Self-reconfiguration tracked robot

Abstract

The self-reconfiguration tracked robot comprises a track assembly, a machine body assembly and a driving assembly installed in the machine body assembly, the machine body assembly is used for supporting the track assembly, the driving assembly provides power for the track assembly, and the track assembly comprises a front supporting chain wheel, a rear supporting chain wheel and a plurality of track modules. The crawler belt modules are sequentially hinged to form a complete crawler belt chain, the carrier wheels are meshed with the crawler belt chain, an angle locking mechanism is arranged between every two adjacent crawler belt modules, the machine body assembly comprises a front framework, a rear framework and a plurality of chassis modules which are sequentially hinged, the front framework is hinged to the chassis module located at the foremost end, and the rear framework is hinged to the chassis module located at the rear end. The rear framework is hinged to the chassis module located at the rearmost end, an angle unlocking mechanism is arranged on the rear framework, and the angle unlocking mechanism enables the two adjacent track modules to recover free rotation; the robot has the advantages that through the angle adjusting function, the caterpillar band assembly can automatically adjust the shape so as to adapt to complex terrains and diversified task requirements.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a self-reconfigurable crawler robot. Background Art

[0002] As a mechanical equipment that uses tracks as its main means of movement, tracked robots are widely used in industrial transportation, military reconnaissance, disaster relief and other scenarios due to their excellent terrain adaptability and high load performance. However, traditional tracked robots have the problem of insufficient flexibility due to their fixed structure design. In complex environments, tracked robots cannot flexibly adjust their shape to bypass obstacles, and their task adaptability is limited. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a self-reconfigurable crawler robot, which enables the crawler assembly to adjust its shape through an angle adjustment function to adapt to complex terrain and diverse task requirements.

[0004] The technical solution adopted by the utility model to solve the above technical problems is: a self-reconfigurable crawler robot, comprising a crawler assembly, a fuselage assembly and a drive assembly installed inside the fuselage assembly, the fuselage assembly is used to support the crawler assembly, the drive assembly provides power for the crawler assembly, the crawler assembly comprises two front and rear groups of sprocket wheels and a plurality of crawler modules, the crawler modules are hinged in sequence to form a complete crawler chain, the sprocket wheels are meshed with the crawler chain, an angle locking mechanism is arranged between two adjacent crawler modules, the angle locking mechanism is used to lock the relative angle between two adjacent crawler modules, the fuselage assembly comprises a front frame, a rear frame and a plurality of chassis modules hinged in sequence, the front frame is hinged to the chassis module located at the front end, the rear frame is hinged to the chassis module located at the rear end, an angle unlocking mechanism is arranged on the rear frame, and the angle unlocking mechanism enables the two adjacent crawler modules to resume free rotation.

[0005] Furthermore, the track module includes a track joint, two adjacent track joints are hinged, and two symmetrical roller seats are integrally provided at the rear end of the track joint. A slide groove is provided on the circumferential surface of the roller seat, and the slide groove includes a flat groove section and an inclined groove section. The slide grooves on the two roller seats are symmetrical to each other, and a slidable roller is sleeved on the roller seat. A slider is integrally provided inside the roller, and the slider extends into the slide groove.

[0006] Furthermore, the roller seat is provided with an end cover at the end surface close to the flat groove section, and the end cover is used to prevent the sliding block from escaping from the sliding groove.

[0007] Furthermore, the angle locking mechanism includes a roller pushing mechanism, and both sides of the front end of the track joint are respectively provided with an arc-shaped left locking groove and a right locking groove, the arc angle of the right locking groove is smaller than the arc angle of the left locking groove, and a locking block, a first lever and a second lever are fixedly provided on the outer surface of the roller, the first lever is used to cooperate with the roller pushing mechanism, and the second lever is used to cooperate with the angle unlocking mechanism. When the roller pushing mechanism pushes the first lever on the left roller, the left roller moves in a direction close to the left locking groove, and the locking block on the left roller is inserted into the left locking groove on the adjacent track joint, so that the two adjacent track joints are locked in a straight angle state; when the roller pushing mechanism pushes the first lever on the right roller, the right roller moves in a direction close to the right locking groove, and the locking block on the right roller is inserted into the right locking groove on the adjacent track joint, so that the two adjacent track joints are locked in an obtuse angle state.

