Standing-Tipping Deformable Crawler Robot Chassis

Abstract

The present invention discloses a standing - tilting deformable crawler robot chassis, whose main structure consists of a chassis main body, a left crawler frame assembly, a right crawler frame assembly and crawlers mounted thereon; the left crawler frame assembly includes a left crawler frame, a left core rod, a left connecting rod, a left support rod, a left support wheel, a left sub - frame, a left front wheel, a left rear wheel, and a left driving wheel; the right crawler frame assembly includes a right crawler frame, a right core rod, a right connecting rod, a right support rod, a right support wheel, a right sub - frame, a right front wheel, a right rear wheel, and a right driving wheel; the left crawler frame assembly and the right crawler frame assembly can lift the crawlers into a triangle and at the same time push the chassis main body upward, raising the center of gravity to achieve standing and then tilting to complete obstacle - crossing and ditch - crossing actions. The present invention can carry a certain robot load and travel at a certain speed, and at the same time has strong obstacle - crossing and ditch - crossing capabilities, and its obstacle - crossing and ditch - crossing capabilities increase with the increase of the load on the chassis.

Description

Technical Field

[0001] The present invention relates to a standing and tilting deformable crawler robot chassis, and more particularly to a crawler robot chassis based on a crank-rocker mechanism and a standing swing rod, which uses the above mechanism to raise the center of gravity to achieve standing, and then tilts forward to cross obstacles and gullies. Background Art

[0002] In reality, there are many areas with rough roads, narrow spaces and certain dangers, where it is inconvenient for people to stay. Therefore, robots with obstacle-crossing capabilities are needed to replace human labor and perform operations in such areas. If a robot wants to reach the operation site through complex terrains, it needs a robot chassis with obstacle-crossing capabilities.

[0003] Analyze the process of a robot passing through rough terrains: Whether crossing an obstacle or a deep gully, the robot needs to re-establish a contact fulcrum with the terrain and move the center of gravity of the robot forward at the same time. The crawler robot structure has good passing performance and climbing performance, and the deformable crawler, based on the above functions, uses a deformation mechanism to enable the robot to achieve the above obstacle-crossing and gully-crossing functions, and has a certain obstacle-crossing ability.

[0004] Currently, most designs of deformable crawler robots use a deformable structure to contact the fulcrum, and then achieve the forward movement of the center of gravity by moving forward. This design proposes a new idea, that is, to achieve the forward movement of the center of gravity under non-steady conditions through the tilting process, and to raise the center of gravity in advance through the standing process, so that the center of gravity of the robot can move forward a greater distance in the subsequent tilting. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: to design a portable crawler robot chassis, which needs to use as few degrees of freedom and as few mechanisms as possible to achieve certain obstacle-crossing and gully-crossing performances, and at the same time has certain requirements for the moving speed and load capacity of the chassis.

[0006] The object of the present invention is achieved by the following technical solutions: A double-crawler robot chassis, whose main structure consists of a chassis main body, a left crawler frame assembly, a right crawler frame assembly and crawlers installed thereon. The crawlers can drive the chassis to move forward and backward and turn under the drive of a drive device;

[0007] The left crawler frame assembly includes a left crawler frame, a left core rod, a left connecting rod, a left support rod, a left support wheel, a left sub-frame, a left front wheel, a left rear wheel, and a left driving wheel;

[0008] The right crawler frame assembly includes a right crawler frame, a right core rod, a right connecting rod, a right support rod, a right support wheel, a right sub-frame, a right front wheel, a right rear wheel, and a right driving wheel;

[0009] The left track frame and the right track frame are respectively provided with square sleeves, which are connected to the left sub-frame and the right sub-frame, and can translate relative to each other;

[0010] The left track frame assembly, the right track frame assembly and the chassis main body are connected by a slide rail mechanism and can translate relative to each other;

[0011] The ends of the left sub-frame and the right sub-frame are respectively equipped with a left front wheel and a right front wheel for supporting the track. The rear parts of the left track frame and the right track frame are respectively equipped with a left rear wheel and a left driving wheel, a right rear wheel and a right driving wheel for supporting the track;

[0012] The left swing rod and the left core rod, the right swing rod and the right core rod are respectively connected to the left track frame and the right track frame, and then connected to the left support wheel and the right support wheel. Driven by the driving device, they can lift the track into a triangle and make the robot stand;

[0013] The left swing rod and the right swing rod are respectively connected to the chassis main body through a left connecting rod and a right connecting rod to form a crank-slider mechanism. When the chassis stands, the crank-slider mechanism will push the chassis main body upward;

[0014] The driving device includes:

[0015] A left servo motor, a left motor, a right servo motor and a right motor;

[0016] The left servo motor and the right servo motor are respectively installed at the connection positions of the left track frame and the right track frame with the left swing rod and the right swing rod for driving the swing rod to rotate;

[0017] The left motor and the right motor are installed at the ends of the left track frame and the right track frame for driving the left driving wheel and the right driving wheel, and then driving the track;

[0018] The shapes of the tails of the left track frame and the right track frame are designed such that when the chassis stands upright completely, its tail end will contact the ground, causing the chassis to become unstable and tip forward;

[0019] The left sub-frame and the right sub-frame are internally provided with constant force coil springs, enabling the sub-frame to tension the track with a constant force.

