CN217515264U - Front and back double-swing arm stair climbing obstacle crossing type crawler robot chassis - Google Patents

Abstract

The utility model discloses a two swing arms climb stair formula track robot chassis of crossing obstacle around, including the chassis, have crawler travel mechanism with the both sides on chassis, have preceding swing arm in the both sides of chassis front end, the both sides of rear end have back swing arm, and preceding, back swing arm's structure is the same. The swing arm is driven by the worm gear assembly to swing, the height of the worm is adjustable, the height of the worm is adjusted downwards, a gap between the worm and the worm wheel can be reduced, the meshing precision is improved, and the swing arm is prevented from swinging independently. In addition, the structure that the flanges are adopted between the worm wheel and the swing arm driving shaft and between the swing arm driving shaft and the framework is fixed, the traditional key connection form is abandoned, the connection between the worm wheel and the swing arm driving shaft and between the swing arm driving shaft and the framework is more stable and firm, the problem of key connection abrasion is avoided, and the stability of the swing arm locking is further ensured.

Description

Front and back double-swing arm stair climbing obstacle crossing type crawler robot chassis

Technical Field

The utility model relates to a mobile robot field especially relates to a front and back double swing arm climbs stair and hinders formula track robot chassis more.

Background

A crawler-type robot mainly refers to a robot carrying a crawler chassis mechanism, and a crawler mobile robot has the advantages of large traction force, difficulty in slipping, good cross-country performance and the like. The crawler-type robot can carry various loads, is widely applied to various industries such as inspection, investigation, cooperative transportation, fire fighting, municipal administration and the like, and has good universality and wide application.

The existing crawler-type robot is also provided with a front swing arm under the working condition of climbing stairs and crossing obstacles. But the ubiquitous swing arm easily rocks the problem, and the swing arm locking is unstable, makes track type robot when normal walking, and the swing arm rocks and causes the part wearing and tearing big, and the noise is great when jolting the road conditions.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a swing arm locking is firm front and back double swing arm climbs stair and hinders formula tracked robot chassis more is provided.

In order to solve the technical problem, the utility model discloses the technical scheme who takes is:

two swing arms climb stair formula track robot chassis of crossing obstacle around, include:

the chassis is of a rectangular box body structure;

the crawler belt walking mechanism is provided with two walking crawler belts which are respectively arranged on the left side and the right side of the chassis, two ends of each walking crawler belt are provided with a driving wheel and a driven wheel which are in meshing transmission with the driving wheel, the driving wheel is rotatably fixed on the chassis through a driving shaft, the driven wheel is rotatably fixed on the chassis through a driven shaft, and the driving shaft is provided with a walking driving assembly for driving the driving wheel to rotate; and

the two front swing arms are respectively arranged on the left side and the right side of the front end of the chassis and comprise a framework, one end of the framework is coaxially arranged with the driving shaft or the driven shaft, the other end of the framework is rotatably fixed with a first swing arm wheel, the first swing arm wheel and the corresponding driving wheel or driven wheel are in transmission through a swing arm crawler belt, and a swing arm adjusting assembly for driving the framework to swing is arranged at the fixed end of the framework;

characterized in that, the swing arm adjusting assembly includes:

the two ends of the swing arm driving shaft can rotate, coaxially penetrate through the corresponding driving shaft and driven shaft and are fixed with the frameworks at the two sides through a flange structure;

the worm gear is fixed at one end of the swing arm driving shaft through a flange structure;

the worm is horizontally positioned above the worm wheel and is in meshed transmission with the worm wheel, and the worm is connected with a swing arm motor for driving the worm to rotate; and

the adjusting frame is in up-and-down sliding engagement with the side wall of the chassis and can be locked, and the worm is rotatably fixed on the adjusting plate.

The technical scheme is that the chassis comprises a chassis body, a front swing arm and two rear swing arms, wherein the front swing arm and the rear swing arm are arranged on the chassis body, and the front swing arm and the rear swing arm are arranged on the chassis body.