[0008] Furthermore, the roller pushing mechanism includes a servo, a push block and a mounting shaft, the servo and the mounting shaft are respectively fixed on the front frame, the push block is slidably mounted on the mounting shaft, the push block is narrow at the top and wide at the bottom and is used to push the first lever on the roller, a rack is integrally provided on the push block, a gear is coaxially fixed on the driving shaft of the servo, and the gear is meshed with the rack.

[0009] Furthermore, the angle unlocking mechanism includes two reset blocks symmetrically fixed on the rear frame, and the two reset blocks are in an "eight-shaped" shape that is narrow at the bottom and wide at the top. When the track module passes through the reset blocks, the second lever moves the roller to the middle position of the track joint under the guidance of the reset blocks, so that the locking block on the roller on the left side disengages from the left locking groove on the adjacent track joint or the locking block on the roller on the right side disengages from the right locking groove on the adjacent track joint, thereby realizing unlocking between two adjacent track modules.

[0010] Furthermore, the driving assembly includes a first driving module, and the first driving module includes a first motor fixed on the front frame, and the first motor drives the support sprocket wheel located at the front end to rotate through a gear assembly.

[0011] Furthermore, the driving assembly also includes a second driving module, and the second driving module includes a second motor fixed to the rear frame, and the second motor drives the support sprocket at the rear end to rotate through a gear assembly.

[0012] Furthermore, the chassis module includes a horizontally arranged support plate and a vertically arranged support frame, two adjacent support plates are hinged to each other, and the support frame is fixed on opposite sides of the support plate to support the track chain and maintain the height of the track chain.

[0013] Compared with the prior art, the advantage of the utility model is that the angle between the track modules is changed by the angle locking mechanism and the roller pushing mechanism arranged on the track module, so that the track chain can flexibly adjust the angle, realize the self-reconstruction function of the track chain shape, and improve the robot's adaptability to different environments and tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0015] Figure 2 It is an exploded view of the utility model;

[0016] Figure 3 It is an exploded view of the track module of the utility model;

[0017] Figure 4 It is a schematic diagram of the roller pushing mechanism of the utility model;

[0018] Figure 5 is a schematic diagram of a fuselage assembly of the utility model;

[0019] Figure 6 It is a schematic diagram of the state in which two adjacent crawler modules of the utility model are locked at a flat angle;

[0020] Figure 7 It is a schematic diagram of the state in which two adjacent track modules of the utility model are locked at an obtuse angle. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0022] like Figure 1-7As shown, a self-reconfigurable crawler robot includes a crawler assembly, a body assembly 2 and a drive assembly installed inside the body assembly 2, the body assembly 2 is used to support the crawler assembly, the drive assembly provides power for the crawler assembly, the crawler assembly includes two front and rear groups of sprocket wheels 11 and a plurality of crawler modules 12, the crawler modules 12 are hinged in sequence to form a complete crawler chain 13, the sprocket wheels 11 are meshed with the crawler chain 13, an angle locking mechanism is provided between two adjacent crawler modules 12, the angle locking mechanism is used to lock the relative angle between the two adjacent crawler modules 12, so that the crawler chain 13 changes shape, the crawler module 12 includes a crawler joint 121, the two adjacent crawler joints 121 are hinged, and the rear of the crawler joint 121 Two symmetrical roller seats 122 are integrally provided at the end, and a slide groove 123 is provided on the circumferential surface of the roller seat 122. The slide groove 123 includes a flat groove section 1232 and an inclined groove section 1231. The slide grooves 123 on the two roller seats 122 are symmetrical to each other. A slidable roller 124 is sleeved on the roller seat 122. A slider 125 is integrally provided inside the roller 124. The slider 125 extends into the slide groove 123. In order to prevent the slider 125 from escaping from the slide groove 123, an end cover 1221 is provided on the end surface of the roller seat 122 close to the flat groove section 1232; the angle locking mechanism includes a roller pushing mechanism, and arc-shaped left locking grooves 126 and right locking grooves 127 are respectively provided on both sides of the front end of the crawler joint 121. The right locking groove 12 The arc angle of 7 is smaller than the arc angle of the left locking groove 126. A locking block 128, a first lever 129 and a second lever 130 are fixedly provided on the outer surface of the roller 124. The first lever 129 is used to cooperate with the roller pushing mechanism, and the second lever 130 is used to cooperate with the angle unlocking mechanism. The roller pushing mechanism includes a steering gear 141, a push block 142 and a mounting shaft 143. The steering gear 141 and the mounting shaft 143 are respectively fixed on the front frame 21. The push block 142 is slidably installed on the mounting shaft 143. The push block 142 is narrow at the top and wide at the bottom and is used to push the first lever 129 on the roller 124. A rack 144 is integrally provided on the push block 142. A gear 145 is coaxially fixed on the driving shaft of the steering gear 141. The gear 145 is coaxially fixed on the driving shaft of the steering gear 141. 5 is meshed with the rack 144; when the push block 142 pushes the first lever 129 on the left roller 124, the left roller 124 moves toward the direction close to the left locking groove 126, and the locking block 128 on the left roller 124 is inserted into the left locking groove 126 on the adjacent track joint 121, so that the two adjacent track joints 121 are locked in a right angle state; when the push block 142 pushes the first lever 129 on the right roller 124, the right roller 124 moves toward the direction close to the right locking groove 127, and the locking block 128 on the right roller 124 is inserted into the right locking groove 127 on the adjacent track joint 121, so that the two adjacent track joints 121 are locked in an obtuse angle state.

