CN220315155U - Electric independent four-wheel drive crawler-type robot chassis - Google Patents

Abstract

The utility model discloses an electric independent four-wheel drive crawler-type robot chassis, which particularly relates to the field of robots, and comprises driving wheels, supporting wheels, riding wheels, tracks, frame beams and driving motors, wherein the supporting wheels are fixed at the front ends of the frame beams, the lower parts of the supporting wheels are tightly attached with the tracks, one sides of the tracks are internally connected with the driving wheels in a meshed manner, the driving wheels and the driving motors are connected through couplings, a user holds a remote controller, then the remote controller transmits commands of forward, backward and left rotation and right rotation to the driving controllers, then the four driving motors drive the four driving wheels to correspondingly rotate, then the four driving wheels drive two tracks to rotate to control the forward, backward and left rotation and right rotation of the robot chassis, and then the supporting wheels support the chassis, so that the tracks are prevented from shifting during running, and the robot chassis can work well in response to complex terrains such as hillsides and gullies.

Description

Electric independent four-wheel drive crawler-type robot chassis

Technical Field

The utility model belongs to the field of robots, and relates to an electric independent four-wheel drive crawler-type robot chassis.

Background

For working environments with heavy loads and complex terrains, the chassis structure of the crawler-type robot is the first choice, but for working environments with sloping fields and ravines, the anti-rollover capability of the crawler is extremely easy to test, and the crawler with heavy loads is provided with a high-power driving motor.

After retrieval, no relevant patent was retrieved:

the existing crawler-type robot chassis is generally a front drive or a rear drive, when working in environments of some hillsides and ravines, the climbing capacity is easy to be reduced due to large front-rear weight difference, and the large-power motor simultaneously faces the problems of large volume and high gravity center, so that the crawler-type robot chassis is not beneficial to running on complex terrains.

Therefore, a crawler-type robot chassis with electric independent four-wheel drive is provided for solving the problems.

Disclosure of Invention

In order to overcome the above-mentioned drawbacks of the prior art, an embodiment of the present utility model provides an electrically-driven independent four-wheel-drive tracked robot chassis, so as to solve the problems set forth in the background art.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides an electronic independent four-wheel drive's crawler-type robot chassis, crawler-type chassis includes drive wheel, thrust wheel, riding wheel, track, frame roof beam and driving motor.

The utility model discloses a track, including frame roof beam, supporting wheel, driving motor, tensioning adjusting arm, supporting wheel, right-handed threaded rod, long nut, left-handed threaded rod, the supporting wheel is fixed in the front end of frame roof beam to the supporting wheel, the below of supporting wheel is closely laminated to the supporting wheel, one side inner gearing of track is connected with the driving wheel, driving wheel and driving motor pass through the coupling joint, the top hinged joint of frame roof beam has the tensioning adjusting arm, the fixed riding wheel in tensioning adjusting arm top, the rear end is fixed with the universal joint on the tensioning adjusting arm, one side fixedly connected with right-handed threaded rod of universal joint, the opposite side screw thread meshing of right-handed threaded rod is connected with long nut, the one end screw thread meshing of long nut is connected with left-handed threaded rod.

Preferably, the driving wheel and the driving motor are four in number, and two on the left side and the right side respectively.

Preferably, the four driving motors are synchronously driven by a driving controller, and the remote controller transmits operation instructions to the driving controller.

Preferably, the universal joint is fixed together through a right-handed threaded rod, a left-handed threaded rod and a long nut.

Preferably, the driving motor is fixedly connected with the frame beam, and the fixed riding wheels are tightly attached to the crawler belt.

Preferably, the number of the tensioning adjustment arms is two, and the two tensioning adjustment arms are symmetrical relative to the central axis of the crawler belt.

Preferably, the number of the thrust wheels is eight, and the eight thrust wheels are equidistantly distributed on the frame beam.

