CN215944717U

CN215944717U - All-terrain robot chassis

Info

Publication number: CN215944717U
Application number: CN202122081163.5U
Authority: CN
Inventors: 梁博程; 付强; 文韬; 甘建业; 雍林; 聂培
Original assignee: Dewiver Intelligent Equipment Group Co ltd
Current assignee: Dewiver Intelligent Equipment Group Co ltd
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2022-03-04
Anticipated expiration: 2031-08-31

Abstract

The utility model discloses a full-terrain robot chassis which comprises a first driving part, a second driving part and a bottom plate, wherein the first driving part comprises a driving wheel, a driven wheel A, a driving crawler belt, a first mounting plate, a second mounting plate and a first driving device; a first driving device is arranged on the side wall of the first mounting plate; the second driving component comprises a driven wheel B, a driven wheel C, a third mounting plate, a fourth mounting plate, a second driving device and a transmission crawler. In the utility model, the first driving part can complete all-terrain movement by driving the crawler belt by taking the bottom plate as a support of the first driving part, and the first driving part and the bottom plate are lifted by the second driving part arranged outside the first driving part, so that the first driving part can smoothly turn over an obstacle. The utility model has simple structure, reasonable design and higher practicability.

Description

All-terrain robot chassis

Technical Field

The utility model belongs to the technical field of fire-fighting equipment rescue, and particularly relates to a full-terrain robot chassis.

Background

At present, robots are more and more widely applied and almost permeate all fields. The research on the small ground mobile robot relates to various disciplines and theories. In the research process, a plurality of new or challenging theoretical and engineering technical subjects are put forward in a plurality of technical fields, more and more experts, scholars and engineering technicians are concerned about, and the research on the method has wide application prospect in dangerous and severe environments such as rescue and relief work, planet detection, military reconnaissance, mine sweeping and danger elimination and material handling in civil use, so that the method is generally concerned in all countries in the world.

In the prior art, a wheel type and crawler type mechanism is the most widely applied moving mechanism on a moving machine at present. The wheel type mobile robot has the characteristics of simple structure, high moving speed, operation and the like, but is only suitable for running on a flat ground and cannot go up and down stairs and cross a trench. The caterpillar mobile robot is characterized by good stability, and can walk on uneven ground, and can cross over objects and climb over large slopes or steps. However, when climbing an obstacle with an excessively high height or an excessively large elevation angle, the crawler robot is easily restricted and cannot smoothly pass through the obstacle.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an all-terrain robot chassis to solve the problem that a crawler-type robot cannot smoothly pass through an obstacle with too high climbing height and too large elevation angle in the background technology.

In order to solve the technical problems, the technical scheme adopted by the utility model is as follows:

a full-terrain robot chassis comprises a first driving component, a second driving component and a bottom plate, wherein the second driving component is arranged on the side surface of the first driving component;

the first driving part comprises a driving wheel, a driven wheel A, a driving crawler, a first mounting plate, a second mounting plate and a first driving device; the driving wheel and the driven wheel A are rotatably arranged between the first mounting plate and the second mounting plate, the first mounting plate is arranged on the bottom plate, a first driving device is arranged on the side wall of the first mounting plate and used for driving the driving wheel, and the driving crawler is used for connecting the driving wheel and the driven wheel A;

the second driving component comprises a driven wheel B, a driven wheel C, a third mounting plate, a fourth mounting plate, a second driving device and a transmission crawler; the driven wheel B and the driven wheel C are arranged between the third mounting plate and the fourth mounting plate; the second driving device is arranged on the inner side of the first mounting plate, an output shaft of the second driving device penetrates through the first mounting plate and the driven wheel A and is connected with the driven wheel B, and an output shaft of the second driving device is fixedly connected with the fourth mounting plate.

According to the technical scheme, the first mounting plate and the second mounting plate are fixedly connected through the bolts.

According to the technical scheme, the first driving devices are provided with two sets, and the two sets of first driving devices are symmetrically arranged on the bottom plate.

According to the technical scheme, the first driving component further comprises auxiliary wheels, the auxiliary wheels are arranged between the first mounting plate and the second mounting plate, 2-4 auxiliary wheels are arranged, and the auxiliary wheels are used for assisting in driving the crawler belt to drive.

According to the technical scheme, the two sets of second driving parts are arranged and are symmetrically arranged on the outer side of the first driving part.

According to the technical scheme, the third bottom plate and the fourth bottom plate are connected through bolts.