[0023] The fuselage assembly 2 includes a front frame 21, a rear frame 24 and a plurality of chassis modules 22 that are hinged in sequence. The front frame 21 is hinged to the chassis module 22 at the front end, and the rear frame 24 is hinged to the chassis module 22 at the rear end. The chassis module 22 includes a horizontally arranged support plate 221 and a vertically arranged support frame 222. Two adjacent support plates 221 are hinged to each other, and the support frames 222 are fixed on opposite sides of the support plates 221. The support frames 222 are used to support the crawler chain 13 and maintain the height of the crawler chain 13. An angle unlocking mechanism is provided on the rear frame 24, and the angle unlocking mechanism enables the adjacent crawler modules 12 to be restored. The angle unlocking mechanism includes two reset blocks 23 symmetrically fixed on the rear frame 24. The two reset blocks 23 are in an "eight-shaped" shape with a narrow bottom and a wide top. When the track module 12 passes through the reset blocks 23, the second lever 130 moves the roller 124 to the middle position of the track joint 121 under the guidance of the reset blocks 23, so that the locking block 128 on the roller 124 on the left side is disengaged from the left locking groove 126 on the adjacent track joint 121 or the locking block 128 on the roller 124 on the right side is disengaged from the right locking groove 127 on the adjacent track joint 121, thereby realizing the unlocking between the two adjacent track modules 12.

[0024] The driving assembly includes a first driving module 3 and a second driving module 4. The first driving module 3 includes a first motor 31 fixed on the front frame 21, and the first motor 31 drives the sprocket wheel 11 at the front end to rotate through a gear assembly; the second driving module 4 includes a second motor 41 fixed on the rear frame 24, and the second motor 41 drives the sprocket wheel 11 at the rear end to rotate through a gear assembly.

[0025] When this embodiment moves forward, the upper track module 12 moves from the rear frame 24 to the front frame 21, and the push block 142 located in the front frame 21 changes the angle between the track modules 12. The track module 12 with the relative angle set will be transmitted to the lower part of the track chain 13 as the track chain 13 moves forward. This embodiment realizes deformation by continuously modifying the relative angle between adjacent track modules 12, and sets the track chain 13 to the required shape, thereby realizing the function of crossing obstacles and climbing onto bosses. The lower track module 12 moves from the front frame 21 to the rear frame 24, and the angle is unlocked by the reset block 23 on the rear frame 24, so that adjacent track modules 12 can rotate freely, and the rotation range is: -20°—+45°.

[0026] In this embodiment, the arc angle of the right locking groove 127 is 15° smaller than the arc angle of the left locking groove 126. This parameter can be set according to the needs of different environments and tasks.

[0027] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention shall be based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by technicians in this field shall fall within the protection scope of the present invention.

