A deformable crawler robot

Abstract

The present invention relates to a deformable crawler robot, comprising a chassis module and a pulley module, wherein the pulley modules are respectively mounted on both sides of the chassis module, the chassis module comprises a battery and an electric control box, and is used to control the operation of the crawler robot and provide energy; the pulley module comprises a fixed plate, two drive motor reducer integrated machines, two drive pulleys, a telescopic swing arm mechanism and a crawler; the fixed plate is connected to the chassis module; the two drive motor reducer integrated machines are symmetrically mounted on both ends of the fixed plate, and the drive motor reducer integrated machine is connected to the drive pulley; the lower end of the telescopic swing arm mechanism is hinged in the middle of the two drive pulleys, and can rotate freely around the hinge point, and the upper end is connected to the swing arm pulley through the motor reducer integrated machine; the crawler is wound around the two drive pulleys and the swing arm pulley. The present invention improves the ability to cross obstacles and climb stairs, can strengthen the strength of the deformation mechanism, improve reliability, and strengthen the overall waterproof and dustproof ability of the robot.

Description

Technical Field

[0001] The invention relates to a robot mobile chassis, in particular to a robot with a deformable crawler track. Background Art

[0002] With the development of robot technology, more and more mobile chassis have been developed for inspection, logistics, and even people's daily life in places such as airports, shopping malls, and large complexes. However, most robots on the market can only run on flat surfaces or gentle slopes. They do not have the ability to cross obstacles, ditches, or climb stairs. Not to mention flexible search and rescue in high-risk ruins. Therefore, the mobile chassis used by existing robots have the following problems:

[0003] 1. Non-deformable crawler vehicle: Since the crawler track cannot be deformed, the radius of the crawler wheel is the limit of the obstacle height, so the obstacle crossing ability is not strong. Since the crawler track cannot be deformed, when climbing stairs, if the center of gravity of the equipment carried on the crawler vehicle is relatively high, the crawler vehicle is prone to overturning.

[0004] 2. Deformable crawler vehicle (slider mechanism): Patent publication number: CN219904564U. The slider mechanism is a mechanism that ensures that the tension on each crawler wheel remains unchanged while the length of the triangular crawler remains unchanged (see patent for details). Due to the use of a four-slider structure, the structure is complex, the parts have high precision requirements, the cost is high, and the maintenance cost is high. And because the sliders that slide up and down and the sliders that slide left and right require space for translational movement, it is difficult to increase the waterproof level of the entire mechanism.

[0005] 3. Deformed crawler vehicle (cam mechanism): Patent publication number: US7493976B2. The cam mechanism is a mechanism that ensures that the tension on each crawler wheel remains unchanged while the length of the triangular crawler remains unchanged (see patent for details). However, the cam mechanism is a high-pair, high-pressure, and easy to wear. Once deformed, the crawler vehicle will not work. In addition, the mechanism is not dustproof, and the cam mechanism will wear out as mud and sand adhere.

[0006] In view of the above problems, the present invention designs a crawler chassis with a certain deformation ability as the chassis of the robot. Summary of the invention

[0007] The present invention is to provide a deformable crawler robot, which has good sealing performance, an independent module, a push rod structure that is easy to disassemble, and can solve the following problems:

[0008] 1. Solve the problem that traditional non-deformable tracked vehicles have poor obstacle crossing ability and poor stair climbing ability.

[0009] 2. Solve the problems of complex structure, high cost and low waterproof level of the patent (CN219904564U).

[0010] 3. Solve the problem of excessive torque on the central motor of the crawler swing arm in the patent (US7493976B2), which easily damages the internal gear structure; and the problem of easy wear of the cam mechanism.

[0011] To achieve the above-mentioned purpose, the technical solution of the present invention is: a deformable tracked robot, comprising a chassis module and a wheel module, the wheel modules are respectively installed on both sides of the chassis module, the chassis module comprises a battery and an electric control box, which are used to control the operation of the tracked robot and provide energy; the wheel module comprises a fixed plate, two drive motor reducer integrated machines, two drive pulleys, a telescopic swing arm mechanism and a track; the fixed plate is connected to the chassis module; the two drive motor reducer integrated machines are respectively symmetrically installed on both ends of the fixed plate, and the drive motor reducer integrated machines are connected to the drive pulleys; the lower end of the telescopic swing arm mechanism is hinged in the middle of the two drive pulleys and can rotate freely around the hinge point, and the upper end is connected to the swing arm pulley through the motor reducer integrated machine; the track is wrapped around the two drive pulleys and the swing arm pulley.

[0012] Furthermore, the telescopic swing arm mechanism includes a swing arm mounting frame, an electric push rod, a displacement and pressure sensor, a push rod connector, a spring mechanism, a motor mounting frame, a motor reducer integrated machine, and a swing arm pulley. One end of the electric push rod is connected to the fixed plate through the swing arm mounting frame, and the other end is connected to the spring mechanism and the motor mounting frame through the push rod connector. The motor mounting frame is installed with the motor reducer integrated machine and the swing arm pulley.