A further technical solution is that the adjusting bracket comprises:

the upper top beam is horizontally fixed on the chassis, a plurality of vertical adjusting holes are formed in the upper top beam, and jackscrews are connected in the adjusting holes in a threaded manner; and

the movable plate is positioned below the upper top beam, a plurality of vertical sliding holes are formed in the movable plate, locking bolts fixed with the base plate penetrate through the sliding holes, and the worm is rotatably fixed on the movable plate.

The further technical scheme is that the driven shaft is fixed with the chassis, and the driven wheel is rotatably connected with the driven shaft through a bearing;

the driving shaft is rotatably connected with the chassis through a bearing, the driving shaft is in key fit with the driving wheel, a shaft sleeve is arranged on the driving wheel in an interference fit manner, the shaft sleeve is made of aluminum, and a key groove is formed in the shaft sleeve.

A further technical scheme lies in that the swing arm driving shaft is of a split structure and comprises a first shaft section penetrating through the driven shaft, a second shaft section assembled with the worm wheel, a third shaft section and a fourth shaft section penetrating through the driving shaft, and adjacent shaft sections are detachably fixed.

The further technical scheme is that one end of a butt joint part of two connected shaft sections is provided with a clamping groove, the other end of the butt joint part is provided with an embedded block extending into the clamping groove, and the clamping groove and the embedded block are fixed through a bolt.

A further technical scheme is that a swing arm shaft is fixed at the free end of the framework, the first swing arm wheel is rotatably fixed on the swing arm shaft through two shoulder bearings, and the two shoulder bearings are arranged oppositely to axially limit the first swing arm wheel.

The further technical scheme is that the two first swing arm wheels are coaxial and are respectively arranged on two sides of the framework;

the swing arm device further comprises a second swing arm wheel, and the second swing arm wheel is rotatably fixed on the swing arm driving shaft.

The technical scheme is that the free end of the framework is provided with a swing arm shaft for mounting a first swing arm wheel, the framework is provided with a U-shaped opening, the swing arm shaft is positioned in the opening, and a threaded ejector rod for driving the swing arm shaft to move is screwed at the bottom of the opening.

The further technical scheme is that the adjacent wall plates on the chassis are lapped and fixed in a concave-convex embedding mode.

Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:

the swing arm of the front and rear double-swing-arm stair-climbing obstacle-crossing crawler robot chassis is driven by the worm gear assembly to swing, the height of the worm is adjustable, the height of the worm is adjusted downwards, the gap between the worm and the worm gear can be reduced, the meshing precision is improved, and the swing arm is prevented from independently swinging.

In addition, the structure of the flange is adopted between the worm wheel and the swing arm driving shaft and between the swing arm driving shaft and the framework for fixing, the traditional key connection form is abandoned, the connection between the worm wheel and the swing arm driving shaft and between the swing arm driving shaft and the framework is more stable and firm, the problem of key connection abrasion is avoided, and the stability of the swing arm locking is further ensured.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic structural view of a front-back double swing arm stair-climbing obstacle-crossing type tracked robot chassis of the present disclosure;

fig. 2 is a schematic structural view of the front and rear double swing arms stair-climbing obstacle-crossing crawler robot chassis of the present disclosure with a chassis top cover removed;

FIG. 3 is a schematic top view of the structure of FIG. 2;

fig. 4 is a schematic structural view of a connecting part of a swing arm and a swing arm driving shaft on the same side in the chassis of the stair-climbing obstacle-crossing crawler robot with front and rear double swing arms of the present disclosure;

FIG. 5 is a schematic top view of the structure of FIG. 4;

