Crawler

Abstract

The present invention discloses a crawler vehicle for carrying functional devices, comprising: an adaptive system and a vehicle frame. The adaptive system includes a connecting rod and a guide wheel. The connecting rod is for placing the functional device, and the guide wheel is rotatably connected to the connecting rod; the connecting rod slides relative to the vehicle frame so that the distance between the functional device and the ground is maintained within a set range. By providing an adaptive system on the crawler vehicle, the guide wheel of the adaptive system always travels on the ground. When the crawler vehicle travels on uneven ground, the height of the functional device from the ground always remains constant, ensuring that the functional device can work properly.

Description

Technical Field

[0001] The present invention relates to a crawler vehicle, and particularly to a crawler vehicle for carrying functional devices. Background Art

[0002] In related technologies, crawler vehicles are often used to drive devices such as lasers to move. When the crawler vehicle is moving, it needs to keep in contact with the road surface. When there are height changes on the ground, the distance between the device such as the laser and the road surface will also change accordingly (as Figure 1 shown). However, the distance between the working object of the laser and the road surface usually remains unchanged, that is, the distance between the laser and the working object will change with different road surface conditions. When the distance between the laser and the working object exceeds the focal length of the laser, the laser cannot work properly. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the invention provides a crawler vehicle with an adaptive system to keep the distance between the functional device and the ground within a set range, ensuring that the functional device can work properly.

[0004] A crawler vehicle according to an embodiment of the present invention for carrying a functional device includes a frame,

[0005] an adaptive system, the adaptive system includes a connecting rod and a guide wheel. The connecting rod is used to place the functional device, and the guide wheel is rotatably connected to the connecting rod;

[0006] The connecting rod slides relative to the frame so that the distance between the functional device and the ground is kept within a set range.

[0007] A crawler vehicle according to the present invention has at least the following technical effects. By providing an adaptive system on the crawler vehicle, the guide wheel of the adaptive system always runs on the ground. When the crawler vehicle runs on the uneven ground, the height of the functional device from the ground always remains within the set range, ensuring that the functional device can work properly.

[0008] According to some embodiments of the present invention, the crawler vehicle further includes a guide sleeve, and the connecting rod is inserted into the guide sleeve and slides relative to the guide sleeve.

[0009] According to some embodiments of the present invention, the connecting rod has an outwardly extending mounting portion, and the adaptive system further includes an elastic member, and the elastic member is disposed between the guide sleeve and the mounting portion.

[0010] According to some embodiments of the present invention, the adaptive system further includes a guide rod, and the guide rod is connected to the connecting rod and slidably connected to the frame.

[0011] According to some embodiments of the present invention, one end of the guide rod is fixedly connected to the connecting rod, the other end of the guide rod is a free end, and the free end penetrates through the vehicle frame and is connected to a threaded fastener.

[0012] According to some embodiments of the present invention, the adaptive system further includes a mounting bracket and a clamp. The clamp is used to clamp the functional device. The clamp is detachably mounted on the mounting bracket, and together with the mounting bracket, defines a cavity for placing the functional device. The mounting bracket is connected to the connecting rod.

[0013] According to some embodiments of the present invention, the crawler vehicle further includes a drive system. The drive system includes a drive assembly and a transmission assembly. The drive assembly includes a drive motor and a driving wheel disposed at the output end of the drive motor. The transmission assembly includes a vertical transmission shaft, a first bevel gear, and a second bevel gear. The vertical transmission shaft is located outside the vehicle frame. The first bevel gear is disposed at the lower end of the vertical transmission shaft. The first bevel gear meshes with the second bevel gear, and the second bevel gear drives the wheels of the crawler vehicle to rotate.

[0014] According to some embodiments of the present invention, the crawler vehicle further includes a steering system. The steering system includes a steering motor, a steering driving gear, a first driven gear, a second driven gear, a third driven gear, a fourth driven gear, and a transmission chain. The steering driving wheel, the first driven gear, the second driven gear, the third driven gear, and the fourth driven gear are disposed in the same horizontal plane. The first driven gear, the second driven gear, the third driven gear, and the fourth driven gear are used to drive the corresponding wheels to turn.

