Lightweight track system for robot
By designing a lightweight track system, including rubber tracks, articulated support wheel sets and shock absorbers, the impact and vibration problems of the detection robot are solved when reversing, and the stability of the equipment and the reliability of the detection work are improved.
Patent Information
- Application Number
- CN202421794354.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-29
- Publication Date
- 2025-01-07
- Estimated Expiration
- 2034-07-29
AI Technical Summary
The detection robot is prone to collision with obstacles when reversing in complex environments. The existing track system lacks the ability to reverse shock absorption, resulting in vibration damage to the detection equipment, affecting the smooth progress of work.
A lightweight track system is designed, including rubber tracks, front guide wheels, drive wheels, upper bracket wheels, front support wheels and rear support wheels. It adopts the articulated structure of the front suspension support arm and the rear suspension support arm, and is equipped with front and rear reduction. The shock absorber is provided with anti-splitting assembly on the bottom edge of the track to improve stability and shock absorption.
It effectively avoids impact and vibration damage during reversing, improves the stability of the robot in complex environments and the safety of the reconnaissance equipment, and meets the needs of rapid reversing and large-scale steering.
Smart Images
Figure CN222310768U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a crawler system for a robot, in particular to a lightweight crawler system installed on a reconnaissance robot. Background Art
[0002] Reconnaissance robots need to carry reconnaissance equipment to work in complex environments. In order to use the robot's limited carrying capacity to carry more effective reconnaissance equipment, the robot itself needs to take weight-reducing measures to reduce the weight of unnecessary loads. In addition, when a reconnaissance robot encounters an emergency, it needs to quickly reverse. Since the working environment of the reconnaissance robot is mostly in an unexplored area with complex road conditions, it is easy to collide with obstacles behind when reversing quickly. In the prior art, the robot track system only has a forward shock-absorbing device, which is difficult to buffer and absorb the impact generated when reversing, which is easy to cause vibration damage to the reconnaissance equipment carried, affecting the smooth progress of the reconnaissance work. Utility Model Content
[0003] The technical problem to be solved by the utility model is to provide a lightweight track system for a robot, which has the advantages of simple structure and light weight, and has the ability to reduce shock when reversing, which can effectively avoid the impact vibration generated when reversing and damage the carried reconnaissance equipment and affect the reconnaissance work.
[0004] The technical solution adopted to solve the technical problem: a lightweight track system for a robot, including a rubber track and a front guide wheel, a driving wheel and a plurality of upper supporting wheels that support the rubber track into a boat-shaped profile, a front supporting wheel group is provided at the front end of the bottom edge of the rubber track, and a rear supporting wheel group is provided at the rear end of the bottom edge of the rubber track, the front supporting wheel group includes two front supporting wheels and a front supporting beam connecting the two front supporting wheels, the rear supporting wheel group includes two rear supporting wheels and a rear supporting beam connecting the two rear supporting wheels, a front suspension support arm inclined forward is hinged at the middle part of the front support beam, a rear suspension support arm inclined backward is hinged at the middle part of the rear support beam, the upper ends of the front suspension support arm and the rear suspension support arm are respectively hinged to the side walls of the vehicle body, a front shock absorber hinged to the middle part of the front suspension support arm is installed on the side wall of the vehicle body behind the front suspension support arm, and a rear shock absorber hinged to the middle part of the rear suspension support arm is installed on the side wall of the vehicle body in front of the rear suspension support arm.
[0005] As a further improvement of the utility model: an anti-slip cleat assembly cooperating with the rubber track guide block is respectively provided under the front support beam and the rear support beam, and the anti-slip cleat assembly is composed of two symmetrically arranged cleats fixed on the front support beam or the rear support beam, which are projected in a ︺ shape on the horizontal plane, thereby forming a parallel guide groove in the middle of the two cleats and a trumpet-shaped guide opening at both ends of the parallel guide groove.
[0006] As a further improvement of the utility model: the projections of the two ends of the bottom edge of the clamping plate on the plane perpendicular to the front supporting wheel axle are in an arc shape.
[0007] As a further improvement of the present invention: the front suspension support arm is formed by two front suspension support plates of exactly the same shape and size connected by connecting pins and hinged sleeves, and the rear suspension support arm is formed by two rear suspension support plates of exactly the same shape and size connected by connecting pins and hinged sleeves.
[0008] As a further improvement of the present invention: the front suspension support arm, front shock absorber, rear suspension support arm, and rear shock absorber are respectively connected to the side wall of the vehicle body through an articulated shaft seat, and the articulated shaft seat includes a flange seat connected to the side wall of the vehicle body, and an articulated shaft mounting nut which is integral with the flange seat and perpendicular to the flange surface is provided on the flange seat, and a plurality of reinforcing rib plates arranged at equal angles are provided between the flange seat and the articulated shaft mounting nut, and an articulated shaft is installed in the articulated shaft mounting nut.
