Tracked robotic platform

Abstract

FIELD: ground-based robotic vehicles.SUBSTANCE: tracked robotic platform comprises a body, a power unit with a transmission, a tracked drive consisting of drive wheels, guide wheels, support rollers and track belts. The guide wheels and front support rollers are mounted on rocker arms installed on the side panels of the body with the ability to freely rotate in a vertical plane relative to the mounting point. The ability to move is ensured by a mechanism for changing the lifting height of the guide wheels, made of two shafts whose ends rest on the inner surface of the longitudinal cutouts in said rocker arms and connected to each other by plates. A telescopic rod is pivotally mounted at the upper ends of said plates adapted for changing the length, the other end of which is mounted on the front panel of the body; to change the length of the telescopic rod, an electric drive is installed in the same housing with it.EFFECT: controlled change of the front track contour for passing over obstacles.1 cl, 5 dwg

Description

[0001] The invention relates to ground-based robotic vehicles.

[0002] The prior art includes the invention "Tracked Robots with Tracks with Roller Wheels" (US2020094893A1), which comprises one or more tracks connected to a chassis. The track consists of segments to which multiple rollers are attached along its length. A drive system is also provided, connected to the tracks and chassis.

[0003] The disadvantage of the known solution is the lack of possibility to change the front track contour.

[0004] Also known from the prior art is the "Mobile Modular Robotic Complex" (RU2771402C1), which comprises a self-propelled base platform with independent drive units (tracked or wheeled), a multi-stage manipulator, two video cameras with illumination, an external device activation system, and a remote control. Distinctive features include: power supply from Li-Ion batteries, a platform made of moisture-resistant plywood, removable drive units for transport, a weight of 16 kg, and a manipulator secured with a single bolt and connected via a command port.

[0005] The disadvantage of this technical solution is also the lack of the ability to change the front track contour.

[0006] The closest technical solution is the "Track platform for a robotic vehicle equipped with a movable track segment" (LV14016B), which consists of a platform, drive wheels, tensioners, track belts, rollers, and an auxiliary vibrator roller. The differences are that the platforms are designed as levers, and springs form the movable track segment.

[0007] The prototype's main technical problem is the inability to control the front track contour. Furthermore, when changing the idler wheel lift, there is no track tension control system. This can result in the tracks either breaking or slipping off the road wheels.

[0008] The objective of the invention is to eliminate the shortcomings of analogues.

[0009] The technical result of the invention consists in providing a controlled change in the front contour of the tracks for passing through obstacles.

[0010] The said technical result is achieved due to the fact that a tracked robotic platform comprising a housing, a power plant with a transmission, a tracked mover consisting of drive wheels, guide wheels, support rollers and track belts, characterized in that the guide wheels and front support rollers are mounted on rocker arms installed on the side panels of the housing with the possibility of free rotation in a vertical plane relative to the mounting point, while the possibility of movement is ensured by a mechanism for changing the lifting height of the guide wheels made of two shafts resting with their ends on the inner surface of longitudinal cutouts in the said rocker arms and connected to each other by plates, in the upper ends of the said plates a telescopic rod is pivotally mounted, made with the possibility of changing the length, which is mounted with its other end on the front panel of the housing,To change the length of the telescopic rod, an electric drive is installed in the same housing as it.

[0011] Brief description of drawings.

[0012] Fig. 1 shows a general view of the tracked robotic platform.

[0013] Fig. 2 shows a rear view of the tracked robotic platform.

[0014] Fig. 3 shows the general view of the tracked robotic platform without the top panel.

[0015] Fig. 4 shows a general view of the tracked robotic platform without special equipment.

[0016] Fig. 5 shows the mechanism for raising and lowering the guide wheels in disassembly.

[0017] The following are indicated on the figures: 1 - bottom; 2 - side profiles; 3 - front panel; 4 - rear panel; 5 - top panel; 6 - hinges; 7 - service hole; 8 - flange; 9 - manipulator; 10 - bulkheads; 11 - drive wheels; 12 - guide wheels; 13 - support rollers; 14 - tracks; 15 - balance beams; 16 - rocker arms; 17 - shafts; 18 - longitudinal cutouts; 19 - plates; 20 - holes; 21 - pin; 22 - telescopic rod; 23 - electric drive; 24 - shackle.

[0018] Implementation of the invention

[0019] The tracked robotic platform (hereinafter referred to as the platform) consists of a body, a power unit, a transmission, a chassis and special (working) equipment.