FIG. 6 is a schematic view of the structure of FIG. 4 with one swing arm hidden;

fig. 7 is a schematic front structural view of a worm gear portion in a chassis of the stair climbing obstacle crossing type crawler robot with front and rear double swing arms according to the present disclosure;

fig. 8 is a schematic structural view of the back surface of a worm gear portion in the chassis of the stair-climbing obstacle-crossing crawler robot with the front and rear double swing arms according to the present disclosure;

fig. 9 is a schematic structural view of a swing arm portion in a front and rear double swing arm stair-climbing obstacle-crossing crawler robot chassis of the present disclosure (with a first swing arm wheel on one side hidden);

fig. 10 is a schematic structural view of a swing arm shaft in the chassis of the stair-climbing obstacle-crossing crawler robot with front and rear double swing arms according to the present disclosure;

FIG. 11 is a schematic structural view of an upper skeleton of a swing arm in a chassis of the stair-climbing obstacle-crossing tracked robot with front and rear double swing arms according to the present disclosure;

fig. 12 is a schematic structural view of a swing arm driving shaft in a chassis of the front and rear double swing arm stair climbing obstacle crossing type crawler robot of the present disclosure (including a driving shaft and a driven shaft at both ends);

fig. 13 is an exploded view of the swing arm drive shaft in the chassis of the front and rear double swing arm stair-climbing obstacle-crossing crawler robot of the present disclosure (including drive and driven shafts at both ends);

fig. 14 is a schematic structural view of a driving wheel in a chassis of the stair-climbing obstacle-crossing crawler robot with front and rear double swing arms according to the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present invention are 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 some, not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be implemented in other ways different from the specific details set forth herein, and one skilled in the art may similarly generalize the present invention without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

The front and rear double-swing-arm stair climbing obstacle crossing type crawler robot chassis can be applied to stair climbing crawler type scouting patrol robots, fire fighting robots, explosive disposal robots and the like, and is suitable for working in severe environments such as wastelands, gullies, Gobi and river beaches.

As shown in fig. 1-14, the front and rear double swing arm stair climbing obstacle crossing type crawler robot chassis comprises a chassis 10 in a rectangular box structure, wherein adjacent wall plates on the chassis 10 are fixed in an overlapped mode in a concave-convex embedded mode, deformation of the chassis 10 after stress can be effectively prevented, an installation space is provided for each component inside the chassis 10, a detachable top cover is arranged at the top of the chassis 10, a carrying platform is formed on the outer surface of the top cover, and different carrying components can be fixed according to the working requirements of a robot.

A crawler traveling mechanism is provided on the chassis 10 for driving the chassis 10 to travel. The crawler belt walking mechanism comprises two walking crawler belts 20 respectively arranged at the left side and the right side of the chassis 10, two ends of each walking crawler belt 20 are provided with a driving wheel 21 and a driven wheel 22 which are in meshing transmission with the driving wheel 21 and the driven wheel 22, and the driving wheel 21 and the driven wheel 22 are walking wheels. The driven wheel 22 is rotatably fixed on the chassis 10 through the driven shaft 221, a third flange 2211 is arranged on the driven shaft 221, the driven shaft 221 and the chassis 10 are fixed through a flange structure, and the driven wheel 22 is rotatably connected with the driven shaft 221 through a bearing. The driving wheel 21 is rotatably fixed on the chassis 10 through the driving shaft 211, the driving shaft 211 is rotatably connected with the chassis 10 through a bearing, a key is arranged on the outer wall of the driving shaft 211, an aluminum shaft sleeve 212 is in interference fit with an inner ring of the driving wheel 21, a key groove is formed in the shaft sleeve 212, and the driving shaft 211 and the driving wheel 21 are fixed in a key fit mode.

In this structure, because the walking wheel is the nylon wheel, in order to avoid seting up the keyway on the nylon wheel and cause intensity not enough, so at the embedded aluminium cover of action wheel 21, increase key complex intensity and stability.

