CN219382647U - Robot crawler traveling system - Google Patents
Robot crawler traveling system Download PDFInfo
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- CN219382647U CN219382647U CN202321598826.3U CN202321598826U CN219382647U CN 219382647 U CN219382647 U CN 219382647U CN 202321598826 U CN202321598826 U CN 202321598826U CN 219382647 U CN219382647 U CN 219382647U
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- crawler
- floating beam
- robot
- chassis
- wheel
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The utility model belongs to the technical field of robot walking systems, and particularly discloses a robot crawler walking system which comprises a crawler assembly and a plurality of parallelogram mechanisms, wherein the crawler assembly is internally provided with a crawler shock absorber, the parallelogram mechanisms are used for connecting the crawler assembly with a robot chassis, the crawler assembly is directly driven by a motor and is formed by hinging a crawler connecting seat, a chassis connecting seat, an upper connecting rod and a lower connecting rod, the crawler connecting seat is fixed on the crawler assembly, the chassis connecting seat is fixed on a robot vehicle body chassis, and a vehicle body shock absorber is arranged between the crawler connecting seat and the chassis connecting seat. The robot crawler traveling system has the advantages of two-stage shock absorption, good shock absorption effect, small influence on the adhesive force of the crawler on the other side when the crawler on one side encounters an obstacle, and strong escaping capability of the robot chassis using the robot crawler traveling system, and can meet the use requirement of a field operation robot carrying high-precision instruments.
Description
Technical Field
The utility model belongs to the technical field of robot walking systems, and particularly discloses a robot crawler walking system.
Background
The crawler-type robot chassis can adapt to various complex terrains, has the advantages of good stability, low requirement on road conditions, strong escaping capability and the like, and is widely applied to the carrying chassis of the field reconnaissance and inspection robot. The crawler running system is used as a core of the crawler robot chassis, and is usually fixedly connected with the chassis, namely, a floating beam in the crawler is directly and fixedly connected with the side wall of the chassis, and the shock absorption effect of the robot chassis is completely finished by a crawler shock absorber arranged between the floating beam and a supporting wheel. When the crawler belt on one side encounters an obstacle and jolts up and down in the walking process, the jolts are transferred to the vehicle body chassis and the crawler belt on the other side, so that the stability of the vehicle body chassis is affected, the contact angle and the area between the crawler belt on the other side and the ground can be changed, the adhesive force of the crawler belt on the side is reduced, the robot is not easy to get rid of poverty, and in addition, the shock absorption capacity of the crawler belt walking system of the structure is limited, and the matching requirements of some robots carrying precise instruments are difficult to be met.
Disclosure of Invention
The utility model aims to solve the technical problems that: the robot crawler traveling system has the advantages that the robot crawler traveling system is provided with two-stage shock absorption and good shock filtering effects, the influence on the adhesive force of the crawler on the other side is small when the crawler on one side encounters an obstacle, the robot chassis using the robot crawler traveling system is high in escaping capability, and the use requirement of a field operation robot carrying high-precision instruments can be met.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a robot track traveling system, includes inside track subassembly that has the track bumper shock absorber and a plurality of parallelogram mechanism that link together track subassembly and robot chassis, the track subassembly is by motor direct drive's track subassembly, parallelogram mechanism comprises track connecting seat, chassis connecting seat, upper connecting rod, lower connecting rod are articulated, the track connecting seat is fixed on the track subassembly, the chassis connecting seat is fixed on robot vehicle body chassis, is equipped with the automobile body bumper shock absorber between track connecting seat and chassis connecting seat.
As a further improvement of the utility model: the crawler assembly comprises a crawler, a longitudinal floating beam is arranged in a space inside the crawler, a guide wheel is arranged at the front end of the floating beam, a driving wheel, a driving motor and a speed reducer are arranged at the rear end of the floating beam, a plurality of upper riding wheels are arranged on the floating beam, a plurality of supporting wheels are arranged below the floating beam, each supporting wheel is connected with the floating beam through a dragging arm, a crawler shock absorber is arranged between each dragging arm and the floating beam, and the crawler is tensioned into an inverted trapezoid by the guide wheel, the upper riding wheels, the driving wheel and the supporting wheels.
As a further improvement of the utility model: each supporting wheel consists of a supporting wheel shaft and two parallel supporting wheel bodies, the crawler belt assembly further comprises at least two anti-drop wheels, the anti-drop wheels are arranged on the supporting wheel shafts between the two supporting wheel bodies, and longitudinal anti-drop grooves are formed in positions, corresponding to the anti-drop wheels, on the crawler belt.
