en) | 2021-10-22 |
Family
ID=78176704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120658530.0U Active CN214451408U (en) | 2021-03-31 | 2021-03-31 | Crawler chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214451408U (en) |
-
2021
- 2021-03-31 CN CN202120658530.0U patent/CN214451408U/en active Active
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