On the driving shaft 211, there is a walking driving assembly 23 for driving it to rotate, and the walking driving assembly 23 is located in the chassis 10. The walking driving assembly 23 can be driven by a bevel gear set, and comprises a first bevel gear fixed on the driving shaft 211 and a second bevel gear in meshing transmission with the first bevel gear, and the second bevel gear is connected with a walking motor for driving the second bevel gear to rotate. The walking motor is started to work, the driving shaft 211 is rotated through the transmission of the bevel gear set, and the walking crawler 20 is rotated through the transmission between the driving wheel 21 and the walking crawler 20. The two walking tracks 20 are driven by respective walking driving components 23, so that the left or right turning and the pivot rotation of the robot chassis can be realized.

The crawler-type walking structure has relatively strong adaptability to terrain, has better stair climbing and obstacle crossing performance than stair climbing and obstacle crossing devices with other structural forms, has the characteristics of large supporting area, good obstacle crossing passing performance, small sinking degree and the like, is not easy to slip in the moving process due to the crawler teeth on the supporting surface of the crawler, has good traction adhesion performance, can ensure that the moving track of the gravity center of the robot is always parallel to the connecting line of stair steps in the stair climbing and obstacle crossing processes, almost has no fluctuation or small fluctuation, and moves relatively stably.

In order to enhance the stair climbing and obstacle crossing performance of the robot chassis, front swing arms 30 are further arranged on the left side and the right side of the front end of the chassis 10, rear swing arms 50 are arranged on the left side and the right side of the rear end of the bottom plate, the swing arms are located on the outer sides of the walking crawler belts 20, the front swing arms 30 and the rear swing arms 50 are symmetrically arranged, and the front swing arms 30 and the rear swing arms 50 are identical in structure and installation mode. The posture control of the front swing arm 30 and the rear swing arm 50 during climbing stairs and crossing obstacles belongs to the prior art, and is not described in detail herein.

The front swing arm 30 and the rear swing arm 50 both comprise a framework 31, one end of the framework 31 is coaxially arranged with the corresponding driving wheel 21 or driven wheel 22 through a swing arm driving shaft 40, and the other end of the framework extends outwards and protrudes out of the chassis 10. A first swing arm wheel 32 is rotatably fixed at the free end of the framework 31, the driving wheel 21 or the driven wheel 22 protrudes out of the walking crawler 20, and the first swing arm wheel 32 and the corresponding driving wheel 21 or driven wheel 22 are transmitted through the swing arm crawler 33, that is, the swing arm crawler 33 and the walking crawler 20 rotate synchronously. In order to guarantee the stability of swing arm in the operation, the free end of skeleton 31 is fixed with swing arm axle 35, and first swing arm wheel 32 is rotatable through two shoulder bearing 36 be fixed in swing arm axle 35 on, two shoulder bearing 36 set up relatively to carry out the axial to first swing arm wheel 32 spacing, thereby prevented that first swing arm wheel 32 from rocking at the course of the work.

Further, in order to ensure the stability of the operation of the swing arm crawler 33, the first swing arm wheels 32 are provided with two coaxial first swing arm wheels 32, and the two first swing arm wheels 32 are respectively arranged at two sides of the framework 31. The swing arm also comprises a second swing arm wheel 34, the second swing arm wheel 34 is also rotatably fixed at the tail end of the swing arm driving shaft 40 through two bearings with shoulders, and step limitation is formed through bolts at the shaft ends, so that the meshing area of the swing arm crawler 33 and the wheel parts at the two ends is increased, and the swing arm crawler 33 can be prevented from being taken off.

The front and rear double swing arm stair climbing obstacle crossing type crawler robot chassis disclosed by the invention has the advantage that the wheelbases at two ends of the swing arms are adjustable in order to prevent the swing arm crawler 33 from being taken off. Specifically, the free end of the framework 31 is provided with a U-shaped notch 311, the swing arm shaft 35 is positioned in the notch, and the shoulder bearings 36 on the two sides of the notch can also axially limit the swing arm shaft 35 to prevent the swing arm shaft 35 from axially swinging. The bottom of the opening is in threaded connection with a threaded ejector rod 312 which drives the swing arm shaft 35 to move towards the free end of the framework 31, the threaded ejector rod 312 tightly abuts against the swing arm shaft 35, and the swing arm shaft 35 can be far away from the swing arm driving shaft 40 by screwing the threaded ejector rod 312, so that the swing arm crawler 33 is tensioned, and the belt falling is prevented.