[0020] Beneficial effects of the present invention: (1) The stand-up-dumping deformable crawler robot chassis of the present invention adopts a new obstacle-crossing principle and corresponding mechanical layout. Compared with the traditional double-track chassis, the present invention exhibits excellent passability, and its unique stand-up-dumping obstacle-crossing strategy enables it to climb over larger obstacles or cross larger ditches; (2) The obstacle-crossing and ditch-crossing performance of the stand-up-dumping deformable crawler robot chassis of the present invention will not decrease due to the increase of its load. On the contrary, under the premise of ensuring the structural stress and the load of the drive device, the greater the load weight of the chassis, the better its obstacle-crossing and ditch-crossing performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Overall structure of the chassis of the standing-tilting deformable crawler robot

[0022] Figure 2 Overall structure of the chassis of the standing-tilting deformable crawler robot (removing the left and right crawlers)

[0023] Figure 3 Chassis main structure diagram

[0024] Figure 4 Left track frame structure diagram

[0025] Figure 5 Right crawler frame structure diagram

[0026] Figure 6 Chassis obstacle crossing action example

[0027] Figure 7 Example of chassis crossing ditch action

[0028] In the figure: 1. chassis body; 2. left track frame; 3. right track frame; 4. left core rod; 5. right core rod; 6. left connecting rod; 7. right connecting rod; 8. left support rod; 9. right support rod; 10. left support wheel; 11. right support wheel; 12. left subframe; 13. right subframe; 14. left front wheel; 15. right front wheel; 16. left rear wheel; 17. right rear wheel; 18. left driving wheel; 19. right driving wheel; 20. left crawler; 21. right crawler; 1.1. left slide rail; 1.2. right slide rail; 2.1. left slider; 2.2. left square cylinder; 2.3. left servo; 2.4. left motor; 3.1. right slider; 3.2. right square cylinder; 3.3. right servo; 3.4. right motor. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0030] refer to Figure 1 , Figure 2As shown in the figure, the present invention proposes a new double-deformable crawler robot chassis, and its assembly relationship is as follows:

[0031] The main structure of the chassis is as shown in Figure 3 shown, and it is respectively connected to the left crawler frame and the right crawler frame through the left slide rail and the right slide rail thereon, so that the main body of the chassis can translate relative to them;

[0032] The left core rod and the right core rod are respectively connected to the left crawler frame and the right crawler frame through bearings, and can respectively rotate relative to the left crawler frame and the right crawler frame;

[0033] As shown in Figure 4 、 Figure 5 shown, the left crawler frame and the right crawler frame are respectively provided with a left slider and a right slider for connecting with the left slide rail and the right slide rail to form a moving pair; at the same time, they are respectively provided with a left square tube and a right square tube for connecting with the left sub-frame and the right sub-frame respectively to form a moving pair; in addition, they are respectively provided with a left servo motor and a left motor, a right servo motor and a right motor for providing power;

[0034] The left connecting rod and the right connecting rod are respectively connected to the left core rod and the right core rod through bearings. At the same time, the left connecting rod and the left slide rail are connected through a bearing, and the right connecting rod and the right slide rail are connected through a bearing, respectively forming a crank-slider mechanism;

[0035] The left support rod and the right support rod are respectively connected to the left crawler frame and the right crawler frame, and are respectively driven to rotate by the left servo motor and the right servo motor;

[0036] The left support rod and the right support rod are respectively connected to the left support wheel and the right support wheel through bearings at the ends, and thus transmit the power of the left servo motor and the right servo motor to the left core rod and the right core rod, thereby driving the corresponding crank-slider mechanism;

[0037] The left sub-frame and the right sub-frame are respectively connected to the left front wheel and the right front wheel with bearings;

[0038] The left crawler frame and the right crawler frame are respectively provided with bearings connecting the left rear wheel and the right rear wheel;

[0039] The left driving wheel and the right driving wheel are respectively connected to the left crawler frame and the right crawler frame, and are respectively driven to rotate by the left motor and the right motor.

[0040] The left crawler passes through the left driving wheel, the left rear wheel, the left support wheel, and the left front wheel, and drives the robot chassis to move under the traction of the left driving wheel.