As a further improvement of the utility model: the floating beam is formed by connecting two longitudinal beam plates in parallel.
As a further improvement of the utility model: the track tensioning mechanism comprises a guide wheel sliding seat arranged between two floating beam plates and a guide device enabling the guide wheel sliding seat to slide forwards and backwards along the floating beam plates, the guide wheel is arranged on a wheel fork at the front end of the guide wheel sliding seat, a tensioning inclined surface perpendicular to a horizontal plane and forming a certain included angle with the floating beam plates is arranged at the rear end of the guide wheel sliding seat, a tensioning sliding block capable of moving only in the direction perpendicular to the beam plates is further arranged between the two floating beam plates, a driving inclined surface in sliding fit with the tensioning inclined surface is arranged at the front end of the tensioning sliding block, a tensioning sliding block guide supporting plate is fixed between the two floating beam plates behind the tensioning sliding block, a screw rod for controlling the tensioning sliding block to move is further arranged on the floating beam plates, and a screw nut matched with the screw rod is arranged on the tensioning sliding block.
As a further improvement of the utility model: one end of the vehicle body damper is hinged to the lower section of the crawler belt connecting seat, and the other end of the vehicle body damper is hinged to the upper section of the chassis connecting seat.
As a further improvement of the utility model: the upper riding wheel consists of a riding wheel shaft and two riding wheel bodies which are arranged in parallel.
As a further improvement of the utility model: a plurality of connecting shafts for connecting the two floating beam plates are arranged between the two floating beam plates, and the connecting shafts are correspondingly arranged and connected with the crawler belt connecting seats.
As a further improvement of the utility model: the speed reducer is a cycloidal pin gear speed reducer.
The beneficial effects are that: according to the robot crawler traveling system, the crawler assemblies and the vehicle chassis are connected by the plurality of parallelogram mechanisms, the crawler assemblies are crawler assemblies directly driven by the motors, and the vehicle body shock absorbers are arranged between the crawler connecting seats and the chassis connecting seats, so that independent suspension is formed between the robot crawler traveling system on two sides of the vehicle chassis and the vehicle body chassis, and the ground planes of the crawler are always parallel to the bearing surfaces of the vehicle body chassis. Because the crawler assembly comprises the crawler, a longitudinal floating beam is arranged in the space inside the crawler, a guide wheel is arranged at the front end of the longitudinal floating beam, a driving wheel, a driving motor and a speed reducer are arranged at the rear end of the longitudinal floating beam, a plurality of upper riding wheels are arranged on the longitudinal floating beam, a plurality of supporting wheels are arranged below the longitudinal floating beam, each supporting wheel is connected with the longitudinal floating beam through a dragging arm, a crawler shock absorber is arranged between each dragging arm and the longitudinal floating beam, and the guide wheel, the upper riding wheel, the driving wheel and the supporting wheels are used for tensioning the crawler into an inverted trapezoid. Because each supporting wheel consists of a supporting wheel shaft and two parallel supporting wheel bodies, the crawler belt assembly further comprises at least two anti-drop wheels, the anti-drop wheels are arranged on the supporting wheel shafts between the two supporting wheel bodies, and the longitudinal anti-drop grooves are arranged on the crawler belt corresponding to the anti-drop wheel positions, so that the crawler belt running system of the robot has the function of preventing the crawler belt from derailing and has stronger cross-country capability. The longitudinal floating beam is formed by connecting two floating beam plates in parallel, and a plurality of connecting shafts for connecting the two floating beam plates are arranged between the two floating beam plates, and the connecting shafts and the crawler connecting seats are correspondingly arranged and connected. The technical characteristics of the crawler tensioning mechanism controlled by the screw rod and nut mechanism are adopted on the longitudinal floating beam, so that the crawler tensioning operation is more convenient. Due to the adoption of the technical characteristics that one end of the vehicle body damper is hinged to the lower section of the crawler belt connecting seat, and the other end of the vehicle body damper is hinged to the upper section of the chassis connecting seat, the damping effect of the damper is better. Due to the technical characteristics that the upper riding wheel consists of one riding wheel shaft and two parallel riding wheel bodies, the crawler belt runs more stably and is not easy to derail. Because the speed reducer is a cycloidal pin gear speed reducer, the structure of the crawler belt assembly is more compact, and the speed reducer can run in the forward direction and the reverse direction, so that the crawler belt running system is more flexible to steer.
Drawings
The crawler belt system for a robot of the present utility model will be described in further detail with reference to the accompanying drawings.