[0015] According to some embodiments of the present invention, the crawler vehicle further includes a wheel frame and a magnet disposed on the wheel frame. The magnet is used to interact with the magnetic road surface to generate a grip force.

[0016] According to some embodiments of the present invention, sensors are further disposed on the front and rear sides of the vehicle frame.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Brief Description of the Drawings

[0018] Figure 1 Schematic diagram of the movement of the crawler vehicle in the related art;

[0019] Figure 2 Schematic diagram of the movement of the crawler vehicle according to an embodiment of the present invention;

[0020] Figure 3 Schematic structural diagram of the crawler vehicle according to an embodiment of the present invention;

[0021] Figure 4 is Figure 3 A structural schematic diagram from another angle;

[0022] Figure 5 is Figure 3 A sectional view of the adaptive system and the vehicle frame in

[0023] Figure 6 is Figure 3 A transmission schematic diagram of the steering system of the crawler vehicle in

[0024] Reference numerals: vehicle frame 100, guide sleeve 110, steering system 200, steering motor 210, steering driving wheel 220, first driven gear 230, second driven gear 240, third driven gear 250, fourth driven gear 260, tensioning wheel 270, functional device 300, drive system 400, drive motor 410, driving wheel 420, first driven wheel 430, second driven wheel 440, third driven wheel 450, vertical transmission shaft 460, first bevel gear 470, second bevel gear 480, adaptive system 500, guide wheel 510, connecting rod 520, mounting portion 521, elastic member 530, guide rod 540, threaded fastener 550, mounting bracket 560, support arm 561, bottom plate 562, hoop 570, magnet 600, sensor 700, wheel system 800, wheel carrier 810, wheel 820. Detailed implementation manners

[0025] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0026] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0027] In the description of the present invention, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0028] In the description of the present invention, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0029] As Figures 3 to 6 shown, the crawler vehicle is used to carry functional devices, including an adaptive system 500. The adaptive system 500 includes a connecting rod 520 and a guide wheel 510. The connecting rod 520 is used to place the functional device 300, and the guide wheel 510 is rotatably connected to the connecting rod 520; the connecting rod 520 slides relative to the vehicle frame 100 to keep the distance between the functional device 300 and the ground within a set range.

[0030] Specifically, 4 wheel systems 800 are provided below the vehicle frame 100. The wheel systems 800 include wheel frames 810 and wheels 820. A through hole is provided on the vehicle frame 100. The adaptive system 500 includes a connecting rod 520 and a guide wheel 510. The upper end of the connecting rod 520 is used to place the functional device 300, and the lower end of the connecting rod 520 is connected to the guide wheel 510. The connecting rod 520 is inserted into the through hole, so that the vehicle frame 100 is located between the functional device 300 and the guide wheel 510. The connecting rod 520 is slidably connected to the vehicle frame 100 up and down to keep the distance between the functional device 300 and the ground within a set range. As Figure 2 shown, when the guide wheel 510 passes through the sunken ground, the distance between the vehicle frame 100 and the ground becomes larger, the connecting rod 520 slides downward relative to the vehicle frame 100, the functional device 300 moves downward relative to the vehicle frame 100, and the distance between the functional device 300 and the ground is kept within a set range; when the guide wheel 510 passes through the raised ground, the distance between the vehicle frame 100 and the ground becomes smaller, the connecting rod 520 slides upward relative to the vehicle frame 100, and the functional device 300 also moves upward relative to the vehicle frame 100, and the distance between the functional device 300 and the ground is kept within a set range. Through the setting of the adaptive system 500, the distance between the functional device 300 and the ground is always kept stable, thereby improving the reliability of the operation of the functional device 300. The functional device 300 can be a laser or other functional devices.

[0031] In some specific embodiments of the present invention, as Figure 5As shown, the vehicle frame 100 further includes a guide sleeve 110. The connection mode between the guide sleeve 110 and the vehicle frame 100 can be welding or connection by fasteners. The connecting rod 520 is inserted into the guide sleeve 110 and slides up and down relative to the guide sleeve 110. Since the connecting rod 520 needs to move forward and slide up and down, when the guiding distance in the up and down direction is small, the connecting rod 520 is prone to jamming. The guide sleeve 110 can increase the guiding length in the up and down direction, enabling the connecting rod 520 to smoothly adjust up and down during movement, preventing jamming, and improving the reliability of the operation of the functional device 300.