[0013] Furthermore, a displacement and pressure sensor is installed between the push rod connector and the electric push rod to monitor the elongation of the electric push rod and the tension of the track, and to perform feedback adjustment on the elongation of the push rod based on the detection results.

[0014] Furthermore, the motor mounting frame is mounted on the spring mechanism through a moving pair.

[0015] Furthermore, the swing arm mounting frame is mounted on the fixed plate through a bearing rotating pair.

[0016] Furthermore, the track module has a deformable structure, which changes the triangle formed by the track by changing the length of the telescopic swing arm mechanism through the electric push rod and utilizing the speed difference between the swing arm pulley and the drive pulley; when going uphill, overcoming obstacles, and climbing stairs, the telescopic swing arm mechanism swings forward and the electric push rod extends, providing the crawler robot with the required inclination angle for overcoming obstacles or climbing stairs; when crossing trenches and climbing stairs, the telescopic swing arm mechanism is laid flat and the electric push rod is extended to the maximum, increasing the contact length of the track with the ground and the maximum width of the trench, which can also prevent overturning due to excessive center of gravity on the stairs.

[0017] Furthermore, when the deformable crawler robot is in normal motion: the rotation speeds of the left and right driving pulleys and the swing arm pulleys are consistent, and the electric push rod is perpendicular to the chassis module, so that the deformable crawler robot can travel stably.

[0018] Furthermore, the crawler robot deforms when it stops moving: the left and right driving pulleys do not move, and the left and right swing arm pulleys rotate in opposite directions and at the same speed. At the same time, the electric push rod extends to keep the swing arm pulley in contact with the crawler track; the swing arm pulley will move along an elliptical trajectory, and at this time, the pulley module has a triangular structure.

[0019] Furthermore, when the tracked robot is moving, it deforms: suppose the speed of the left and right driving pulleys is ω. If the speed of the swing arm pulley is not ω at this time, a speed difference will be generated, and the swing arm pulley will rotate around the fixed axis on the inner teeth of the track, causing the triangle formed by the track to change its posture, so that it can be adjusted according to different obstacles.

[0020] Furthermore, the elongation of the electric push rod is calculated using the polar coordinate equation of the ellipse:

[0021]

[0022] Therefore, at the corresponding angle, the extension of the electric push rod is:

[0023]

[0024] Where b is the minor semi-axis of the ellipse, e is the eccentricity of the ellipse, θ is the angle of the polar coordinates of the ellipse, and r(θ) is the distance from the center of the ellipse to the edge at the corresponding angle.

[0025] The beneficial effects of the present invention are:

[0026] The deformable crawler robot of the present invention uses a crawler vehicle with a push rod mechanism to achieve the following technical effects:

[0027] 1. Improve the ability to overcome obstacles and climb stairs

[0028] The crawler module of the crawler vehicle of the present invention is deformable. The push rod mechanism is used to change the length of the swing rod and the speed difference between the push rod pulley and the driving wheel to form a triangular shape of the crawler. When going uphill, overcoming obstacles, or climbing stairs, the telescopic swing arm mechanism swings forward and the electric push rod extends to provide the crawler robot with a suitable inclination angle for overcoming obstacles or climbing stairs. When crossing a ditch or climbing stairs, the telescopic swing arm mechanism is laid flat and the electric push rod is extended to the maximum extent, thereby increasing the contact length between the crawler and the ground and the maximum width of the ditch. It can also prevent overturning due to excessive center of gravity on the stairs.

[0029] 2. Strengthen the strength of the deformation mechanism and improve reliability

[0030] The present invention changes the length of the swing arm through a push rod device, and the structure is simpler and more reliable. The telescopic swing arm mechanism is connected to the fixed plate through a rotating pair. By selecting a suitable bearing, the strength of the rotating pair can be further strengthened to ensure the service life. Compared with the patent (CN219904564U), the present invention has a simpler structure, is more convenient to maintain, has a lower precision of mechanical assembly and thus has a lower processing cost. It also solves the problem of the slider mechanism in the patent (CN219904564U) being damaged during use. Compared with the patent (US7493976B2), it solves the problem that the driving torque of the swing arm assembly is provided on the swing arm assembly shaft, resulting in a large torque required and the transmission components are easily damaged, and also solves the problem that the cam is easily worn.

[0031] 3. Strengthen the overall waterproof and dustproof capabilities of the robot.

