CN214648637U - Crawler-type carrying robot walking part chassis frame - Google Patents

Abstract

The utility model provides a crawler-type cargo robot walking part chassis frame at first to solve the technical problem that the pavement damage of the bearing wheel pair of the traditional crawler-type chassis frame is great, the guide wheel of the scheme is rotated and fixedly installed at the position of the swing arm, the swing arm is connected with the chassis frame through the rotation of the pin shaft, the pin shaft is fixedly connected with the swing arm, and the pin shaft is connected with the chassis frame through the rotation of the pin shaft, the crawler-type cargo robot walking part chassis frame also comprises a transmission mechanism which is arranged at one end of the pin shaft and matched with the pin shaft, and the transmission mechanism is configured to control the rotation of the pin shaft; the bearing wheels are used for switching between pavement and non-pavement to contact with the ground so as to reduce the damage to the pavement.

Description

Crawler-type carrying robot walking part chassis frame

Technical Field

The utility model relates to a crawler-type running gear, in particular to crawler-type year thing robot running member chassis underframe.

Background

The crawler-type running mechanism is a classic running mechanism, has the technical advantages of strong trafficability and adaptability to bad terrains, and is widely applied to the fields of wars, engineering and agriculture. In recent years, with the increase of labor cost, some loading fields are also beginning to be applied, such as a crawler-type loading robot. The crawler-type carries that thing robot can be very convenient carries more goods and materials and scrambles, cross-country, according to its composition, and crawler-type carries the thing robot and includes track chassis frame, power device and carries the thing tray, according to different loads and power demand dynamic design power device under the normal conditions, but does not change usually for saving cost track chassis frame and carrying the thing tray.

However, the contact area between the bearing wheels and the walking road surface of the traditional crawler belt walking mechanism is fixed, when carrying heavy materials and walking pavement road surface, the pressure intensity of the surface of the crawler belt to the walking road surface is large, and the pavement road surface is easily subjected to surface wound; while non-paved surfaces generally require tracks to maintain good throughput, the idler wheel portion generally forms an inverted trapezoidal configuration with the bogie wheel. Therefore, it is a problem to consider how to consider both paved and unpaved.

SUMMERY OF THE UTILITY MODEL

To the above circumstances, for overcoming prior art's defect, the utility model discloses at first provide a crawler-type year thing robot walking part chassis underframe to solve its bearing wheel of traditional crawler-type chassis underframe and to mat formation road surface and destroy great technical problem.

The technical scheme includes that the walking wheel device comprises a chassis frame for mounting walking wheels, wherein each walking wheel comprises a walking wheel array in which a plurality of bearing wheels are linearly arranged, guide wheels positioned on two sides of the walking wheel array, driving wheels fixedly mounted above the walking wheel array, and a crawler belt sleeved at the walking wheels, the guide wheels and the driving wheels; the guide wheel is fixedly installed at the position of a swing arm in a rotating mode, the swing arm is connected with the chassis frame in a rotating mode through a pin shaft, the pin shaft is fixedly connected with the swing arm, the pin shaft is connected with the chassis frame in a rotating mode, the guide wheel further comprises a transmission mechanism located at one end of the pin shaft and matched with the pin shaft, and the transmission mechanism is configured to control the pin shaft to rotate.

In the above or in an embodiment, the transmission mechanism includes a driven bevel gear located at an end of the pin shaft and fixedly connected to the pin shaft, and further includes a driving bevel gear engaged with the driven bevel gear, and the driving bevel gear is driven by a transmission shaft rotatably mounted on the chassis frame.

In the above or some embodiments, one end of the transmission shaft is in transmission connection with a motor or an engine through a transmission case, so as to form a structure for driving the transmission shaft.

In the above or some embodiments, the chassis frame includes the edge beams and a plurality of cross beams located between the edge beams and fixedly connected to the edge beams, and the edge beams and the cross beams are both made of section steel.

In the above or some embodiments, the transmission shaft is located in the groove body of the section steel.

In the above or some embodiments, the number of the bearing wheels is even, each adjacent bearing wheel is hinged to the same pivot shaft through a buffer arm, each buffer arm forms a rotating connection with the bearing wheel, each pivot shaft is provided with a sliding seat correspondingly, the sliding seat is fixedly installed on the upper surface of the side beam, each sliding seat is provided with a sliding rail groove, each pivot shaft is fixedly installed with a sliding block in sliding fit with the sliding rail groove, and the sliding block is fastened in the sliding rail groove in a sliding manner; still including being located the sliding block with the bolster between the sliding rail groove.

In the above or some embodiments, the buffer member is a cylindrical spring sleeved and fixed on the lower surface of the sliding block.