[0032] In some specific embodiments of the present invention, as Figure 5 shown, the connecting rod 520 has an outwardly extending mounting portion 521. The mounting portion 521 is located below the guide sleeve 110, and an elastic member 530 is disposed between the guide sleeve 110 and the mounting portion 521. The elastic member 530 can suppress the impact of uneven roads on the functional device 300, ensure the stable state of the functional device 300, and thus improve the reliability of the operation of the functional device 300. The elastic member 530 can be a helical spring or a gas spring. The connecting rod 520 can be formed by welding multiple sections of hollow circular tubes as shown in Figure 5 or can be formed by a whole circular tube.

[0033] In some specific embodiments of the present invention, as Figure 5 shown, the adaptive system 500 further includes a guide rod 540. The guide rod 540 is connected to the connecting rod 520 and is slidably connected to the vehicle frame 100. Specifically, the connecting rod 520 has an outwardly extending mounting portion 521. The guide rod 540 is connected to the mounting portion 521 and is slidably connected to the vehicle frame 100. The sliding mode between the guide rod 540 and the vehicle frame 100 can be achieved in the following ways. A hole for the guide rod 540 to pass through is provided on the vehicle frame 100, and the guide rod 540 passes through the hole of the vehicle frame 100 to be slidably connected to the vehicle frame 100; the vehicle frame 100 further includes a guide sleeve 110. The vehicle frame 100 is fixedly connected to the guide sleeve 110. A hole for the guide rod 540 to pass through is provided on the guide sleeve 110, and the guide rod 540 passes through the hole of the guide sleeve 110 to be slidably connected to the vehicle frame 100. The guide rod 540 is arranged along the circumferential direction of the connecting rod 520. In order to better achieve the guiding of the adaptive system 500, the guide rod 540 can be evenly distributed along the circumferential direction of the connecting rod 520. Through the arrangement of the guide rod 540, the guiding distance of the adaptive system 500 in the up and down direction can be increased, enabling the connecting rod 520 to be adjusted up and down during movement, preventing jamming, and improving the reliability of the operation of the functional device 300.

[0034] In some specific embodiments of the present invention, as Figure 5As shown, one end of the guide rod 540 is fixedly installed on the installation part 521, and the other end of the guide rod 540 is a free end. The other end of the guide rod 540 extends out of the vehicle frame 100 and is connected to the threaded fastener 550. By using the cooperation of the guide rod 540 and the threaded fastener 550, the up-and-down adjustment distance of the adaptive system 500 can be limited and the adaptive system 500 can be prevented from falling off.

[0035] In some specific embodiments of the present invention, the adaptive system 500 further includes a mounting bracket 560 and a hoop 570. The hoop 570 is used to clamp the functional device 300. The hoop 570 is detachably installed on the mounting bracket 560 and defines a cavity for placing the functional device 300 with the mounting bracket 560. Specifically, the mounting bracket 560 includes a bottom plate 562 and support arms 561 arranged on both sides of the bottom plate 562. The bottom plate 562 is fixedly connected to the upper end of the connecting rod 520. The bottom plate 562 can be installed on the upper end of the connecting rod 520 by welding or threaded fasteners. The support arm 561 has a concave placing portion for adapting to the shape of the functional device. The hoop 570 is detachably installed on the mounting bracket 560. The structure of the hoop 570 is a commonly used hoop structure in the art and will not be described in detail here. Through the arrangement of the hoop 570 and the mounting bracket 560, the functional device 300 can be stably fixed on the connecting rod 520, facilitating the replacement and maintenance of the functional device 300.