[0009] As a further improvement of the present invention: the front support beam and the rear support beam are respectively composed of a beam body and support wheel mounting sleeves at both ends of the beam body.
[0010] As a further improvement of the present invention: the front suspension support arm is an elbow-type front suspension support arm consisting of a forward-inclined section and a downward-bent section, and the front shock absorber is hinged to the forward-inclined section of the elbow-type front suspension support arm.
[0011] As a further improvement of the present invention: the rear suspension support arm is an elbow-type rear suspension support arm consisting of a rearward-inclined section and a downward-bent section, and the rear shock absorber is hinged to the rearward-inclined section of the elbow-type rear suspension support arm.
[0012] As a further improvement of the present invention: the front guide wheel, driving wheel, upper supporting wheel, front supporting wheel and rear supporting wheel are all double-row wheels formed by coaxially connecting two wheel discs of the same specifications.
[0013] Beneficial effect: The lightweight track system for robots of the utility model adopts a technical solution comprising a rubber track and a front guide wheel, a driving wheel, a plurality of upper supporting wheels, a front supporting wheel group and a rear supporting wheel group that support the rubber track into a boat-shaped profile. Under the premise of satisfying the robot's crawler walking, the structure is simplified, the unnecessary load of the robot is reduced, and the robot can carry more reconnaissance equipment. At the same time, it can also reduce the energy consumption of the robot's walking, so that the robot can work effectively for a longer time. In addition, due to the technical characteristics of a front supporting wheel group being provided at the front end of the bottom edge of the rubber track and a rear supporting wheel group being provided at the rear end of the bottom edge of the rubber track, the front supporting wheel group includes two front supporting wheels and a front supporting beam connecting the two front supporting wheels, the rear supporting wheel group includes two rear supporting wheels and a rear supporting beam connecting the two rear supporting wheels, a front suspension support arm tilted forward is hinged in the middle of the front support beam, and a rear suspension support arm tilted backward is hinged in the middle of the rear support beam, the supporting wheel group can swing around the hinge axis in the middle of the support beam. When the track walks on an undulating road surface, the supporting wheel group can automatically adapt to changes in terrain and provide stable support for the robot. Due to the technical features that the upper ends of the front suspension support arm and the rear suspension support arm are respectively hinged on the side wall of the vehicle body, the side wall of the vehicle body behind the front suspension support arm is equipped with a front shock absorber hinged with the middle part of the front suspension support arm, and the side wall of the vehicle body in front of the rear suspension support arm is equipped with a rear shock absorber hinged with the middle part of the rear suspension support arm, the robot has a shock absorbing effect of absorbing impact and reducing vibration when encountering obstacles in both forward and backward directions, making up for the defect of the robot track system in the prior art that lacks reversing shock absorption, so that the track system of the utility model can effectively avoid the impact vibration generated when reversing and damage the carried detection equipment and affect the detection work, and meet the detection work requirements in unfamiliar environments. Due to the technical features that the anti-slip splint assembly matched with the rubber track guide block is respectively provided under the front support beam and the rear support beam, the track slip accident of the robot can be effectively avoided when the robot is turning and maneuvering in a large range, so that the reliability of the track system of the utility model is higher. Due to the technical feature that the projections of the two ends of the bottom edge of the clamping plate on the plane perpendicular to the front supporting wheel axle are arc-shaped, it can avoid the bottom edge of the clamping plate from cutting or jamming the rubber track when passing through an undulating road surface. Due to the technical feature that the front suspension support arm is formed by connecting two front suspension support plates of exactly the same shape and size using a connecting pin and a hinged sleeve, and the rear suspension support arm is formed by connecting two rear suspension support plates of exactly the same shape and size using a connecting pin and a hinged sleeve, while ensuring the strength of the front suspension support arm and the rear suspension support arm, the weight of the front suspension support arm and the rear suspension support arm is further reduced.Due to the technical features that the front suspension support arm, front shock absorber, rear suspension support arm, and rear shock absorber are connected to the side wall of the vehicle body through an articulated shaft seat, the articulated shaft seat includes a flange seat connected to the side wall of the vehicle body, an articulated shaft mounting nut which is integral with the flange seat and perpendicular to the flange surface is provided on the flange seat, and a plurality of reinforcing ribs arranged at equal angles are provided between the flange seat and the articulated shaft mounting nut, the connection between the front suspension support arm, the front shock absorber, the rear suspension support arm, and the rear shock absorber and the vehicle body is more firmly connected. Due to the technical features that the front support beam and the rear