According to the working requirement, the angle of the front and rear swing arms 50 can be adjusted. Thus, the fixed end of the framework 31 is provided with a swing arm adjusting assembly for driving the framework to swing. The two front swing arms 30 swing synchronously and the two rear swing arms 50 swing synchronously. Thus, the two front swing arms 30 and the two rear swing arms 50 are each driven by a set of swing arm adjustment assemblies.

The swing arm adjustment assembly includes a swing arm drive shaft 40, a worm gear 41, a worm 42, and an adjustment bracket 44, wherein the worm gear 41, the worm 42, and the adjustment bracket 44 are located within the chassis 10. The swing arm driving shaft 40 is disposed along the transverse direction of the chassis 10, and one swing arm driving shaft 40 connects two front swing arms 30 or two rear swing arms 50. The swing arm driving shaft 40 has two ends rotatably and coaxially passing through the corresponding driving shaft 211 and driven shaft 221 through bearings (i.e., the driving shaft 211 and the driven shaft 221 are both in a sleeve structure), and are fixed to the frameworks 31 on two sides through flange structures, and the swing arm driving shaft 40 is provided with a first flange 409 fixed to the frameworks 31. The portion of the swing arm drive shaft 40 located within the chassis 10 also supports it via a bearing block secured within the chassis 10. The worm wheel 41 is also fixed to one end of the swing arm drive shaft 40 by a flange structure, and a recessed groove is formed in an outer end surface of the worm wheel 41, and the second flange 408 of the swing arm drive shaft 40 is fitted into the recessed groove and fixed to the worm wheel 41. Due to the limitation of the inner space of the chassis 10, the driving wheels 21 and the driven wheels 22 of the two walking crawlers 20 are arranged in a staggered manner, and the worm wheels 41 and the walking driving assemblies 23 are arranged on the opposite sides. The worm 42 is horizontally positioned above the worm wheel 41 and is in meshed transmission with the worm wheel 41, the worm 42 is connected with a swing arm motor 43 for driving the worm 42 to rotate, the swing arm motor 43 drives the worm 42 to rotate, the worm 42 drives the worm wheel 41 to rotate, and therefore the swing arm driving shaft 40 is driven to rotate, and the swing angle of the swing arm is adjusted.

In the structure, the structure that the flanges are adopted between the worm wheel 41 and the swing arm driving shaft 40 and between the swing arm driving shaft 40 and the framework 31 is fixed, the traditional key connection form is abandoned, the connection between the worm wheel 41 and the swing arm driving shaft 40 and between the swing arm driving shaft 40 and the framework 31 is more stable and firm, the problem of key connection abrasion can not be generated, and the stability of the swing arm locking is ensured.

In the swing arm adjusting assembly, the meshing precision of the worm wheel 41 and the worm 42 is adjustable. The worm 42 is rotatably fixed to the adjustment plate and the adjustment bracket 44 is slidably engaged with and lockable to the side wall of the chassis 10. The adjustment of the meshing accuracy between the worm wheel 41 and the worm 42 is realized by adjusting the height of the adjusting bracket 44.

Specifically, the adjusting bracket 44 includes an upper top beam 441 and a moving plate 443. The upper top beam 441 is horizontally fixed on the chassis 10, a plurality of vertical adjusting holes are formed in the upper top beam 441, and a plurality of top screws 442 are connected to the adjusting holes through internal threads. The moving plate 443 is positioned below the upper top beam 441, a plurality of vertical sliding holes 444 are formed in the moving plate 443, a locking bolt 445 fixed with the chassis 10 penetrates through the sliding holes 444, and the worm 42 is rotatably fixed on the moving plate 443. When the adjustment is performed, the locking bolt 445 is loosened, the jack screw 442 is then turned downward, the jack screw 442 moves downward along the slide hole 444 against the moving plate 443 to bring the worm 42 close to the worm wheel 41, and after the adjustment is completed, the locking bolt 445 is tightened to fix the moving plate 443.

