Hilly mountainous all-electric crawler working robot

Abstract

The utility model discloses a kind of hilly land full-electricity track operation robot, comprising: machine body and track frame, machine body both ends are fixedly installed with guide block, guide block is slidably installed in guide slot, guide slot is opened in the inner side one end of track frame, the upper and lower surfaces in guide slot are fixedly installed with floating shock-absorbing mechanism, and the other end of the other two floating shock-absorbing mechanisms is fixedly connected with the upper and lower surfaces of guide block, the other end of track frame is rotatably installed with multiple guide wheels and two groups of driving wheels, the outer surface of multiple guide wheels and driving wheels is sleeved with track, and track is engaged with driving wheel. The design of the floating shock-absorbing mechanism, through this floating shock-absorbing mode, can effectively resolve the impact force from the ground, avoid producing strong up-down swing power, so as to provide stable and reliable operating environment for the energy storage battery and other core components carried.

Description

Technical Field

[0001] This utility model relates to the field of operational robot technology, specifically a fully electric tracked operational robot for hilly and mountainous terrain. Background Technology

[0002] In the wave of rapid technological development, the innovation and iteration of machinery and equipment are constantly reshaping our production and lifestyles. From complex and varied hilly and mountainous operations to the basic structure of automobile tires, every seemingly minor technical field contains immense wisdom and breakthroughs. With its unique design and functions, the fully electric tracked robot for hilly and mountainous terrain has become a powerful assistant in handling complex terrain operations.

[0003] For example, the national patent publication number CN118953519A discloses a tracked mobile operation robot, including a frame. The upper part of the frame is provided with an operation module, and the lower part is provided with a drive device. The drive device includes a protective shell, and drive components are provided on the side walls of both sides of the protective shell. The track body is provided outside the drive components. The drive components include drive wheels, idler wheels, support wheels, and carrier wheels. The track body is detachably connected to the drive components. The support wheels can drive the frame to move after the track body is detached. Using support wheels to drive the equipment is simple and efficient. Compared with the existing method of adding wheeled travel devices to tracked mobile equipment, it does not require complex transmission and switching devices, simplifies the equipment structure, facilitates operation, and can use a single movement mode for a long time without increasing additional fuel consumption and production costs.

[0004] However, the tracked mobile robots mentioned above do not have floating shock absorption when walking in mountainous terrain, making it difficult to effectively buffer the impact of bumps and swings on the battery-equipped body. This not only affects the service life of the equipment, but also causes safety hazards due to battery damage or loose installation. Utility Model Content

[0005] The purpose of this utility model is to provide a fully electric tracked robot for hilly and mountainous terrain, in order to solve the problem mentioned in the background art that when tracked robots walk in mountainous terrain, they lack an effective shock absorption structure, making it difficult to buffer the impact of bumps and swings on the battery-loaded body, thus affecting the service life and operational safety of the equipment.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A fully electric tracked robot for hilly and mountainous terrain includes: a body and a track frame. Guide blocks are fixedly installed at both ends of the body. The guide blocks are slidably installed in guide grooves. The guide grooves are opened at one end of the inner side of the track frame. Floating shock absorption mechanisms are fixedly installed on the upper and lower surfaces of the guide grooves. The other ends of the two sets of floating shock absorption mechanisms are fixedly connected to the upper and lower surfaces of the guide blocks. Multiple sets of guide wheels and two sets of drive wheels are rotatably installed at the other end of the track frame. Tracks are fitted on the outer surfaces of the multiple sets of guide wheels and drive wheels, and the tracks mesh with the drive wheels.

[0008] Preferably, a speed reducer is fixedly installed on one end of the inner side of the machine body, the output shaft of the speed reducer is fixedly connected to the drive wheel, the input shaft of the speed reducer is fixedly connected to the output shaft of the motor, and the motor is fixedly installed on one end of the speed reducer.

[0009] Preferably, the motor is electrically connected to the energy storage battery, and the energy storage battery is fixedly installed on the upper surface of the machine body.

[0010] Preferably, the floating damping mechanism includes a piston rod, which is fixedly installed on the upper and lower surfaces of the guide groove. The piston rod slides in a damped manner inside the cylinder, and the cylinder is fixedly installed on the upper and lower surfaces of the guide block. This allows the piston rod to slide into the cylinder or pull outward to perform positive or negative work on the internal air.

