All-terrain shock-absorbing suspension compound crawler robot mobile platform

A mobile platform and composite crawler technology, used in motor vehicles, crawler vehicles, transportation and packaging, etc., can solve the problems of crawler slack, crawler detachment, and robots not working normally, and achieve good buffering and shock absorption performance. The effect of reducing impact

Active Publication Date: 2022-06-21
河北石安特智能科技有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The swing arm of the Christie suspension swings during shock absorption, and the walking wheel is raised to overcome obstacles, but the track will loosen after the walking wheel is lifted. Therefore, in actual work, when the crawler robot chassis encounters complex terrain and vibrates, it is easy to cause the track to detach , resulting in the robot not working properly

Method used

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  • All-terrain shock-absorbing suspension compound crawler robot mobile platform
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  • All-terrain shock-absorbing suspension compound crawler robot mobile platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] like Figure 1~Figure 9 As shown, the mobile platform of the all-terrain shock-absorbing suspension type compound crawler robot of the present disclosure can be applied to various all-terrain, stair-climbing crawler type reconnaissance and patrol robots, fire-fighting robots, EOD robots, etc. Work in harsh environments such as Gobi and river beaches.

[0048] The all-terrain shock-absorbing suspension type composite crawler robot mobile platform includes a disk frame 10 and a crawler walking mechanism 20. According to the working requirements of the robot, different control systems and carrying components can be set.

[0049] The disk rack 10 is the load-bearing part of the mobile platform of the robot, and integrates various mechanisms together. The disk rack 10 has a horizontal upper rack 101, such as image 3 As shown, the upper top frame 101 may include a rectangular frame, in order to improve the stability and practical strength of the frame, an I-shaped reinforc...

Embodiment 2

[0062] The mobile platform of the all-terrain shock-absorbing suspension type compound crawler robot of the present disclosure increases the suspension stroke of the load-bearing wheel 203 on the basis of the first embodiment.

[0063] like Figure 5 As shown, the disk rack 10 further includes a horizontal bottom beam 104 that can float up and down, and the Christie hanger 204 is fixed on the bottom beam 104 .

[0064] The rotating shafts on the multiple sets of Christie suspension frames 204 are fixed on a shock-absorbing beam 109 , and the shock-absorbing beam is then fixed with the bottom beam 104 . The bottom beam 104 is fixed to the upper top frame 101 through a vertical connecting arm, and the connecting arm includes a fixing beam 105 , a mounting frame and a third elastic body 106 . The upper end of the fixed beam 105 is fixed with the upper top frame 101 , and the lower end has a gap for the bottom beam 104 to slide up and down, the gap is opened vertically downward, ...

Embodiment 3

[0069] In the mobile platform of the all-terrain shock-absorbing suspension type compound crawler robot of the present disclosure, on the basis of the first embodiment, a horizontal mounting block 107 is fixed at the lower end of the first suspension arm 102 . The first elastic body 103 includes a first spring, a first installation rod is passed through the first spring, and a hinge seat is fixed on the upper end of the first installation rod, so that the upper end of the first installation rod can be rotatably fixed to the upper top frame 101 The upper and lower ends slidably pass through the mounting block 107 , and the lower end of the first mounting rod has an external thread, the external thread is threadedly connected with a lock nut, and the lock nut is located below the mounting block 107 . The upper end of the first spring is fixed with the first installation rod, and the lower end is fixed with the installation block 107, so that the first spring can be compressed or ...

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Abstract

The invention discloses an all-terrain shock-absorbing suspension compound crawler robot mobile platform, which comprises a disk frame and crawler belt traveling mechanisms fixed on both sides of the disk frame. The load-bearing wheels on the robot mobile platform are floatingly installed on the disk frame through the Christie suspension frame, which can well reduce the impact of the uneven road surface on the robot body, and has good cushioning and shock absorption performance. The sprockets at both ends of the track not only play the role of driving and positioning, but also the sprockets at both ends are suspended on the frame through two first suspension arms arranged in a figure-eight shape, and the upper end of the first suspension arm and the frame can rotate Connected, the lower end is elastically suspended on the upper frame through the first elastic body, and after assembly, the first elastic body is in a stretched state, and this structure also makes the two sprockets play the role of tightening the track. The wheelbase between the two sprockets can automatically adjust the front and rear wheelbases according to the terrain and the platform load. Through real-time adjustment, the track has tension and does not come off, ensuring that the robot can work effectively and stably.

Description

technical field [0001] The invention relates to the field of crawler robots, in particular to an all-terrain shock-absorbing suspension type compound crawler robot mobile platform. Background technique [0002] Tracked robots mainly refer to robots equipped with tracked chassis mechanisms. Tracked mobile robots have the advantages of large traction, not easy to slip, and good off-road performance. Crawler robots can carry a variety of loads and are widely used in various industries such as inspection, investigation, coordinated transportation, fire protection, municipal administration, etc., with good versatility and wide application. [0003] In order to overcome the harsh open-air operating environment and changeable road conditions, the crawler-type robot will vibrate the expensive precision equipment such as lidar, camera, and thermoforming. The mobile chassis of the robot is usually equipped with a suspension system with a shock-absorbing design. Suspension can allevia...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/108B62D55/30
CPCB62D55/108B62D55/30
Inventor 张永芳
Owner 河北石安特智能科技有限公司
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