[0032] The push rod device of the present invention adopts an integrated design, has good airtightness, and does not require an additional cam mechanism or a slider mechanism, thereby increasing the airtightness of the body and enhancing the waterproof and dustproof capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The present invention is a schematic diagram of a triangular structure of a wheel module of a deformable crawler robot;

[0034] Figure 2 The wheel module of the deformable crawler robot of the present invention is a schematic diagram of a straight structure;

[0035] Figure 3 It is a schematic diagram of the pulley module structure;

[0036] Figure 4 is a schematic diagram of a telescopic swing arm mechanism;

[0037] Figure 5 This is the curve corresponding to the calculation formula of the electric linear actuator;

[0038] Figure 6 is a schematic diagram of the deformable crawler robot of the present invention climbing up stairs from the ground;

[0039] Figure 7 It is a schematic diagram of the deformable crawler robot of the present invention when climbing stairs. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0041] like Figure 1 , 2 shows a deformable crawler robot of the present invention, comprising a chassis module 1 and two sets of wheel modules 2. The chassis module 1 mainly comprises a battery and an electric control box, which controls the operation of the crawler vehicle and provides energy.

[0042] like Figure 3 As shown, each group of pulley modules 2 includes: a fixed plate 21, two drive motor reducer integrated machines 22, two drive pulleys 23, a set of telescopic swing arm mechanisms 24 and a crawler 25. The fixed plate 21 is connected to the chassis module 1. The two drive motor reducer integrated machines 22 are respectively installed on the fixed plate 21 in a bilaterally symmetrical form, and the drive pulley 23 is connected to the drive motor reducer integrated machine 22. The swing arm mounting frame of the telescopic swing arm mechanism 24 is installed in the middle of the two drive pulleys 23 through a bearing rotating pair, and the horizontal height is consistent. The telescopic swing arm mechanism 24 can rotate freely around this point. The crawler 25 is wound around the two drive pulleys 23 and the swing arm pulley.

[0043] like Figure 4 As shown, the telescopic swing arm mechanism 24 includes: a swing arm mounting frame 241, an electric push rod 242, a displacement and pressure sensor 243, a push rod connector 244, a spring mechanism 245, a motor mounting frame 246, a motor reducer integrated machine 247, and a swing arm pulley 248.

[0044] The two ends of the electric push rod 242 are respectively fixed to the swing arm mounting frame 241 and the push rod connector 244. The displacement and pressure sensor 243 is installed between the push rod connector 244 and the electric push rod 242 to detect the tension of the track 25 and then provide feedback on the elongation of the electric push rod 242. The motor mounting frame 246 is installed on the spring mechanism 245 through a moving pair, the motor reduction integrated machine 247 is installed on the motor mounting frame 246, and the swing arm pulley 248 is installed on the motor reduction integrated machine 247. The spring mechanism 245 makes the mechanical elasticity of the electric push rod 242 greater, reduces the possibility of the track 25 breaking due to control errors, and also provides a shock-absorbing effect for the entire pulley module.

[0045] When the crawler robot is in normal motion: the left driving pulley 23 and the swing arm pulley 248 rotate at the same speed, and the right three wheels rotate at the same speed. The electric push rod 242 is perpendicular to the chassis module 1, so that the crawler vehicle can travel stably.

[0046] The crawler robot deforms when it stops moving: the left and right driving pulleys 23 do not move, and the left and right swing arm pulleys 248 rotate in opposite directions and at the same speed. At the same time, the electric push rod 242 extends to keep the swing arm pulley 248 in contact with the crawler 25. If the extension of the push rod 242 is not considered, the swing arm pulley 248 will make a circular motion. Since the crawler 25 is flexible and the pulley module 2 has a triangular structure, the swing arm pulley 248 needs to make an elliptical motion to keep in contact with the crawler 25. At this time, the two driving pulleys 23 on the fixed plate are the two foci of the ellipse. In order to keep the swing arm pulley 248 in contact with the crawler 25, the electric push rod 242 is added to allow it to extend and retract to ensure the contact of the swing arm pulley 248.

[0047] The tracked robot deforms when moving: assuming that the rotation speed of the left and right driving pulleys 23 is ω, if the rotation speed of the swing arm pulley 248 is not ω, a rotation speed difference will be generated, and the swing arm pulley 248 will rotate around the fixed axis on the inner teeth of the track 25, causing the triangle formed by the track 25 to change its posture, thereby coping with different terrains and environments.

[0048] The elongation of the electric push rod 242 is calculated as follows: Figure 5 As shown), the polar coordinate equation of the ellipse is:

[0049]

[0050] Therefore, at the corresponding angle, the extension of the electric push rod 242 is:

[0051]

[0052] The corresponding curve of the formula is as follows Figure 5 In the formula, b is the minor semi-axis of the ellipse, e is the eccentricity of the ellipse, θ is the angle of the polar coordinates of the ellipse, and r(θ) is the distance from the center of the ellipse to the edge at the corresponding angle.