FIG. 1 is an overall block diagram of a crawler belt running system of a robot of the present utility model;
FIG. 2 is a block diagram of a parallelogram mechanism in the crawler belt running system of the present utility model;
FIG. 3 is a front view of a track assembly in the robotic crawler of the present utility model;
FIG. 4 is a block diagram of an anti-drop wheel in the crawler belt running system of the robot of the present utility model;
fig. 5 is a block diagram of a track tensioning mechanism in the crawler belt running system of the robot of the present utility model.
Detailed Description
As shown in fig. 1, the track walking system for the robot comprises a track assembly 1 with a track shock absorber and a plurality of parallelogram mechanisms 2 for connecting the track assembly 1 with a chassis of a robot body, wherein the track assembly 1 is the track assembly 1 directly driven by a motor, and 5 parallelogram mechanisms 2 are adopted in the embodiment of fig. 1.
As shown in fig. 2, each parallelogram mechanism 2 is formed by hinging a track connecting seat 8, a chassis connecting seat 9, an upper connecting rod 7 and a lower connecting rod 10, wherein the track connecting seat 8 is fixed on the track assembly 1, the chassis connecting seat 9 is fixed on a robot vehicle body chassis, a vehicle body damper 11 is arranged between the track connecting seat 8 and the chassis connecting seat 9, one end of the vehicle body damper 11 is hinged at the lower section of the track connecting seat 8, and the other end is hinged at the upper section of the chassis connecting seat 9.
The crawler belt assembly 1 comprises a crawler belt 3, as shown in fig. 3, a longitudinal floating beam 4 is arranged in a space in the middle of the crawler belt 3, a guide wheel 12 is arranged at the front end of the longitudinal floating beam 4, a driving wheel 15, a driving motor 14 and a speed reducer 13 are arranged at the rear end of the longitudinal floating beam 4, the speed reducer 13 is a cycloidal pin gear speed reducer, a plurality of upper riding wheels 18 are arranged on the longitudinal floating beam 4, a plurality of supporting wheels 5 are arranged below the longitudinal floating beam 4, each supporting wheel 5 is connected with the longitudinal floating beam 4 through a trailing arm 16, the supporting wheels 5 are arranged at the lower end of the trailing arm 16, the upper end of the trailing arm 16 is hinged on the longitudinal floating beam 4, a crawler belt shock absorber 17 is arranged between each trailing arm 16 and the longitudinal floating beam 4, and the guide wheel 12, the upper riding wheels 18, the driving wheel 15 and the supporting wheels tighten the crawler belt 3 into an inverted trapezoid.
As shown in fig. 4, each supporting wheel 5 is composed of a supporting wheel shaft and two parallel supporting wheel bodies 27, the track assembly 1 further comprises at least two anti-drop wheels 6, the anti-drop wheels 6 are installed on the supporting wheel shafts between the two supporting wheel bodies 27, and longitudinal anti-drop grooves are formed in the positions, corresponding to the anti-drop wheels 6, on the tracks 3.
In this embodiment, two anti-drop wheels 6 are installed, the upper supporting wheel is composed of a supporting wheel shaft and two parallel supporting wheel bodies, the longitudinal floating beam 4 is composed of two floating beam plates 25 connected in parallel, a plurality of connecting shafts 28 for connecting the two floating beam plates 25 are arranged between the two floating beam plates 25, the connecting shafts 28 are correspondingly arranged and connected with the crawler connecting seats 8, and a crawler tensioning mechanism is arranged on the longitudinal floating beam 4.
As shown in fig. 5, the track tensioning mechanism comprises a guide wheel sliding seat 20 arranged between two floating beam plates 25 and a guiding device which enables the guide wheel sliding seat 20 to slide forwards and backwards along the floating beam plates 25, the guiding device comprises a guiding groove on a longitudinal floating beam 4 and a guiding pin 19 arranged on the guide wheel sliding seat 20, the guiding wheel is arranged on a wheel fork 26 at the front end of the guide wheel sliding seat, a tensioning inclined surface 22 which is perpendicular to the horizontal plane and forms a certain included angle with the floating beam plates 25 is arranged at the rear end of the guide wheel sliding seat 20, a tensioning sliding block 23 which can only move in the direction perpendicular to the floating beam plates 25 is arranged between the two floating beam plates 25, a driving inclined surface which is in sliding fit with the tensioning inclined surface 22 is arranged at the front end of the tensioning sliding block 23, a tensioning sliding block guiding supporting plate 24 is fixed between the two floating beam plates 25 behind the tensioning sliding block 23, a screw 21 which controls the movement of the tensioning sliding block 23 is also arranged on the floating beam plates 25, and a screw which is matched with the screw 21 is arranged on the tensioning sliding block 23.