[0041] The right crawler passes through the right drive sprocket, right rear wheel, right idler wheel, and right front wheel, and drives the robot chassis to move under the traction of the right drive sprocket.

[0042] Constant force coil springs are provided inside the left sub-frame and the right sub-frame, which can tension the crawler with a constant force.

[0043] Specific usage method:

[0044] The robot equipped with the standing-tilting deformable crawler robot chassis can achieve arbitrary movement on the ground as well as over-obstacle and over-ditch actions. The following lists two embodiments of any robot equipped with the present invention: going onto a platform and crossing a ditch to clearly illustrate the specific usage method of the present invention. It should be clear that the usage method of the present invention is not limited to the following embodiments, and other maneuvering actions are also within the scope of the idea of the present invention.

[0045] Figure 6 What is described is a schematic diagram of the actions during the process of a robot (hereinafter referred to as: the robot) equipped with any robot of the present invention going onto a platform. Figure 6 (a) is the initial state. At this time, the steering gears on both sides of the chassis drive the swing rods to rotate, causing the robot to stand gradually according to Figure 6 (b), Figure 6 (c). When reaching the state shown in Figure 6 (d), the bottom of the crawler frame touches the ground, causing the robot to become unstable and fall forward. Since the weight of the robot is concentrated in the front at this time, the robot will fall onto the platform according to Figure 6 (e). Continuing to move forward to Figure 6 (f), the robot completely goes onto the platform and remains stable. At this time, make the two swing rods rotate in the opposite direction, as shown in Figure 6 (g). After the chassis is reset, the robot completes the action of going onto the platform, and the result is as shown in Figure 6 (h)

[0046] Figure 7 What is described is a schematic diagram of the actions during the process of the robot going onto a platform. Figure 7 (a) is the initial state. At this time, the robot stands on one side of the deep ditch in the order of Figure 7 (b) and Figure 7 (c). Then, as shown in Figure 7 (d), the robot becomes unstable and falls forward, and reaches the state shown in Figure 7 (e). At this time, the center of gravity of the robot is in front of the deep ditch. Then, as shown in Figure 7 (f), the robot chassis moves forward, and then resets according to Figure 7 (g), completing the action of crossing the ditch, and the result is as shown in Figure 7 (h).

Claims

1. A standing-tilting deformable tracked robot chassis, Characterized in that, Comprising: A double-track robot chassis, whose main structure consists of a chassis main body, a left track frame assembly, a right track frame assembly, and tracks installed thereon. The tracks can drive the chassis to move forward and backward and turn under the drive of a drive device; The left track frame assembly includes a left track frame, a left core rod, a left connecting rod, a left support rod, a left support wheel, a left sub-frame, a left front wheel, a left rear wheel, and a left driving wheel; The right track frame assembly includes a right track frame, a right core rod, a right connecting rod, a right support rod, a right support wheel, a right sub-frame, a right front wheel, a right rear wheel, and a right driving wheel; The left track frame and the right track frame are respectively provided with square sleeves to connect the left sub-frame and the right sub-frame, and they can translate relative to each other; The left track frame assembly, the right track frame assembly and the chassis main body are connected by a slide rail mechanism and can translate relative to each other; The ends of the left sub-frame and the right sub-frame are respectively provided with a left front wheel and a right front wheel for supporting the track. The rear parts of the left track frame and the right track frame are respectively provided with a left rear wheel and a left driving wheel, and a right rear wheel and a right driving wheel for supporting the track; The left track frame and the right track frame are respectively connected with a left swing rod and a left core rod, and a right swing rod and a right core rod, and then connected with a left support wheel and a right support wheel. Under the drive of the drive device, they can lift the track into a triangle and make the robot stand; The left swing rod and the right swing rod are respectively connected to the chassis main body through a left connecting rod and a right connecting rod to form a crank-slider mechanism. When the chassis stands, the crank-slider mechanism will push the chassis main body upward.

2. The standing-tilting deformable tracked robot chassis according to claim 1, Characterized in that, The drive device includes: A left servo motor, a left motor, a right servo motor, and a right motor; The left servo motor and the right servo motor are respectively installed at the connection points of the left track frame and the right track frame with the left swing rod and the right swing rod for driving the swing rod to rotate; The left motor and the right motor are installed at the ends of the left track frame and the right track frame for driving the left driving wheel and the right driving wheel, and then driving the track.

3. The standing-tilting deformable tracked robot chassis according to claim 1, Characterized in that, The tail shapes of the left track frame and the right track frame are designed such that when the chassis stands upright completely, its tail end will contact the ground, causing the chassis to become unstable and fall forward.

4. The standing-tilting deformable tracked robot chassis according to claim 1, Characterized in that, The left sub-frame and the right sub-frame are internally provided with constant force coil springs, so that the sub-frame can tension the track with a constant force.

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