[0011] Preferably, both sets of piston rods fixedly installed in the guide groove are connected to valves, and the valve ports of the valves extend from the guide groove to the upper and lower surfaces of the track frame. The air ports of the valves are connected to the cylinder, so that the valves can inject or discharge air into the cylinder through the piston rods.

[0012] Preferably, a shock-absorbing spring is fitted on the outer surface of the piston rod, and the upper and lower surfaces of the shock-absorbing spring are respectively fixedly connected between the guide groove and the guide block.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. Through the design of the body, track frame, tracks, guide wheels, drive wheels, energy storage battery, and floating shock absorption mechanism, when traversing mountainous terrain, the energy storage battery powers the motor, which then drives the reducer to rotate the drive wheels. This allows the drive wheels to drive the tracks on the outer surface to move across the terrain. During travel, when encountering bumpy or potholed areas, the machine uses guide blocks fixed at both ends to press against the floating shock absorption mechanism within the guide grooves of the track frame. This provides the energy storage battery-equipped body with a floating shock absorption function. Furthermore, the body is not rigidly fixed but floats between the two sets of tracks to flexibly absorb shocks. This unique design effectively dissipates the impact force from the ground, avoiding strong up-and-down swinging forces, thus providing a stable and reliable operating environment for the energy storage battery and other core components.

[0015] 2. Through the design of piston rods, damping springs, valves, and cylinders, when the robot moves up and down due to terrain undulations during its movement, the cylinders on the upper and lower surfaces of the guide blocks on both sides slide along the outer surface of the piston rods in a damped manner. During this process, the upper and lower sets of piston rods work in a complementary manner. When the upper piston rod slides into the cylinder, it does positive work on the internal air, compressing the gas and increasing the pressure, thus forming an upward buffering force. At the same time, the lower piston rod pulls outward, doing negative work on the internal air, causing the gas to expand and the pressure to decrease, thus forming a downward buffering force. These two opposite pressure changes exist simultaneously when the robot moves up and down, together forming a dynamic balance damping system.

[0016] Furthermore, during the positive and negative work performed by the piston rod, the shock-absorbing springs fitted on the outer surface work simultaneously. When the machine is subjected to impact from the ground, the shock-absorbing springs are compressed and undergo elastic deformation, converting some of the vibration energy into elastic potential energy for storage. When the vibration weakens, the shock-absorbing springs release the elastic potential energy, pushing the machine back to a relatively stable position. This dual damping mechanism of gas damping and shock-absorbing spring elasticity can not only efficiently absorb and disperse vibration energy, but also ensure that the machine maintains dynamic balance between the two sets of tracks through the restoring action of the shock-absorbing springs, minimizing the impact of the up-and-down swinging force on core components such as the energy storage battery. Attached Figure Description

[0017] Figure 1 This is a top view of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the overall bottom view of the present invention;

[0019] Figure 3 This is a structural schematic diagram of the floating shock absorption mechanism of this utility model.

[0020] In the diagram: 1. Track frame; 101. Motor; 102. Reducer; 103. Drive wheel; 104. Guide wheel; 105. Track; 106. Guide groove; 2. Body; 201. Energy storage battery; 202. Guide block; 203. Cylinder; 3. Floating shock absorption mechanism; 301. Piston rod; 302. Shock absorption spring; 303. Valve. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figures 1-2 This embodiment provides the following technical solution:

[0023] like Figures 1-2 As shown, a fully electric tracked robot for hilly terrain includes a body 2 and a track frame 1. Guide blocks 202 are fixedly installed at both ends of the body 2. The guide blocks 202 are slidably installed in guide grooves 106, which are located at one end of the inner side of the track frame 1. Floating shock-absorbing mechanisms 3 are fixedly installed on the upper and lower surfaces of the guide grooves 106. The other ends of these two sets of floating shock-absorbing mechanisms 3 are fixedly connected to the upper and lower surfaces of the guide blocks 202. Multiple sets of guide wheels 104 and two sets of drive wheels 103 are rotatably installed at the other end of the track frame 1. Tracks 105 are fitted onto the outer surfaces of the guide wheels 104 and drive wheels 103, and the tracks 105 mesh with the drive wheels 103. A reducer 102 is fixedly installed at one end of the inner side of the body 2. The output shaft of the reducer 102 is fixedly connected to the drive wheels 103, and the input shaft of the reducer 102 is fixedly connected to the output shaft of a motor 101. The motor 101 is fixedly installed at one end of the reducer 102. The motor 101 is electrically connected to the energy storage battery 201, which is fixedly installed on the upper surface of the body 2.