When the scheme is used specifically, when the road runs on a pavement which is not paved and the road surface is rugged, the guide wheels can be kept at a higher position and only contact with the running road surface by the bearing wheels, and at the moment, because of an inclined structure formed between the guide wheels and the bearing wheels, the high passing capacity can be still kept when the road faces a steep slope or gully; when the vehicle runs on a paved road surface, in order to reduce the damage to the road surface, the transmission shaft drives the swing arm to swing downwards to realize the contact between the guide wheel and the ground and the bearing, so that the contact area with the ground can be effectively increased, and the pressure on the paved road surface is greatly dispersed; the bearing wheel in this scheme of on the other hand passes through the cooperation of sliding seat and bolster, and when meetting mechanical shock, the bearing wheel has the action of outside expansion, and in the twinkling of an eye when facing mechanical shock like this, the bearing wheel has enlarged in the twinkling of an eye with ground area of contact, forms the dispersed structure to mechanical shock and pressure.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic structural view of the inner side surface of the present invention.

Fig. 3 is a schematic side view of the present invention.

Detailed Description

The following detailed description is made with reference to the accompanying drawings.

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.

Those of ordinary skill in the art will recognize that the directional terms "upper," "lower," "outer," "inner," etc., are used in a descriptive sense with respect to the figures and are not intended to limit the scope of the claims.

The chassis frame 200 is used for installing the travelling wheels 100 and fixedly connecting the engine or the motor through a suspension bracket, and when the chassis frame is used in a specific mode, the engine suspension bracket is fixedly arranged on the chassis frame 200 through a connecting rod, wherein the connecting rod is installed in a manner of suspending the engine or the motor; in some embodiments, the chassis frame 200 includes the edge beams 201 and a plurality of cross beams 202 located between the edge beams 201 and fixedly connected to the edge beams 201, wherein the edge beams 201 are two spaced and parallel long structures, the cross beams 202 are distributed between the two edge beams 201, and the cross beams 202 and the edge beams 201 are fixedly connected through fixing seats, in order to reduce the weight of the chassis frame 200, the edge beams 201 and the cross beams 202 are both made of section steel, and the section steel can be selected from square steel or H-shaped steel columns to achieve light weight under the condition of ensuring strength.

The walking wheel 100 comprises a walking wheel 100 array with a plurality of bearing wheels 101 arranged in a straight line, guide wheels 102 positioned at two sides of the walking wheel 100 array, a driving wheel 103 fixedly arranged above the walking wheel 100 array, and a crawler 300 sleeved at the walking wheel 100, the guide wheels 102 and the driving wheel 103; the number of the bearing wheels 101 is even, each adjacent bearing wheel 101 is hinged to the same pivot shaft 105 through a buffer arm 104, and each buffer arm 104 is in rotating connection with the bearing wheel 101; the guide wheel 102 is rotatably and fixedly arranged at the position of a swing arm 203, the swing arm 203201 is rotatably connected with the chassis frame 200 through a pin shaft, the pin shaft is fixedly connected with the swing arm 203201, the pin shaft is rotatably connected with the chassis frame 200, and the chassis frame further comprises a transmission mechanism which is arranged at one end of the pin shaft and matched with the pin shaft, and the transmission mechanism is configured to control the pin shaft to rotate; the driving wheels 103 are correspondingly provided with triangular fixing frames 204, the vertex positions of the triangular fixing frames 204 are rotationally connected with the driving wheels 103 through bearing seats, the driving wheels 103 are respectively provided with input shaft diameters in transmission connection with the engine in an extending mode, when the engine is installed, the engine with double output shafts can be selected, and the engine is in transmission connection with the driving wheels 103 through a coupler or a transmission or other transmission mechanisms.

In the above or some embodiments, each of the pivot shafts 105 is specifically a pin, one end of the buffer arm 104 is sleeved on the pin, the other end of the buffer arm is sleeved on the mounting shaft, the mounting shaft is connected with the bearing wheel 101 through a bearing seat, when the bearing wheel 101 bears a large pressure, the buffer arm 104 drives the bearing wheel 101 to expand outwards, and at this time, the contact area between each bearing wheel 101 and the ground surface is increased, so that the pressure per unit area can be effectively reduced, and the damage to the paved road surface is reduced; in order to further realize the structure, each pivot shaft 105 is respectively provided with a sliding seat 106 correspondingly, the sliding seat 106 is fixedly installed on the upper surface of the side beam 201, each sliding seat 106 is provided with a sliding rail groove 107, each pivot shaft 105 is respectively and fixedly installed with a sliding block 108 in sliding fit with the sliding rail groove 107, and the sliding block 108 is in sliding buckling connection with the sliding rail groove 107; still including being located the sliding block 108 with the bolster between the sliding rail groove 107 the bolster is for cup jointing to be fixed in the cylindrical spring of sliding block 108 lower surface.