According to the technical scheme, the driven wheel A and the driven wheel B are connected through the transmission crawler.

According to the technical scheme, the first driving device and the second driving device are both steering engines.

Compared with the prior art, the utility model has the following beneficial effects:

in the utility model, the first driving part, the second driving part and the bottom plate are arranged, the bottom plate is used as the support of the first driving part, so that the first driving part can complete all-terrain movement by driving the crawler belt, and the first driving part and the bottom plate are lifted by the second driving part arranged outside the first driving part, so that the first driving part can smoothly turn over an obstacle.

The utility model has simple structure, reasonable design and higher practicability.

Drawings

FIG. 1 is a schematic view of the overall structure of a holomorphic robot;

FIG. 2 is a schematic view of the construction of a first driving part of the holomorphic robot;

FIG. 3 is a schematic diagram of the construction of a second driving part of the holomorphic robot;

FIG. 4 is a side view of the second driving part supporting plate of the holomorphic robot;

FIG. 5 is a front view of the second driving part supporting plate of the holomorphic robot;

FIG. 6 is a schematic top view of the second driving part supporting plate of the holomorphic robot;

fig. 7 is a schematic diagram of the structure of the holomorphic robotic support plate.

The labels in the figure are: 1-first drive means, 101-drive wheel, 102-driven wheel a, 103-drive track, 104-first mounting plate, 105-second mounting plate, 106-first drive means, 107-auxiliary wheel, 2-second drive means, 201-driven wheel B, 202-driven wheel C, 203-third mounting plate, 204-fourth mounting plate, 205-second drive means, 206-drive track, 3-base plate, 4-support plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1 to 3, a holomorphic robot chassis 3 includes a first driving part 1, a second driving part 2, and a base plate 3, wherein the second driving part 2 is disposed at a side of the first driving part 1;

the first driving component 1 comprises a driving wheel 101, a driven wheel A102, a driving crawler 103, a first mounting plate 104, a second mounting plate 105 and a first driving device 106; the driving wheel 101 and the driven wheel a102 are rotatably arranged between a first mounting plate 104 and a second mounting plate 105, the first mounting plate 104 is arranged on the bottom plate 3, a first driving device 106 is arranged on the side wall of the first mounting plate 104, the first driving device 106 is used for driving the driving wheel 101, and the driving crawler 103 is used for connecting the driving wheel 101 and the driven wheel a 102;

the second driving component 2 comprises a driven wheel B201, a driven wheel C202, a third mounting plate 203, a fourth mounting plate 204, a second driving device 205 and a transmission crawler 206; wherein, the driven wheel B201 and the driven wheel C202 are arranged between the third mounting plate 203 and the fourth mounting plate 204; the second driving device 205 is disposed inside the first mounting plate 104, an output shaft of the second driving device 205 passes through the first mounting plate 104 and the driven wheel a102 and is connected to the driven wheel B201, and the output shaft of the second driving device 205 is fixedly connected to the fourth mounting plate 204.

The first mounting plate 104 and the second mounting plate 105 are fixedly connected by bolts.

The first driving devices 106 are provided with two sets, and the two sets of the first driving devices 106 are symmetrically arranged on the bottom plate 3.

The first driving component 1 further comprises auxiliary wheels 107, the auxiliary wheels 107 are arranged between the first mounting plate 104 and the second mounting plate 105, 2-4 auxiliary wheels 107 are arranged, and the auxiliary wheels 107 are used for assisting in driving the crawler 103.

Two sets of second driving components 2 are arranged, and the two sets of second driving components 2 are symmetrically arranged on the outer side of the first driving component 1.

The third bottom plate 3 and the fourth bottom plate 3 are connected by bolts.

The driven wheel a102 and the driven wheel B201 are connected by a drive track 206.

The first driving device 106 and the second driving device 205 are both steering engines.

Further, a driven wheel B201 and a driven wheel C202 are rotatably provided inside the third mounting plate 203 and the fourth mounting plate 204.

Further, a bearing is arranged inside the driven wheel B201, an output shaft of the second driving device 205 penetrates through the bearing to be rotatably connected with the driven wheel B201, the output shaft of the second driving device 205 supports the driven wheel B201, and the driven wheel B201 can also rotate around the output shaft of the second driving device 205.