The swing arm of the front and rear double-swing-arm stair climbing obstacle crossing type crawler robot chassis is driven by the worm wheel 41 and the worm 42 assembly to swing, the height of the worm 42 is adjustable, the height of the worm 42 is adjusted downwards, a gap between the worm 42 and the worm wheel 41 can be reduced, the meshing precision is improved, after the swing arm motor 43 is driven to stop, the swing arm can be prevented from swinging independently through stable meshing between the worm 42 and the worm wheel 41, and the stability of locking the swing arm is guaranteed.

In the stair climbing obstacle crossing type crawler robot chassis with the front and rear double swing arms, the swing arm driving shaft 40 is of a split structure and comprises a first shaft section 401 penetrating through the driven shaft 221, a second shaft section 402 assembled with the worm wheel 41, a third shaft section 403 and a fourth shaft section 404 penetrating through the driving shaft 211, and adjacent shaft sections can be detachably fixed. The maintenance of the mobile platform in the later stage of being convenient for, which module is dismantled can be overhauled without integral dismounting, and the maintenance is convenient and fast.

The butt joint part of the two connected shaft sections has a clamping groove at one end and an embedded block extending into the clamping groove at the other end, the preferred clamping groove is U-shaped and is embedded with the embedded block in a non-circular shape, the relative rotation can be limited mutually through the non-circular embedding, and the clamping groove and the embedded block are fixed through bolts. The third shaft section 403 mainly plays a role of a coupler and is made of bearing steel, and the length of the third shaft section is as long as possible so as to increase the strength of the swing arm driving shaft 40, prevent the swing arm driving shaft 40 from deforming and ensure the synchronism of swing arms at two ends of the swing arm driving shaft 40.

The above is only the preferred embodiment of the present invention, and any person can make some simple modifications, deformations and equivalent replacements according to the present invention, all fall into the protection scope of the present invention.

Claims (10)

1. Two swing arms climb stair formula track robot chassis of crossing obstacle around, include:

the chassis (10) is of a rectangular box body structure;

the crawler belt walking mechanism is provided with two walking crawler belts (20) which are respectively arranged on the left side and the right side of the chassis (10), two ends of each walking crawler belt (20) are provided with a driving wheel (21) and a driven wheel (22) which are in meshing transmission with the driving wheel, the driving wheel (21) is rotatably fixed on the chassis (10) through a driving shaft (211), the driven wheel (22) is rotatably fixed on the chassis (10) through a driven shaft (221), and the driving shaft (211) is provided with a walking driving assembly (23) for driving the driving wheel to rotate; and

the two front swing arms (30) are respectively arranged on the left side and the right side of the front end of the chassis (10), each front swing arm (30) comprises a framework (31), one end of each framework (31) is coaxially arranged with a driving shaft or a driven shaft, the other end of each framework is rotatably fixed with a first swing arm wheel (32), the first swing arm wheels (32) and the corresponding driving wheels (21) or driven wheels (22) are driven through swing arm crawler belts (33), and swing arm adjusting components for driving the frameworks (31) to swing are arranged at the fixed ends of the frameworks;

characterized in that, the swing arm adjusting assembly includes:

the swing arm driving shaft (40) has two ends which can rotate and coaxially pass through the corresponding driving shaft (211) and driven shaft (221) and is fixed with the frameworks (31) at the two sides through a flange structure;

a worm wheel (41) fixed to one end of the swing arm drive shaft (40) by a flange structure;

the worm (42) is horizontally positioned above the worm wheel (41) and is in meshed transmission with the worm wheel (41), and the worm (42) is connected with a swing arm motor (43) for driving the worm (42) to rotate; and

the adjusting frame (44) is in up-and-down sliding engagement with the side wall of the chassis (10) and can be locked, and the worm (42) is rotatably fixed on the adjusting plate.