In the above or in an embodiment, the transmission mechanism comprises a driven bevel gear 401 at the end of the pin shaft and fixedly connected with the pin shaft, and further comprises a drive bevel gear 402 engaged with the driven bevel gear 401, wherein the drive bevel gear 402 is driven by a transmission shaft 403 rotatably mounted on the chassis frame 200.

In the above or some embodiments, one end of the transmission shaft 403 is in transmission connection with a motor or an engine through a transmission case, so as to form a structure for driving the transmission shaft 403; the power of each transmission shaft 403 can be connected through a transmission belt or other transmission modes.

When the scheme is used specifically, when the road runs on a pavement which is not paved and the road surface is rugged, the guide wheel 102 can be kept at a higher position and is only in contact with the running road surface by the bearing wheel 101, and at the moment, because of an inclined structure formed between the guide wheel 102 and the bearing wheel 101, the high passing capacity can be still kept when the road faces a steep slope or a gully; when the vehicle runs on a paved road, in order to reduce the damage to the road, the transmission shaft 403 can drive the swing arm 203 to swing downwards to realize the contact and bearing between the guide wheel 102 and the ground, so that the contact area between the vehicle and the ground can be effectively increased, and the pressure on the paved road is greatly dispersed; on the other hand, the bearing wheel 101 in the scheme is matched with the buffer part through the sliding seat 106, when mechanical impact is met, the bearing wheel 101 has outward expansion action, so that at the moment of facing the mechanical impact, the bearing wheel 101 instantly expands the contact area with the ground, and a dispersing structure for the mechanical impact and pressure is formed.

Claims (7)

1. The crawler-type cargo robot walking part chassis frame comprises a chassis frame (200) used for mounting walking wheels (100), wherein the walking wheels (100) comprise walking wheel (100) arrays in which a plurality of bearing wheels (101) are linearly arranged, guide wheels (102) positioned on two sides of the walking wheel (100) arrays, driving wheels (103) fixedly mounted above the walking wheel (100) arrays, and a crawler (300) sleeved at the walking wheels (100), the guide wheels (102) and the driving wheels (103); the mechanism is characterized in that the guide wheel (102) is fixedly installed at the position of a swing arm in a rotating mode, the swing arm (203201) is connected with the chassis frame (200) in a rotating mode through a pin shaft, the pin shaft is fixedly connected with the swing arm (203201), the pin shaft is connected with the chassis frame (200) in a rotating mode, the mechanism further comprises a transmission mechanism located at one end of the pin shaft and matched with the pin shaft, and the transmission mechanism is configured to control the pin shaft to rotate.

2. The undercarriage frame of tracked objective robot walking unit of claim 1, wherein said transmission mechanism comprises a driven bevel gear (401) at the end of a pin shaft and fixedly connected to said pin shaft, and further comprising a drive bevel gear (402) engaging said driven bevel gear (401), said drive bevel gear (402) being driven by a drive shaft (403) rotatably mounted to the undercarriage frame (200).

3. The undercarriage frame of a tracked carrier robot of claim 2, wherein one end of the transmission shaft (403) is in transmission connection with a motor or an engine through a transmission box to form a structure for driving the transmission shaft (403).

4. The undercarriage frame of tracked carrier robot of claim 3, characterized in that said undercarriage frame (200) comprises edge beams (201) and a plurality of cross beams (202) arranged between the edge beams (201) and fixedly connected to the edge beams (201), and both the edge beams (201) and the cross beams (202) are made of steel sections.

5. The undercarriage frame of tracked objective robot of claim 4, characterized in that said drive shaft (403) is located in a channel of said steel section.

6. The chassis frame for the walking part of the tracked object-carrying robot as claimed in claim 4 or 5, wherein the number of the bearing wheels (101) is even, each adjacent bearing wheel (101) is hinged to the same pivot shaft (105) through a buffer arm (104), each buffer arm (104) is rotatably connected with the bearing wheel (101), each pivot shaft (105) is correspondingly provided with a sliding seat (106), the sliding seat (106) is fixedly installed on the upper surface of the side beam (201), each sliding seat (106) is provided with a sliding rail groove (107), each pivot shaft (105) is fixedly provided with a sliding block (108) which is in sliding fit with the sliding rail groove (107), and the sliding block (108) is slidably fastened in the sliding rail groove (107); the buffer piece is positioned between the sliding block (108) and the sliding rail groove (107).

7. The undercarriage frame of a tracked carrier robot of claim 6, wherein said buffer is a cylindrical spring mounted on the lower surface of said sliding block (108).

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