[0024] Through the design of the body 2, track frame 1, track 105, guide wheel 104, drive wheel 103, energy storage battery 201, and floating shock absorption mechanism 3, when traversing mountainous terrain, the energy storage battery 201 powers the motor 101, which then drives the reducer 102 to rotate the drive wheel 103. This allows the drive wheel 103 to drive the track 105, which is mounted on the outer surface, to move on mountainous terrain. During travel, if the terrain is bumpy or uneven, the body 2 will be secured at both ends... The guide block 202 presses against the floating shock absorption mechanism 3 in the guide groove 106 of the track frame 1, thereby enabling the body 2 carrying the energy storage battery 201 to have a floating shock absorption function. In this process, the body 2 is not rigidly fixed, but floats between the two sets of tracks 105 to flexibly absorb shock. This unique design can effectively dissipate the impact force from the ground and avoid generating strong up-and-down swinging force, thereby providing a stable and reliable operating environment for the energy storage battery 201 and other core components.

[0025] like Figure 3 As shown, the floating shock absorption mechanism 3 includes a piston rod 301, which is fixedly installed on the upper and lower surfaces of the guide groove 106. The piston rod 301 slides in a damped manner within the cylinder 203, which is fixedly installed on the upper and lower surfaces of the guide block 202. This allows the piston rod 301 to slide inward or outward to perform positive or negative work on the internal air. Both sets of piston rods 301 fixedly installed in the guide groove 106 are connected to valves 303. The valve ports of the valves 303 extend from the guide groove 106 to the upper and lower surfaces of the track frame 1, and the air ports of the valves 303 are connected to the cylinder 203, allowing the valves 303 to inject or discharge air into the cylinder 203 through the piston rods 301. A shock-absorbing spring 302 is fitted on the outer surface of the piston rod 301. The upper and lower surfaces of the shock-absorbing spring 302 are fixedly connected between the guide groove 106 and the guide block 202, respectively.

[0026] Through the design of piston rod 301, shock-absorbing spring 302, valve 303 and cylinder 203, when the robot body 2 floats up and down due to the terrain during the robot's movement, the cylinder 203 on the upper and lower surfaces of the guide blocks 202 on both sides will slide in a damped manner along the outer surface of piston rod 301. During this process, the upper and lower sets of piston rods 301 present a complementary working state. When the upper piston rod 301 slides into the cylinder 203, it does positive work on the internal air, the gas is compressed, the pressure increases, and an upward buffering force is formed. At the same time, the lower piston rod 301 pulls outward, doing negative work on the internal air of the cylinder 203, causing the gas to expand, the pressure decreases, and a downward buffering force is formed. These two opposite pressure changes exist simultaneously when the robot body 2 floats up and down, together forming a dynamic balance shock absorption system.

[0027] Furthermore, during the positive and negative work of the piston rod 301, the shock-absorbing spring 302 mounted on the outer surface will play a role simultaneously. When the machine body 2 is subjected to the impact force from the ground, the shock-absorbing spring 302 is compressed and undergoes elastic deformation, converting some of the vibration energy into elastic potential energy for storage. When the vibration weakens, the shock-absorbing spring 302 releases the elastic potential energy, pushing the machine body 2 back to a relatively stable position. This dual shock-absorbing mechanism of gas damping and the elasticity of the shock-absorbing spring 302 can not only efficiently absorb and disperse vibration energy, but also ensure that the machine body 2 maintains dynamic balance between the two sets of tracks 105 through the reset action of the shock-absorbing spring 302, minimizing the impact of the up-and-down swinging force on core components such as the energy storage battery 201.