2. The stair climbing and obstacle crossing crawler robot chassis according to claim 1, further comprising two rear swing arms (50) respectively arranged on the left and right sides of the rear end of the chassis (10), and the structure of the rear swing arm is the same as that of the front swing arm (30).

3. The front and rear double swing arm stair climbing obstacle crossing crawler robot chassis according to claim 1 or 2, wherein the adjusting bracket (44) comprises:

the upper top beam (441) is horizontally fixed on the chassis (10), a plurality of vertical adjusting holes are formed in the upper top beam (441), and jackscrews (442) are connected in the adjusting holes in a threaded manner; and

the moving plate (443) is positioned below the upper top beam (441), a plurality of vertical sliding holes (444) are formed in the moving plate (443), locking bolts (445) fixed with the chassis (10) penetrate through the sliding holes (444), and the worm (42) is rotatably fixed on the moving plate (443).

4. The chassis of the stair climbing and obstacle crossing type crawler robot with the front and rear double swing arms as claimed in claim 1 or 2, wherein the driven shaft (221) is fixed with the chassis (10), and the driven wheel (22) is rotatably connected with the driven shaft through a bearing;

the driving shaft (211) is rotatably connected with the chassis (10) through a bearing, the driving shaft (211) is matched with the driving wheel (21) through a key, a shaft sleeve (212) is arranged on the driving wheel (21) in an interference fit mode, the shaft sleeve (212) is made of aluminum, and a key groove is formed in the shaft sleeve (212).

5. The stair climbing and obstacle crossing crawler robot chassis according to claim 1 or 2, wherein the swing arm driving shaft (40) is of a split structure and comprises a first shaft section (401) penetrating through the driven shaft (221), a second shaft section (402) assembled with the worm wheel (41), a third shaft section (403) and a fourth shaft section (404) penetrating through the driving shaft (211), and adjacent shaft sections are detachably fixed.

6. The chassis of the front and rear double-swing-arm stair-climbing obstacle-crossing crawler robot as claimed in claim 5, wherein the butt joint part of the two connected shaft sections is provided with a clamping groove at one end and an embedded block extending into the clamping groove at the other end, and the clamping groove and the embedded block are fixed through bolts.

7. The chassis of the front and rear double-swing-arm stair-climbing obstacle-crossing type crawler robot as claimed in claim 1 or 2, wherein a swing arm shaft (35) is fixed at the free end of the framework (31), the first swing arm wheel (32) is rotatably fixed on the swing arm shaft (35) through two shoulder bearings (36), and the two shoulder bearings (36) are arranged oppositely to axially limit the first swing arm wheel (32).

8. The chassis of the stair climbing and obstacle crossing type crawler robot with the front and rear double swing arms as claimed in claim 7, wherein the number of the first swing arm wheels (32) is two, and the two first swing arm wheels (32) are respectively arranged on two sides of the framework (31);

the swing arm device further comprises a second swing arm wheel (34), and the second swing arm wheel (34) is rotatably fixed on a swing arm driving shaft (40).

9. The chassis of the front and rear double-swing-arm stair-climbing obstacle-crossing type crawler robot as claimed in claim 1 or 2, wherein the free end of the framework (31) is provided with a swing arm shaft (35) for mounting a first swing arm wheel (32), the framework (31) is provided with a U-shaped notch (311), the swing arm shaft (35) is positioned in the notch, and a threaded ejector rod (312) for driving the swing arm shaft (35) to move is screwed at the bottom of the notch.

10. The chassis of the stair climbing and obstacle crossing type crawler robot with the front and rear double swing arms as claimed in claim 1, wherein adjacent wall plates on the chassis (10) are in lap joint and fixed in a concave-convex embedded mode.

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