[0053] The track module has a deformable structure. The electric push rod is used to change the length of the telescopic swing arm mechanism and the speed difference between the swing arm pulley and the drive pulley is used to make the track form a triangular shape. When going uphill, overcoming obstacles, or climbing stairs, the telescopic swing arm mechanism swings forward and the electric push rod extends, providing the track robot with a suitable inclination angle for overcoming obstacles or climbing stairs (see Figure 6 When crossing trenches or climbing stairs, the telescopic swing arm mechanism is laid flat, the electric push rod is extended to the maximum, the contact length between the crawler and the ground is increased, the maximum trench width is increased, and the overturning due to excessive center of gravity can be prevented on the stairs (see Figure 7 ).

Claims

1. A deformable crawler robot, characterized in that: It includes a chassis module and a pulley module. The pulley modules are installed on both sides of the chassis module. The chassis module includes a battery and an electric control box, which are used to control the operation of the crawler robot and provide energy. The pulley module includes a fixed plate, two drive motor reducer integrated machines, two drive pulleys, a telescopic swing arm mechanism and crawlers. The fixed plate is connected to the chassis module; two drive motor reducer integrated machines are symmetrically installed on both ends of the fixed plate, and the drive motor reducer integrated machine is connected to the drive pulley; the lower end of the telescopic swing arm mechanism is hinged to the fixed plate between the two drive pulleys, and can rotate freely around the hinge point, and the upper end is connected to the swing arm pulley through the motor reducer integrated machine; the crawler track is wrapped around the two drive pulleys and the swing arm pulley.

2. The deformable crawler robot according to claim 1, characterized in that: The telescopic swing arm mechanism includes a swing arm mounting frame, an electric push rod, a displacement and pressure sensor, a push rod connector, a spring mechanism, a motor mounting frame, a motor reducer integrated machine, and a swing arm pulley. One end of the electric push rod is connected to a fixed plate through the swing arm mounting frame, and the other end is connected to the spring mechanism and the motor mounting frame through the push rod connector. The motor mounting frame is installed with the motor reducer integrated machine and the swing arm pulley.

3. The deformable crawler robot according to claim 2, characterized in that: The displacement and pressure sensor is installed between the push rod connector and the electric push rod to monitor the elongation of the electric push rod and the tension of the track, and to perform feedback adjustment on the elongation of the push rod based on the detection results.

4. The deformable crawler robot according to claim 2, characterized in that: The motor mounting frame is mounted on the spring mechanism through a moving pair.

5. The deformable crawler robot according to claim 2, characterized in that: The swing arm mounting frame is mounted on the fixed plate through a bearing rotating pair.

6. The deformable crawler robot according to claim 2, characterized in that: The track module has a deformable structure. The triangle formed by the track is changed by changing the length of the telescopic swing arm mechanism through the electric push rod and utilizing the speed difference between the swing arm pulley and the drive pulley. When going uphill, overcoming obstacles, and climbing stairs, the telescopic swing arm mechanism swings forward and the electric push rod extends, providing the crawler robot with the required inclination angle for overcoming obstacles or climbing stairs. When crossing trenches and climbing stairs, the telescopic swing arm mechanism is laid flat and the electric push rod is extended to the maximum, increasing the contact length of the track with the ground and the maximum width of the trench, which can also prevent overturning due to excessive center of gravity on the stairs.

7. The deformable crawler robot according to claim 6, characterized in that: When the deformable crawler robot is in normal motion: the left and right driving pulleys and the swing arm pulley rotate at the same speed, and the electric push rod is perpendicular to the chassis module, so that the deformable crawler robot can travel stably.

8. The deformable crawler robot according to claim 6, characterized in that: The crawler robot deforms when it stops moving: the left and right driving pulleys do not move, and the left and right swing arm pulleys rotate in opposite directions and at the same speed. At the same time, the electric push rod extends to keep the swing arm pulley in contact with the crawler track; the swing arm pulley will move along an elliptical trajectory, and at this time, the pulley module has a triangular structure.

9. The deformable crawler robot according to claim 6, characterized in that: When the tracked robot is moving, it deforms: suppose the speed of the left and right driving pulleys is ω. If the speed of the swing arm pulley is not ω, a speed difference will occur, and the swing arm pulley will rotate around the fixed axis on the inner teeth of the track, causing the triangle formed by the track to change its posture, so that it can be adjusted according to different obstacles.

10. The deformable crawler robot according to claim 6, characterized in that: The elongation of the electric push rod is calculated using the polar coordinate equation of the ellipse: Therefore, at the corresponding angle, the extension of the electric push rod is: Where b is the minor semi-axis of the ellipse, e is the eccentricity of the ellipse, θ is the angle of the polar coordinates of the ellipse, and r(θ) is the distance from the center of the ellipse to the edge at the corresponding angle.

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