[0036] In some specific embodiments of the present invention, in the related art, a hub motor is usually used to drive the crawler vehicle. For a four-wheel crawler vehicle, two or four hub motors need to be set, which has a high cost; if a single motor is used for driving, a corresponding transmission mechanism needs to be set. The transmission mechanism is arranged below the vehicle frame and near the wheels, occupying the space at the lower part of the vehicle frame, resulting in a small ground clearance of the crawler vehicle and poor passing performance. The crawler vehicle in this embodiment includes a drive system 400. The drive system 400 includes a drive component and a transmission component. The drive component includes a drive motor 410 and a driving wheel 420 arranged at the output end of the drive motor. The transmission component includes a vertical transmission shaft 460, a first bevel gear 470, and a second bevel gear 480. The drive motor 410 is arranged above the vehicle frame 100, and the output shaft of the drive motor 410 is perpendicular to the vehicle frame 100. The vertical transmission shaft 460 is arranged outside the wheel carrier 810. The first bevel gear 470 is fixed at the lower end of the vertical transmission shaft 460. The second bevel gear 480 meshes with the first bevel gear 470, and the second bevel gear 480 is connected to the axle of the wheel 820. Specifically, the transmission mode between the driving wheel 420 and the vertical transmission shaft 460 can be as Figures 3 to 4As shown in the figure, the driving wheel 420 drives the first driven wheel 430 to rotate through a synchronous belt. The first driven wheel 430 is fixedly connected coaxially with the second driven wheel 440. The second driven wheel 440 and the third driven wheel 450 are driven by a synchronous belt. The third driven wheel 450 is fixedly connected to the upper end of the vertical transmission shaft 460. The first bevel gear 470 is fixed to the lower end of the vertical transmission shaft 460. The second bevel gear 480 meshes with the first bevel gear 470. The power transmission process is: drive motor 410 - driving wheel 420 - first driven wheel 430 - second driven wheel 440 - third driven wheel 450 - vertical transmission shaft 460 - first bevel gear 470 - second bevel gear 480 - wheel 820. It can be understood that the driving wheel 420 can directly drive the third driven wheel 450 to rotate through the synchronous belt, thereby driving the vertical transmission shaft 460 to rotate. The overall power transmission process is: drive motor 410 - driving wheel 420 - third driven wheel 450 - vertical transmission shaft 460 - first bevel gear 470 - second bevel gear 480 - wheel 820. The fixing and installation of the drive system and the transmission system are all common technical means in the art and will not be elaborated here. By arranging the drive motor 410 above the vehicle frame 100 and the vertical transmission shaft 460 outside the wheel frame 810, the placement of the drive system and the transmission system below the vehicle frame is avoided, improving the passing performance of the crawler vehicle.

[0037] In some specific embodiments of the present invention, in the related art, usually 2 hub motors or 4 hub motors are adopted, and the steering of the wheels is realized by adjusting the rotation speed and direction of the motors, with a relatively high cost; or 1 steering motor is used in cooperation with a differential to achieve steering. In this method, the differential needs to be arranged below the vehicle frame 100, and the steering flexibility of the wheels is poor. As Figures 1 to 3 As shown in the figure, in this embodiment, a steering system 200 is provided. The steering system 200 includes a steering motor 210, a steering driving wheel 220, a first driven gear 230, a second driven gear 240, a third driven gear 250, a fourth driven gear 260 and a transmission chain. The steering driving wheel 220 drives the first driven gear 230, the second driven gear 240, the third driven gear 250, and the fourth driven gear 260 to rotate synchronously through the transmission chain. The first driven gear, the second driven gear, the third driven gear, and the fourth driven gear drive the corresponding wheels to rotate to achieve steering.

[0038] Specifically, the first driven gear 230 to the fourth driven gear 260 are respectively arranged above the corresponding wheel frame 810. The steering motor 210 is fixed above the vehicle frame 100, and the output shaft of the steering motor 210 extends below the vehicle frame 100. The steering driving wheel 220 is connected to the output shaft of the steering motor 210. The steering driving wheel 220 drives the first driven gear 230 to the fourth driven gear 260 to rotate synchronously through the transmission chain, thereby driving the corresponding wheel frame 810 to rotate and realizing the rotation of the crawler vehicle. AsFigure 6 As shown, due to the large span of the drive chain, tension wheels 270 are provided between the first driven gear 230 and the second driven gear 240, between the second driven gear 240 and the third driven gear 250, and between the third driven gear 250 and the fourth driven gear 260. In this embodiment, a simple drive structure is adopted to realize the steering of the crawler vehicle, greatly improving the steering performance of the crawler vehicle.