[0028] Based on the above technical solution, the working steps of this solution are summarized as follows: When the robot moves, the energy storage battery 201 supplies power to the motor 101, which then drives the reducer 102 to rotate the drive wheel 103. This allows the drive wheel 103 to drive the track 105 mounted on the outer surface to walk on mountainous terrain. During the movement, if the robot passes through bumpy or potholed areas, the robot body 2 will slide up and down in the guide groove 106 of the track frame 1 via the guide blocks 202 fixed at both ends. During this process, the guide blocks 202 will also drive the cylinders 203 fixed on the upper and lower surfaces to slide up and down in a damped manner on the outer surface of the piston rod 301. During this process, the upper and lower sets of piston rods 301 work in a complementary manner. When the upper piston rod 301... When the piston rod slides into the cylinder 203, it performs positive work on the internal air, compressing the gas and increasing its pressure, thus creating an upward buffering force. At the same time, the piston rod 301 below pulls outward, performing negative work on the air inside the cylinder 203, causing the gas to expand and its pressure to decrease, thus creating a downward buffering force. These two opposing pressure changes exist simultaneously as the body 2 floats up and down, together forming a dynamic equilibrium shock absorption system. During the process of the piston rod 301 performing positive and negative work, the shock absorption spring 302 fitted on the outer surface will play a role in sync. When the body 2 is subjected to an impact force from the ground, the shock absorption spring 302 is compressed and undergoes elastic deformation, converting some of the vibration energy into elastic potential energy for storage. When the vibration weakens, the shock absorption spring 302 releases the elastic potential energy, pushing the body 2 back to a relatively stable position.

[0029] In summary, this floating shock absorption method effectively dissipates the impact force from the ground, avoiding strong up-and-down swinging forces, thereby providing a stable and reliable operating environment for the onboard energy storage battery 201 and other core components.

[0030] All parts not described in this utility model are the same as or can be implemented using existing technology. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this utility model, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fully electric tracked robot for hilly and mountainous terrain, characterized in that, include: The machine body (2) and track frame (1) are provided. Guide blocks (202) are fixedly installed at both ends of the machine body (2). The guide blocks (202) are slidably installed in the guide groove (106). The guide groove (106) is opened at one end of the inner side of the track frame (1). Floating shock absorption mechanisms (3) are fixedly installed on the upper and lower surfaces of the guide groove (106). The other ends of the two sets of floating shock absorption mechanisms (3) are fixedly connected to the upper and lower surfaces of the guide blocks (202). Multiple sets of guide wheels (104) and two sets of drive wheels (103) are rotatably installed on the other end of the track frame (1). Tracks (105) are fitted on the outer surfaces of the multiple sets of guide wheels (104) and drive wheels (103). The tracks (105) mesh with the drive wheels (103).

2. The all-electric tracked robot for hilly and mountainous terrain according to claim 1, characterized in that: A speed reducer (102) is fixedly installed on one end of the inner side of the machine body (2). The output shaft of the speed reducer (102) is fixedly connected to the drive wheel (103). The input shaft of the speed reducer (102) is fixedly connected to the output shaft of the motor (101). The motor (101) is fixedly installed on one end of the speed reducer (102).

3. The all-electric tracked robot for hilly and mountainous terrain according to claim 2, characterized in that: The motor (101) is electrically connected to the energy storage battery (201), and the energy storage battery (201) is fixedly installed on the upper surface of the body (2).

4. The all-electric tracked robot for hilly and mountainous terrain according to claim 1, characterized in that: The floating damping mechanism (3) includes a piston rod (301), which is fixedly installed on the upper and lower surfaces of the guide groove (106). The piston rod (301) slides in a damped manner in the cylinder (203), which is fixedly installed on the upper and lower surfaces of the guide block (202). This allows the piston rod (301) to slide into the cylinder (203) or pull outward to perform positive or negative work on the internal air.

5. The all-electric tracked robot for hilly and mountainous terrain according to claim 4, characterized in that: Two sets of piston rods (301) fixedly installed in the guide groove (106) are each connected to a valve (303). The valve port of the valve (303) extends from the guide groove (106) to the upper and lower surfaces of the track frame (1). The air port of the valve (303) is connected to the cylinder (203) so that the valve (303) can inject or discharge air into the cylinder (203) through the piston rod (301).

6. The all-electric tracked robot for hilly and mountainous terrain according to claim 5, characterized in that: The piston rod (301) is fitted with a shock-absorbing spring (302) on its outer surface. The upper and lower surfaces of the shock-absorbing spring (302) are fixedly connected between the guide groove (106) and the guide block (202), respectively.

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