Example two

This embodiment is a further refinement of embodiment one. As shown in fig. 2 and 3, the present invention further includes an L-shaped plate for connecting the bottom plate 3 and the first mounting plate 104; one end of the L-shaped plate is connected with the first mounting plate 104 through a bolt, and the other end of the L-shaped plate is connected with the bottom plate 3 through a bolt;

the working principle is as follows: the driving wheel 101 is driven to rotate by the first driving device 106, and the driving wheel 101 drives the driving crawler 103 to rotate, so that the driven wheel A102 is driven to rotate; and the second driving part 2 is arranged outside the first driving part, the second driving part 2 is driven by a second driving device 205, and the second driving device 205 is fixedly connected with the driven wheel B201, so that the driven wheel B201 is driven by the second driving device 205 to rotate, and the driven wheel B201 drives the second driving part 2 to rotate so as to support the first driving part 1 and the bottom plate 3.

EXAMPLE III

This embodiment is a further refinement of embodiment one. As shown in fig. 3 and 4, in order to make the second driving part 2 more resistant to larger forces when supporting the first driving part 1 and the base plate 3, while avoiding the direct use of the driven wheel C202 to complete the support, the second driving part 2 further comprises a support plate 4.

The support plate 4 is an i-shaped structure, the support plate 4 is fixedly mounted on the third mounting plate 203 and the fourth mounting plate 204, the support plate 4 is arranged on the outer side of the driven wheel C202, and the support plate 4 is used for supporting the first driving component 1 and the bottom plate 3.

The supporting of the first driving component 1 and the bottom plate 3 is completed through the supporting plate 4, the driven wheel C202 is protected, the situation that the driven wheel C202 is used for directly supporting the first driving component and the bottom plate 3 is avoided, the service life of the driven wheel C202 is prolonged, and the service life of the second driving component 2 is prolonged.

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.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the utility model. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An all-terrain robot chassis, characterized in that: the device comprises a first driving part (1), a second driving part (2) and a bottom plate (3), wherein the second driving part (2) is arranged on the side surface of the first driving part (1);

the first driving part (1) comprises a driving wheel (101), a driven wheel A (102), a driving crawler belt (103), a first mounting plate (104), a second mounting plate (105) and a first driving device (106); the driving wheel (101) and the driven wheel A (102) are rotatably arranged between a first mounting plate (104) and a second mounting plate (105), the first mounting plate (104) is arranged on the bottom plate (3), a first driving device (106) is arranged on the side wall of the first mounting plate (104), the first driving device (106) is used for driving the driving wheel (101), and the driving crawler belt (103) is used for connecting the driving wheel (101) and the driven wheel A (102);

the second driving component (2) comprises a driven wheel B (201), a driven wheel C (202), a third mounting plate (203), a fourth mounting plate (204), a second driving device (205) and a transmission crawler (206); wherein the driven wheel B (201) and the driven wheel C (202) are arranged between the third mounting plate (203) and the fourth mounting plate (204); the second driving device (205) is arranged on the inner side of the first mounting plate (104), an output shaft of the second driving device (205) penetrates through the first mounting plate (104) and the driven wheel A (102) and is connected with the driven wheel B (201), and an output shaft of the second driving device (205) is fixedly connected with the fourth mounting plate (204).

2. The all-terrain robot chassis of claim 1, wherein: the first mounting plate (104) and the second mounting plate (105) are fixedly connected through bolts.

3. The all-terrain robot chassis of claim 1, wherein: the first driving devices (106) are provided with two sets, and the two sets of the first driving devices (106) are symmetrically arranged on the bottom plate (3).

4. The all-terrain robot chassis of claim 1, wherein: the first driving component (1) further comprises auxiliary wheels (107), the auxiliary wheels (107) are arranged between the first mounting plate (104) and the second mounting plate (105), 2-4 auxiliary wheels (107) are arranged, and the auxiliary wheels (107) are used for assisting in driving the crawler belt (103) in a transmission mode.

5. The all-terrain robot chassis of claim 1, wherein: the two sets of second driving components (2) are arranged, and the two sets of second driving components (2) are symmetrically arranged on the outer side of the first driving component (1).

6. The all-terrain robot chassis of claim 1, wherein: the third bottom plate (3) and the fourth bottom plate (3) are connected through bolts.

7. The all-terrain robot chassis of claim 1, wherein: the driven wheel A (102) and the driven wheel B (201) are connected through a transmission crawler belt (206).

8. The all-terrain robot chassis of claim 1, wherein: the first driving device (106) and the second driving device (205) are steering engines.