support beam are respectively composed of a beam body and support wheel mounting sleeves at both ends of the beam body, the structure of the support beam is further optimized and the weight of the crawler system is reduced. Due to the technical features that the front suspension support arm is a bent-elbow front suspension support arm and the rear suspension support arm is a bent-elbow rear suspension support arm, the collision or interference between the front suspension support arm or the rear suspension support arm and the support wheel shaft when the crawler is impacted can be effectively avoided, so that the front suspension support arm and the rear suspension support arm have a larger buffer space in a limited space. Due to the technical feature that the front guide wheel, driving wheel, upper supporting wheel, front supporting wheel and rear supporting wheel are all double-row wheels composed of two coaxially connected wheel discs of the same specifications, on the one hand, the carrying capacity of each wheel is improved, and on the other hand, the guide block of the track is located between the two wheel discs, and the track anti-slip effect is better. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The lightweight crawler system for robots of the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0015] Figure 1 This is a front view of the lightweight crawler system for robots of the utility model;
[0016] Figure 2 It is an enlarged three-dimensional structure diagram of the front support beam in the lightweight crawler system for robots of the utility model;
[0017] Figure 3 It is an enlarged three-dimensional structure diagram of the rear suspension support arm in the lightweight crawler system for robots of the utility model;
[0018] Figure 4 It is an enlarged three-dimensional structure diagram of an articulated axle seat in a lightweight crawler system for a robot of the utility model. DETAILED DESCRIPTION
[0019] like Figure 1As shown, the lightweight track system for robots of the utility model comprises a rubber track and a front guide wheel 2, a driving wheel 4 and a plurality of upper supporting wheels 3 which support the rubber track 1 into a boat-shaped profile; a front supporting wheel group 5 is provided at the front end of the bottom edge of the rubber track, and a rear supporting wheel group 6 is provided at the rear end of the bottom edge of the rubber track; the front supporting wheel group comprises two front supporting wheels and a front supporting beam connecting the two front supporting wheels; the rear supporting wheel group comprises two rear supporting wheels and a rear supporting beam connecting the two rear supporting wheels; a front suspension support arm 7 which is inclined forward and upward from a hinge point is hinged at the middle part of the front supporting beam; a rear suspension support arm 8 which is inclined backward and upward from a hinge point is hinged at the middle part of the rear supporting beam; the upper ends of the front suspension support arm and the rear suspension support arm are respectively hinged at the side walls of the vehicle body; a front shock absorber 11 which is hinged to the middle part of the front suspension support arm is installed on the side wall of the vehicle body behind the front suspension support arm; and a rear shock absorber 10 which is hinged to the middle part of the rear suspension support arm is installed on the side wall of the vehicle body in front of the rear suspension support arm.
[0020] like Figure 2 As shown, the front support beam and the rear support beam are respectively composed of a beam body 51 and support wheel mounting sleeves 52 at both ends of the beam body, a support wheel axle 53 is arranged in the support wheel mounting sleeve, and the front support wheel is installed on the support wheel axle. Under the front support beam and the rear support beam, there are respectively provided anti-slip cleat assemblies matched with the rubber track guide blocks, and the anti-slip cleat assemblies are composed of two symmetrically arranged cleats 54 fixed on the front support beam or the rear support beam, and the projection on the horizontal plane is in the shape of a Z, so that parallel guide grooves 542 are formed in the middle of the two cleats, and trumpet-shaped guide openings 543 are formed at both ends of the parallel guide grooves. The projections of the two ends 541 of the bottom edge of the cleat on the plane perpendicular to the front support wheel axle are in the shape of an arc. Figure 2 The front support beam and the anti-slip splint assembly located at the front support beam portion, the rear support beam and the anti-slip splint assembly located at the rear support beam portion are shown. Figure 2 The structure shown is the same. In order to clearly show the front support beam structure, Figure 2 The front support wheels are hidden.
[0021] The front suspension support arm is formed by connecting two front suspension support plates of exactly the same shape and size using connecting pins and hinged sleeves. Figure 3 As shown, the rear suspension support arm is formed by two rear suspension support plates 81 of exactly the same shape and size connected by a connecting pin 83 and a hinge sleeve 82. The front suspension support arm is a toggle-type front suspension support arm consisting of a forward-inclined section and a downward-bending section, and the front shock absorber is hinged to the forward-inclined section of the toggle-type front suspension support arm. The rear suspension support arm is a toggle-type rear suspension support arm consisting of a backward-inclined section 811 and a downward-bending section 812, and the rear shock absorber is hinged to the backward-inclined section of the toggle-type rear suspension support arm. Figure 3 It is the rear suspension support arm. The front suspension support arm has the same structure as the rear suspension support arm, but the specific shapes are slightly different.