[0039] In some specific embodiments of the present invention, the crawler vehicle further includes a wheel frame 810 and magnets 600 provided on the wheel frame 810. The magnets 600 interact with the magnetic road surface to generate a gripping force. Specifically, the magnets 600 are installed on the wheel frame 810 in a detachable manner. The number of magnets 600 provided on each wheel frame 810 can be 4, or 3, 2, or 1. The number and arrangement of the magnets 600 on each wheel should be the same to ensure the balanced gripping force received by the crawler vehicle. When the crawler vehicle travels on a magnetic road surface, the magnets 600 interact with the magnetic road surface, increasing the adhesion between the crawler vehicle and the ground, thereby improving the climbing performance of the crawler vehicle.

[0040] In some specific embodiments of the present invention, sensors 700 are further provided on the front and rear sides of the vehicle frame 100 to sense boundaries, obstacles, etc. through the sensors 700, improving the driving safety of the crawler vehicle. The sensors 700 are provided on the left and right sides in front of and behind the vehicle frame 100 to increase the sensing range of the sensors and further improve the driving safety of the crawler vehicle. The type of the sensors 700 can be an optoelectronic sensor or an infrared sensor, etc.

[0041] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge scope of those of ordinary skill in the art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. Crawler vehicle, used for carrying functional devices, characterized in that, Comprising: Frame; An adaptive system, the adaptive system includes a connecting rod and a guide wheel, the connecting rod is used to place the functional device, and the guide wheel is rotatably connected to the connecting rod; The connecting rod slides relative to the frame so that the distance between the functional device and the ground is maintained within a set range; The frame further includes a guide sleeve, and the connecting rod is inserted into the guide sleeve and slides relative to the guide sleeve; The connecting rod has an outwardly extending mounting portion, and the mounting portion is located below the guide sleeve; the adaptive system further includes an elastic member, and the elastic member is disposed between the guide sleeve and the mounting portion.

2. The crawler vehicle according to claim 1, wherein The adaptive system further includes a guide rod, the guide rod is connected to the connecting rod and is slidably connected to the frame.

3. The crawler according to claim 2, characterized in that, One end of the guide rod is fixedly connected to the connecting rod, the other end of the guide rod is a free end, the free end passes through the frame and is connected to a threaded fastener.

4. The crawler vehicle according to claim 1, wherein The adaptive system further includes a mounting bracket and a hoop, the hoop is used to clamp the functional device, the hoop is detachably mounted on the mounting bracket, and defines a cavity for placing the functional device with the mounting bracket, and the mounting bracket is connected to the connecting rod.

5. The crawler according to claim 1, characterized in that, The crawler vehicle further includes a drive system, the drive system includes a drive assembly and a transmission assembly, the drive assembly includes a drive motor and a driving wheel provided at the output end of the drive motor, the transmission assembly includes a vertical transmission shaft, a first bevel gear and a second bevel gear, the vertical transmission shaft is provided outside the frame, the first bevel gear is provided at the lower end of the vertical transmission shaft, the first bevel gear meshes with the second bevel gear, and the second bevel gear drives the wheels of the crawler vehicle to rotate.

6. The crawler according to claim 1, wherein, The crawler vehicle further includes a steering system, the steering system includes a steering motor, a steering driving gear, a first driven gear, a second driven gear, a third driven gear, a fourth driven gear and a transmission chain, the steering driving gear drives the first driven gear, the second driven gear, the third driven gear, the fourth driven gear to rotate synchronously through the transmission chain, and the first driven gear, the second driven gear, the third driven gear, the fourth driven gear drive the corresponding wheels to rotate to achieve steering.

7. The crawler according to claim 1, wherein, The crawler vehicle further includes a wheel bracket and a magnet provided on the wheel bracket, and the magnet is used to interact with the magnetic road surface to generate a grip force.

8. The crawler according to claim 1, wherein, Sensors are further provided on the front and rear sides of the frame.

Images