[0020] The hull is made in the form of a hollow welded structure of rectangular cross-section and is formed by a bottom 1, left and right side profiles 2, bow (front) 3 and stern (rear) 4 transverse panels, and an upper panel (roof) 5.

[0021] The top panel 5 is mounted so that it can be lifted vertically and tilted longitudinally to access the interior of the case. For this purpose, hinges 6 are mounted on the front panel, on which the top panel 5 is mounted.

[0022] In addition, on the top panel 5 from the side of the front panel 3, a technological hole 7 with a flange 8 is made for mounting special (working) equipment.

[0023] In the claimed version, the special equipment is the manipulator 9.

[0024] The interior of the hull is divided by bulkheads 10, which serve as stiffeners. They also serve as mounting platforms for internal equipment.

[0025] In the stern, inside the hull, a power plant assembly is mounted with transmission elements (not shown in the figures), transmitting torque to the tracked drive.

[0026] The track drive is a closed kinematic chain comprising drive wheels 11, idler wheels 12, support rollers 13, and track belts 14. The support branches of the track belts 14 rest on three pairs of support rollers 13 mounted so as to allow free rotation. Two pairs of support rollers 13 are mounted directly on the side profiles 2 using balancers 15 installed on torsion shafts, and the front pair of support rollers 13 is mounted on rocker arms 16.

[0027] Rocker arms 16 are designed as triangular plates. The central portion of the rocker arms 16 is mounted on the side profiles 2, allowing for free rotation.

[0028] Front support rollers 13 are mounted on rocker arms 16, on the side facing the rear of the tracked robotic platform. Guide wheels 12 are mounted on the opposite side of the rocker arms.

[0029] Between the right and left rocker arms 16, a mechanism for raising and lowering the guide wheels 12 is installed. The said mechanism is made in the form of two shafts 17, whose edges rest on the inner surface of through longitudinal cutouts 18 made in the rocker arms 16. In this case, for each of the shafts, one cutout 18 is made in each rocker arm 16. The shafts 17 are connected to each other by two plates 19 installed in the central part of the said shafts 17. On the front edges of the plates 17, technological through holes 20 are made, in which a pin 21 is detachably mounted.

[0030] A telescopic rod 22 is mounted on the front crossbar 3 of the housing, allowing for adjustable length. For this purpose, an electric drive 23 is mounted in the same housing. A clevis 24 is provided at the end of the telescopic rod, connecting rod 22 to pin 21.

[0031] The platform works as follows.

[0032] When traveling along a straight, obstacle-free section, the guide wheels 12 are either lowered or slightly raised above the ground. If an obstacle arises along the route, the operator sends an actuating signal to the electric drive 23, which, via a gearbox (not shown in the figures), shortens the telescopic rod 22. Said rod 22 pulls plates 17, as a result of which the mechanism for raising and lowering the guide wheels raises the edges of the rocker arms 16 together with the guide wheels 12. After passing an obstacle, an actuating signal through the electric drive 23 increases the length of the telescopic rod 22. As a result, the guide wheels are lowered.

[0033] In addition to ensuring passage through obstacles, when operating the manipulator 9, the guide wheels 12 lowered to the ground ensure a shift in the center of gravity of the platform and thereby increase the supporting surface, which prevents the platform from tipping over.

[0034] The specified technical result of providing a controlled change in the front bypass of the tracks for passing through obstacles is achieved by a track mover containing rocker arms 16 mounted on the side profiles 2 of the body with the ability to move freely in a vertical plane relative to the mounting point, on which support rollers 13 are mounted at one end, and guide wheels 12 at the other. In this case, the front bypass of the track changes due to the raising and lowering of the guide wheels with the help of a raising and lowering mechanism made in the form of two shafts resting on the inner surface of the through cutouts 18 of the rocker arms 16 and united by means of plates 17, as well as a telescopic rod 22 made with the ability to change the length.

Claims

A tracked robotic platform comprising a housing, a power plant with a transmission, a tracked mover consisting of drive wheels, guide wheels, support rollers and track belts, characterized in that the guide wheels and front support rollers are mounted on rocker arms installed on the side panels of the housing with the ability to freely rotate in a vertical plane relative to the mounting point, wherein the ability to move is ensured by a mechanism for changing the lifting height of the guide wheels, made of two shafts whose ends rest on the inner surface of longitudinal cutouts in said rocker arms and connected to each other by plates, a telescopic rod is pivotally mounted in the upper ends of said plates, made with the ability to change the length, the other end of which is mounted on the front panel of the housing, for changing the length of the telescopic rod, an electric drive is installed in a single housing with it.

Images