The utility model has the technical effects and advantages that:

compared with the prior art, when the electric independent four-wheel drive crawler-type robot chassis performs test work in hillside fields and ravines, a user holds the remote controller, then the remote controller transmits commands for advancing, retreating, left rotating and right rotating to the driving controller, then the four driving motors drive the four driving wheels to correspondingly rotate, then the four driving wheels drive the two crawler-type robot chassis to advance, retreating, left rotating and right rotating, then the supporting wheels support the chassis, and meanwhile, the crawler-type robot chassis is prevented from shifting when running, and can be well adapted to complex terrains such as hillside fields and ravines to perform work.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model.

Fig. 2 is a schematic diagram of a driving wheel structure according to the present utility model.

Fig. 3 is a schematic view of the structure of the riding wheel of the present utility model.

Fig. 4 is an enlarged view of the structure of fig. 1 a according to the present utility model.

The reference numerals are: 1. a frame beam; 2. a thrust wheel; 3. a track; 4. a driving wheel; 5. a riding wheel; 6. a universal joint; 7. a long nut; 8. a right-handed threaded rod; 9. a left-handed threaded rod; 10. a driving motor; 11. tensioning the adjusting arm.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1

An electrically independent four-drive tracked robot chassis as shown in fig. 1 to 4 comprises a driving wheel 4, a thrust wheel 2, a riding wheel 5, a track 3, a frame beam 1 and a driving motor 10.

The thrust wheel 2 is fixed in the front end of frame roof beam 1, the below of thrust wheel 2 closely laminates there is track 3, one side internal engagement of track 3 is connected with drive wheel 4, drive wheel 4 and driving motor 10 pass through the coupling joint, the top hinged joint of frame roof beam 1 has tensioning adjustment arm 11, tensioning adjustment arm 11 top is fixed riding wheel 5, the rear end is fixed with universal joint 6 on the tensioning adjustment arm 11, one side fixedly connected with right-hand thread pole 8 of universal joint 6, the opposite side thread engagement of right-hand thread pole 8 is connected with long nut 7, one end thread engagement of long nut 7 is connected with left-hand thread pole 9.

Wherein: rotating the two long nuts 7 to adjust the riding wheel 5 to the lowest position; the crawler belt 3 is sleeved on the two driving wheels 4, the supporting wheel 2 and the riding wheel 5 at one side, the two long nuts 7 are respectively rotated to displace the riding wheel 5 upwards, and the crawler belt 3 is tensioned.

Example two

On the basis of the first embodiment, the scheme in the first embodiment is further introduced in detail in combination with the following specific working manner, as shown in fig. 1 to 4, and described in detail below:

as a preferred embodiment; the number of the driving wheels 4 and the driving motors 10 is four, and the left side and the right side are respectively two, so that the crawler belt 3 can be driven to rotate better during later use through the relation between the driving wheels 4 and the driving motors 10.

As a preferred embodiment; the four driving motors 10 are synchronously driven by one driving controller, the remote controller transmits running instructions to the driving controller, and the driving motors 10 are controlled by the driving controller to better control.

As a preferred embodiment; the universal joint 6 is fixed together through right-handed threaded rod 8, left-handed threaded rod 9 and long nut 7, through the relation between right-handed threaded rod 8, left-handed threaded rod 9 and the long nut 7, when later stage use, can be better carry out spacing fixed.

As a preferred embodiment; the driving motor 10 is fixedly connected with the frame beam 1, the fixed riding wheels 5 are tightly attached to the crawler belt 3, and the connection can be better carried out during later use through the relation between the driving motor 10 and the frame beam 1.

As a preferred embodiment; the number of the tensioning adjusting arms 11 is two, the two tensioning adjusting arms 11 are symmetrical relative to the central axis of the crawler belt 3, and the crawler belt 3 can be tensioned better during later use through the relation between the tensioning adjusting arms 11 and the crawler belt 3.

As a preferred embodiment; the number of the thrust wheels 2 is eight, the eight thrust wheels 2 are equidistantly distributed on the frame beam 1, and the track 3 can be better prevented from sliding transversely during later use through the relation between the thrust wheels 2 and the frame beam 1.