[0022] The front suspension support arm, the front shock absorber, the rear suspension support arm, and the rear shock absorber are connected to the side wall of the vehicle body through the hinged shaft seat 9. Figure 4 As shown, the articulated shaft seat includes a flange seat 91 connected to the side wall of the vehicle body, on which is provided an articulated shaft mounting nut 92 which is integral with the flange seat and perpendicular to the flange surface, and between the flange seat and the articulated shaft mounting nut are provided a plurality of reinforcing rib plates 93 arranged at equal angles, and in the articulated shaft mounting nut is installed an articulated shaft, one end of which has an external thread which matches the articulated shaft mounting nut.
[0023] Preferably, the front guide wheel, driving wheel, upper supporting wheel, front support wheel and rear support wheel are all double-row wheels formed by coaxially connecting two wheel discs of the same specification, and the two wheel discs of the same wheel are respectively located on both sides of the rubber track guide block.
[0024] Figure 1 The robot lightweight crawler system in the embodiment uses two upper supporting wheels. In actual use, the number of upper supporting wheels can be increased or decreased according to the required crawler length and rubber hardness.
[0025] When the lightweight crawler system of the robot of the utility model is used, two sets of crawler systems are respectively installed on the side walls of the robot body, and the motor, reducer and control system inside the robot body are used to control forward and backward walking and turning.
Claims
1. A lightweight crawler system for a robot, comprising a rubber crawler and a front guide wheel, a driving wheel and a plurality of upper supporting wheels supporting the rubber crawler into a boat-shaped profile, characterized in that: A front supporting wheel group is provided at the front end of the bottom edge of the rubber track, and a rear supporting wheel group is provided at the rear end of the bottom edge of the rubber track, the front supporting wheel group includes two front supporting wheels and a front supporting beam connecting the two front supporting wheels, the rear supporting wheel group includes two rear supporting wheels and a rear supporting beam connecting the two rear supporting wheels, a front suspension support arm inclined forward is hinged at the middle part of the front supporting beam, a rear suspension support arm inclined backward is hinged at the middle part of the rear supporting beam, the upper ends of the front suspension support arm and the rear suspension support arm are respectively hinged to the side walls of the vehicle body, a front shock absorber hinged to the middle part of the front suspension support arm is installed on the side wall of the vehicle body behind the front suspension support arm, and a rear shock absorber hinged to the middle part of the rear suspension support arm is installed on the side wall of the vehicle body in front of the rear suspension support arm.
2. The lightweight crawler system for a robot according to claim 1, characterized in that: An anti-slip cleat assembly that cooperates with the rubber track guide block is respectively provided under the front support beam and the rear support beam. The anti-slip cleat assembly consists of two symmetrically arranged cleats fixed on the front support beam or the rear support beam, which are projected in a Z shape on the horizontal plane, thereby forming parallel guide grooves in the middle of the two cleats and trumpet-shaped guide openings at both ends of the parallel guide grooves.
3. The lightweight crawler system for a robot according to claim 2, characterized in that: The projections of the two ends of the bottom edge of the splint on a plane perpendicular to the front supporting wheel axle are in an arc shape.
4. The lightweight crawler system for a robot according to any one of claims 1 to 3, characterized in that: The front suspension support arm is formed by connecting two front suspension support plates of exactly the same shape and size using a connecting pin and an articulated sleeve, and the rear suspension support arm is formed by connecting two rear suspension support plates of exactly the same shape and size using a connecting pin and an articulated sleeve.
5. The lightweight crawler system for a robot according to claim 4, characterized in that: The front suspension support arm, front shock absorber, rear suspension support arm and rear shock absorber are respectively connected to the side wall of the vehicle body through an articulated shaft seat. The articulated shaft seat includes a flange seat connected to the side wall of the vehicle body, and an articulated shaft mounting nut which is integral with the flange seat and perpendicular to the flange surface is provided on the flange seat. A plurality of reinforcing rib plates arranged at equal angles are provided between the flange seat and the articulated shaft mounting nut, and an articulated shaft is installed in the articulated shaft mounting nut.
6. The lightweight crawler system for a robot according to claim 4, characterized in that: The front support beam and the rear support beam are respectively composed of a beam body and support wheel mounting sleeves at both ends of the beam body.
7. The lightweight crawler system for a robot according to claim 6, characterized in that: The front suspension support arm is a toggle-type front suspension support arm consisting of a forward tilting section and a downward bending section, and the front shock absorber is hinged to the forward tilting section of the toggle-type front suspension support arm.
8. The lightweight crawler system for a robot according to claim 7, characterized in that: The rear suspension support arm is a toggle-type rear suspension support arm consisting of a rearward-inclined section and a downward-bending section, and the rear shock absorber is hinged on the rearward-inclined section of the toggle-type rear suspension support arm.
9. The lightweight crawler system for a robot according to claim 8, characterized in that: The front guide wheel, driving wheel, upper supporting wheel, front supporting wheel and rear supporting wheel are all double-row wheels formed by coaxially connecting two wheel discs of the same specifications.