The crawler belt 3 in the crawler belt running system of the robot is an integral rubber crawler belt without joints.
Claims (9)
1. The utility model provides a robot crawler traveling system, includes the track subassembly that inside has the track bumper shock absorber and connects a plurality of parallelogram mechanisms that track subassembly and robot chassis, characterized by: the crawler belt assembly is a crawler belt assembly directly driven by a motor, the parallelogram mechanism is formed by hinging a crawler belt connecting seat, a chassis connecting seat, an upper connecting rod and a lower connecting rod, the crawler belt connecting seat is fixed on the crawler belt assembly, the chassis connecting seat is fixed on a robot vehicle body chassis, and a vehicle body shock absorber is arranged between the crawler belt connecting seat and the chassis connecting seat.
2. The robotic crawler of claim 1, wherein: the crawler assembly comprises a crawler, a longitudinal floating beam is arranged in a space inside the crawler, a guide wheel is arranged at the front end of the longitudinal floating beam, a driving wheel, a driving motor and a speed reducer are arranged at the rear end of the longitudinal floating beam, a plurality of upper riding wheels are arranged on the longitudinal floating beam, a plurality of supporting wheels are arranged below the longitudinal floating beam, each supporting wheel is connected with the longitudinal floating beam through a dragging arm, a crawler shock absorber is arranged between each dragging arm and the longitudinal floating beam, and the crawler is tensioned into an inverted trapezoid by the guide wheel, the upper riding wheels, the driving wheel and the supporting wheels.
3. The robotic crawler of claim 2, wherein: each supporting wheel consists of a supporting wheel shaft and two parallel supporting wheel bodies, the crawler belt assembly further comprises at least two anti-drop wheels, the anti-drop wheels are arranged on the supporting wheel shafts between the two supporting wheel bodies, and longitudinal anti-drop grooves are formed in positions, corresponding to the anti-drop wheels, on the crawler belt.
4. A robotic crawler as in claim 3, wherein: the longitudinal floating beam is formed by connecting two floating beam plates in parallel.
5. The crawler belt system according to any one of claims 2 to 4, wherein: the crawler belt tensioning mechanism comprises a guide wheel sliding seat arranged between two floating beam plates and a guide device enabling the guide wheel sliding seat to slide forwards and backwards along the floating beam plates, the guide wheel is arranged on a wheel fork at the front end of the guide wheel sliding seat, a tensioning inclined surface perpendicular to a horizontal plane and forming a certain included angle with the floating beam plates is arranged at the rear end of the guide wheel sliding seat, a tensioning sliding block capable of moving only in the direction perpendicular to the floating beam plates is further arranged between the two floating beam plates, a driving inclined surface in sliding fit with the tensioning inclined surface is arranged at the front end of the tensioning sliding block, a tensioning sliding block guide supporting plate is fixed between the two floating beam plates behind the tensioning sliding block, a screw rod for controlling the tensioning sliding block to move is further arranged on the floating beam plates, and a screw nut matched with the screw rod is arranged on the tensioning sliding block.
6. The robotic crawler of claim 1, wherein: one end of the vehicle body damper is hinged to the lower section of the crawler belt connecting seat, and the other end of the vehicle body damper is hinged to the upper section of the chassis connecting seat.
7. The tracked robotic crawler system according to claim 5, wherein: the upper riding wheel consists of a riding wheel shaft and two riding wheel bodies which are arranged in parallel.
8. The robotic crawler of claim 7, wherein: a plurality of connecting shafts for connecting the two floating beam plates are arranged between the two floating beam plates, and the connecting shafts are correspondingly arranged and connected with the crawler belt connecting seats.
9. The robotic crawler of claim 8, wherein: the speed reducer is a cycloidal pin gear speed reducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321598826.3U CN219382647U (en) | 2023-06-21 | 2023-06-21 | Robot crawler traveling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321598826.3U CN219382647U (en) | 2023-06-21 | 2023-06-21 | Robot crawler traveling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219382647U true CN219382647U (en) | 2023-07-21 |
Family
ID=87196604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321598826.3U Active CN219382647U (en) | 2023-06-21 | 2023-06-21 | Robot crawler traveling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219382647U (en) |
-
2023
- 2023-06-21 CN CN202321598826.3U patent/CN219382647U/en active Active
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