The electrical components are all connected with an external main controller and 220V mains supply, and the main controller can be conventional known equipment for controlling a computer and the like.

The working process of the utility model is as follows:

firstly, before the device performs testing work in a sloping field and a gully, a user rotates two long nuts 7 respectively to adjust the riding wheel 5 to the lowest position; the crawler belt 3 is sleeved on two driving wheels 4, the thrust wheels 2 and the riding wheels 5 on one side, the two long nuts 7 are respectively rotated to enable the riding wheels 5 to be displaced upwards, meanwhile, the crawler belt 3 is tensioned and adjusted to be appropriate tightness, then, a user holds the remote controller when working in a sloping field and a gully, then the remote controller transmits commands of command forward, backward, left rotation and right rotation to the driving controller, then, the four driving motors 10 drive the four driving wheels 4 to correspondingly rotate, then, the four driving wheels 4 drive the two crawler belt 3 to rotate to control the robot chassis to move forward, backward, left rotation and right rotation, then, the supporting wheels 2 support the chassis, and meanwhile, the crawler belt 3 is prevented from being deviated when in operation, and the working principle of the electrically-driven independent four-wheel crawler belt robot chassis is adopted.

The last points to be described are: first, in the description of the present application, it should be noted that, unless otherwise specified and defined, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be mechanical or electrical, or may be a direct connection between two elements, and "upper," "lower," "left," "right," etc. are merely used to indicate relative positional relationships, which may be changed when the absolute position of the object being described is changed.

Claims (7)

1. The crawler-type robot chassis is characterized by comprising a driving wheel (4), a thrust wheel (2), a riding wheel (5), a crawler (3), a frame beam (1) and a driving motor (10);

the utility model discloses a track roller, including frame roof beam (1), thrust wheel (2), right-handed screw (8) of one side, right-handed screw (8) and left-handed screw (9) of one side, thrust wheel (2) are fixed in the front end of frame roof beam (1), the below of thrust wheel (2) closely laminates there is track (3), one side inside engagement of track (3) is connected with drive wheel (4), drive wheel (4) and driving motor (10) pass through the coupling joint, the top hinged joint of frame roof beam (1) has tensioning to adjust arm (11), tensioning adjusts arm (11) top fixed riding wheel (5), tensioning adjusts arm (11) upper rear end and is fixed with universal joint (6), one side fixedly connected with right-handed screw (8) of universal joint (6), the opposite side screw thread (8) screw thread engagement is connected with long nut (7), the one end screw thread engagement of long nut (7) is connected with left-handed screw (9).

2. An electrically independent four-drive tracked robotic chassis in accordance with claim 1, wherein: the number of the driving wheels (4) and the driving motors (10) is four, and two driving wheels are arranged at the left side and the right side.

3. An electrically independent four-drive tracked robotic chassis in accordance with claim 2, wherein: the four driving motors (10) are synchronously driven by a driving controller, and the remote controller transmits operation instructions to the driving controller.

4. An electrically independent four-drive tracked robotic chassis in accordance with claim 1, wherein: the universal joint (6) is fixed together through a right-handed threaded rod (8), a left-handed threaded rod (9) and a long nut (7).

5. An electrically independent four-drive tracked robotic chassis in accordance with claim 2, wherein: the driving motor (10) is fixedly connected with the frame beam (1), and the fixed riding wheels (5) are tightly attached to the crawler belt (3).

6. An electrically independent four-drive tracked robotic chassis in accordance with claim 5, wherein: the number of the tensioning adjusting arms (11) is two, and the two tensioning adjusting arms (11) are symmetrical relative to the central axis of the crawler belt (3).

7. An electrically independent four-drive tracked robotic chassis in accordance with claim 1, wherein: the number of the thrust wheels (2) is eight, and the eight thrust wheels (2) are equidistantly distributed on the frame beam (1).