Track wheel set and track vehicle

Abstract

The utility model relates to the technical field of robots, and discloses a crawler wheel group and a crawler vehicle. The crawler wheel group comprises a crawler, a mounting frame, a driving assembly and an anti-loosening compensation mechanism. The mounting frame is arranged inside the crawler, the driving assembly is arranged on the mounting frame, and is suitable for driving the crawler to move. The anti-loosening compensation mechanism is arranged on the mounting frame, and is suitable for tensioning the crawler. The utility model can ensure that the tension of the crawler is increased when crossing obstacles on various road surfaces and driving for a long time, prevent the crawler from loosening, avoid the crawler from loosening and falling off, and increase the stability of the crawler wheel group and the service life and cycle of the crawler by arranging the anti-loosening compensation mechanism.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a crawler wheel set and a crawler vehicle. Background Art

[0002] There are many forms of robot mobility mechanisms, mainly including wheeled mobility mechanisms, legged mobility mechanisms and tracked mobility mechanisms. Wheeled mobility mechanisms are mainly used in conditions with good ground conditions. They have high moving speed, high operating efficiency, simple structure, but weak off-road capabilities. The advantage of legged mobility mechanisms is that they have good traffic capabilities on rugged roads, but they have low speeds, complex structures, and relatively low energy utilization. Tracked mobility mechanisms combine the characteristics of legged and wheeled mechanisms, and have both high moving speeds and superior obstacle crossing performance.

[0003] As the application areas of tracked robots continue to expand, from security surveillance, firefighting, search and rescue, and consignment in the civilian field to cave, counter-terrorism, bomb disposal, building surveying, mine sweeping, obstacle removal, and biological and chemical warfare agent detection in the military field, human demand for the application of tracked robots is getting higher and higher.

[0004] In the prior art, when a tracked robot is traveling on a road with undulating terrain, the tension of the track will decrease, causing the track to partially loosen, which can easily lead to the track falling off. Utility Model Content

[0005] In view of this, the utility model provides a crawler wheel set and a crawler vehicle to solve the problem in the prior art that the crawler track is partially loose and easy to fall off when the crawler robot is moving on a road with undulating terrain.

[0006] In the first aspect, the utility model provides a track wheel group, including a track, a mounting frame, a drive assembly and an anti-loosening compensation mechanism, the mounting frame is arranged inside the track, the drive assembly is arranged on the mounting frame, suitable for driving the track to move, and the anti-loosening compensation mechanism is arranged on the mounting frame, suitable for tensioning the track.

[0007] Beneficial effect: The utility model provides an anti-loosening compensation mechanism, which can ensure that the track tension is increased when crossing obstacles on various road surfaces and driving for a long time to prevent the track from loosening, avoid the track from loosening and falling off, and increase the stability of the track wheel group and the service life and cycle of the track.

[0008] In an optional embodiment, the anti-loosening compensation mechanism includes a tensioning assembly and an anti-loosening assembly, the tensioning assembly is suitable for being arranged on the track wheel group, the tensioning assembly is suitable for tensioning the track, the anti-loosening assembly includes a first load-bearing arm, a second load-bearing arm and a road wheel, the first load-bearing arm is rotatably arranged on the track wheel group, the second load-bearing arm is rotatably connected to the first load-bearing arm, the road wheel is rotatably installed at both ends of the second load-bearing arm, and the road wheel is suitable for tensioning the track.

[0009] Beneficial effect: The utility model provides a tensioning assembly and an anti-loosening assembly, which can ensure that the tension of the track is increased when crossing obstacles on various road surfaces and driving for a long time to prevent the track from loosening, avoid the track from loosening and falling off, and increase the stability of the track wheel group and the service life and cycle of the track.

[0010] In an optional embodiment, a limiting portion is provided at one end of the first load-bearing arm away from the second load-bearing arm, and the limiting portion abuts against the tensioning assembly.

[0011] Beneficial effect: The utility model provides a limiting portion on the first load-bearing arm, which can ensure the supporting effect of the first load-bearing arm on the second load-bearing arm.

[0012] In an optional embodiment, the limiting portion is located on a side of the tensioning assembly opposite to the traveling direction of the crawler track.

[0013] In an optional embodiment, the second load-bearing arm is provided with reinforcing ribs.

[0014] Beneficial effects: The utility model arranges reinforcing ribs on the second load-bearing arm to increase the strength of the second load-bearing arm and ensure the stability of the crawler wheel set during travel.

[0015] In an optional embodiment, the tensioning assembly includes a bracket, a mounting seat, a tensioning wheel and an elastic member. One end of the bracket is fixedly mounted on the track wheel assembly, the mounting seat is installed on the end of the bracket facing the track, the tensioning wheel is rotatably mounted on the mounting seat, and the elastic member is arranged between the bracket and the mounting seat.

[0016] Beneficial effects: The utility model arranges an elastic member between the bracket and the mounting seat, and the elastic force of the elastic member can ensure that the tensioning wheel always keeps the crawler track in a tensioned state.

[0017] In an optional embodiment, the tensioning assembly further includes an adjusting member, one end of which is fixedly connected to the mounting seat, and the other end of which is movably connected to the bracket, and the elastic member is sleeved on the adjusting member.

[0018] Beneficial effect: The utility model can adjust the elastic force of the elasticity by setting the adjusting piece, thereby realizing the adjustment of the tightness of the crawler track.

[0019] In an optional embodiment, a mounting hole is provided on the bracket, an end of the adjusting member away from the mounting seat passes through the mounting hole, and a limiting member is movably installed on the end of the adjusting member away from the mounting seat.

[0020] In an optional embodiment, an end of the adjusting member away from the mounting seat is provided with an external thread, the limiting member is provided with an internal thread, and the adjusting member is threadedly connected to the limiting member.