Claims

1. A self-reconfigurable crawler robot, comprising a crawler assembly, a body assembly and a drive assembly installed inside the body assembly, wherein the body assembly is used to support the crawler assembly, the drive assembly provides power for the crawler assembly, the crawler assembly comprises two front and rear sets of sprocket wheels and a plurality of crawler modules, the crawler modules are hinged in sequence to form a complete crawler chain, the sprocket wheels are meshed with the crawler chain, and the robot is characterized in that: An angle locking mechanism is arranged between two adjacent track modules, and the angle locking mechanism is used to lock the relative angle between the two adjacent track modules. The fuselage assembly includes a front frame, a rear frame and a plurality of chassis modules hinged in sequence. The front frame is hinged to the chassis module located at the front end, and the rear frame is hinged to the chassis module located at the rear end. An angle unlocking mechanism is arranged on the rear frame, and the angle unlocking mechanism enables the two adjacent track modules to restore free rotation.

2. A self-reconfigurable crawler robot as claimed in claim 1, characterized in that: The track module includes a track joint, two adjacent track joints are hinged, and two symmetrical roller seats are integrally provided at the rear end of the track joint. A slide groove is provided on the circumferential surface of the roller seat, and the slide groove includes a flat groove section and an inclined groove section. The slide grooves on the two roller seats are symmetrical to each other. A slidable roller is sleeved on the roller seat, and a slider is integrally provided inside the roller, and the slider extends into the slide groove.

3. A self-reconfigurable crawler robot as claimed in claim 2, characterized in that: The roller seat is provided with an end cover at the end surface close to the flat groove section, and the end cover is used to prevent the sliding block from escaping from the sliding groove.

4. A self-reconfigurable crawler robot as claimed in claim 2, characterized in that: The angle locking mechanism comprises a roller pushing mechanism, wherein both sides of the front end of the track joint are respectively provided with an arc-shaped left locking groove and a right locking groove, the arc angle of the right locking groove is smaller than the arc angle of the left locking groove, and a locking block, a first lever and a second lever are fixedly provided on the outer surface of the roller, the first lever is used to cooperate with the roller pushing mechanism, and the second lever is used to cooperate with the angle unlocking mechanism. When the roller pushing mechanism pushes the first lever on the left roller, the left roller moves in a direction close to the left locking groove, and the locking block on the left roller is clamped in the left locking groove on the adjacent track joint, so that the two adjacent track joints are locked in a straight angle state; when the roller pushing mechanism pushes the first lever on the right roller, the right roller moves in a direction close to the right locking groove, and the locking block on the right roller is clamped in the right locking groove on the adjacent track joint, so that the two adjacent track joints are locked in an obtuse angle state.

5. A self-reconfigurable crawler robot as claimed in claim 4, characterized in that: The roller pushing mechanism includes a servo, a push block and a mounting shaft, the servo and the mounting shaft are respectively fixed on the front frame, the push block is slidably mounted on the mounting shaft, the push block is narrow at the top and wide at the bottom and is used to push the first lever on the roller, a rack is integrally provided on the push block, a gear is coaxially fixed on the driving shaft of the servo, and the gear is meshed with the rack.

6. A self-reconfigurable crawler robot as claimed in claim 4, characterized in that: The angle unlocking mechanism includes two reset blocks symmetrically fixed on the rear frame, and the two reset blocks are in an "eight-shaped" shape that is narrow at the bottom and wide at the top. When the track module passes through the reset blocks, the second lever moves the roller to the middle position of the track joint under the guidance of the reset blocks, so that the locking block on the roller on the left side disengages from the left locking groove on the adjacent track joint or the locking block on the roller on the right side disengages from the right locking groove on the adjacent track joint, thereby realizing unlocking between two adjacent track modules.

7. The self-reconfigurable crawler robot according to claim 1, characterized in that: The driving assembly includes a first driving module, and the first driving module includes a first motor fixed on the front frame. The first motor drives the sprocket wheel located at the front end to rotate through a gear assembly.

8. A self-reconfigurable crawler robot as claimed in claim 7, characterized in that: The driving assembly further comprises a second driving module, wherein the second driving module comprises a second motor fixed on the rear frame, and the second motor drives the supporting sprocket wheel at the rear end to rotate via a gear assembly.

9. The self-reconfigurable crawler robot according to claim 1, characterized in that: The chassis module includes a horizontally arranged support plate and a vertically arranged support frame. Two adjacent support plates are hinged to each other. The support frame is fixed on two opposite sides of the support plate to support the track chain and maintain the height of the track chain.

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