[0021] Beneficial effects: The utility model can adjust the elastic force of the elastic member between the bracket and the mounting seat by rotating the adjustment limit member, thereby adjusting the tightness of the track, and has the advantages of simple structure and convenient operation.

[0022] In a second aspect, the utility model further provides a tracked vehicle, comprising a vehicle body and at least two of the above-mentioned tracked wheel assemblies, which are symmetrically arranged on both sides of the vehicle body.

[0023] Since the crawler wheel set and the crawler vehicle adopt the crawler wheel set of the utility model, they have the same beneficial effects as the anti-loosening compensation mechanism, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is a schematic structural diagram of a track wheel assembly according to an embodiment of the utility model;

[0026] Figure 2 It is a structural schematic diagram of a crawler wheel set without crawlers in an embodiment of the utility model;

[0027] Figure 3 This is a structural schematic diagram of a crawler wheel set without a mounting frame in an embodiment of the utility model;

[0028] Figure 4 It is a front view of a track wheel set without a mounting frame in an embodiment of the utility model;

[0029] Figure 5 The present invention is a schematic structural diagram of a tensioning assembly in a track wheel assembly according to an embodiment of the present invention.

[0030] Description of reference numerals:

[0031] 1. Tracks;

[0032] 2. Mounting frame;

[0033] 3. driving assembly; 301. driving wheel; 302. driver;

[0034] 4. Tensioning assembly; 401. Bracket; 402. Mounting seat; 403. Tensioning wheel; 404. Elastic member; 405. Adjusting member; 406. Limiting member; 407. Protective member;

[0035] 5. Anti-loosening assembly; 501. First load-bearing arm; 5011. Limiting portion; 502. Second load-bearing arm; 5021. Reinforcing rib; 503. Road wheel. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0037] In the related art, the load at the front end of the tracked vehicle is connected to the drive assembly through a buffer spring. When the tracked vehicle is moving, the buffer spring will be squeezed and retracted when the front road wheel is in an uphill posture. At this time, the tension of the track will be reduced, so it is easy for the track to fall off when moving on uneven roads.

[0038] Combine the following Figures 1 to 5 , describing an embodiment of the utility model.

[0039] According to an embodiment of the present utility model, on the one hand, as Figures 1 to 4 As shown, a track wheel set is provided, including a track 1, a mounting frame 2, a driving assembly 3 and the above-mentioned anti-loosening compensation mechanism, the mounting frame 2 is arranged inside the track 1, the driving assembly 3 is arranged on the mounting frame 2, suitable for driving the track 1 to move, and the anti-loosening compensation mechanism is arranged on the mounting frame 2, suitable for tensioning the track 1.

[0040] Specifically, in this embodiment, the interior of the mounting frame 2 is a cavity, the anti-loosening compensation mechanism is installed in the cavity and abuts against the inner wall of the track 1, the driving assembly 3 is located inside the track 1, the driving assembly 3 includes a driving wheel 301 and a driver 302, the driver 302 is fixedly installed on the mounting frame 2, the driving wheel 301 is located in the cavity of the mounting frame 2, the driving end of the driver 302 is rotatably connected to the driving wheel 301, the driving wheel 301 is provided with a plurality of teeth, the teeth are movably connected to the track 1, and are used to drive the track 1 to rotate, the bracket 401 in the anti-loosening compensation mechanism is fixedly installed on the mounting frame 2, the first load-bearing arm 501 is rotatably installed on the mounting frame 2, the tensioning wheel 403 and the road wheel 503 are in contact with the inner wall of the track 1, and are used to tension the track 1.

[0041] In this embodiment, the driver 302 is a motor.

[0042] The utility model provides an anti-loosening compensation mechanism to ensure that the tension of the crawler 1 is increased when crossing obstacles on various road surfaces and driving for a long time to prevent the crawler 1 from loosening, avoid the crawler 1 from loosening and falling off, and increase the stability of the crawler wheel group and the service life and cycle of the crawler 1.

[0043] In one embodiment, Figures 1 to 5 As shown, the anti-loosening compensation mechanism includes a tensioning assembly 4 and an anti-loosening assembly 5. The tensioning assembly 4 is suitable for being arranged on the track wheel group. The tensioning assembly 4 is suitable for tensioning the track 1. The anti-loosening assembly 5 includes a first load-bearing arm 501, a second load-bearing arm 502 and a road wheel 503. The first load-bearing arm 501 is rotatably arranged on the track wheel group, the second load-bearing arm 502 is rotatably connected to the first load-bearing arm 501, and the road wheel 503 is rotatably installed at both ends of the second load-bearing arm 502. The road wheel 503 is suitable for tensioning the track 1.

[0044] like Figure 4 As shown, the left side direction is the traveling direction of the track wheel set.

[0045] Specifically, in this embodiment, the tensioning assembly 4 is arranged on the mounting frame 2 of the track and wheel assembly, and the tensioning assembly 4 is used to tension the track 1. More specifically, in this embodiment, the tensioning assembly 4 is arranged on the upper part of the mounting frame 2 in the direction of the track 1, which can ensure that the track 1 is always in a tensioned state during the movement of the track and wheel assembly, and can also prevent the track 1 from slipping and compensate for the elongation caused by wear and aging of the track 1. The anti-loosening assembly 5 is arranged on the lower part of the driving assembly 3 in the direction of the track 1.

[0046] In this embodiment, the first load-bearing arm 501 is vertically arranged and rotatably mounted on the mounting frame 2. The upper end of the first load-bearing arm 501 is limitedly abutted against the tensioning assembly 4. The second load-bearing arm 502 is horizontally rotatably mounted on the lower end of the first load-bearing arm 501. Both ends of the second load-bearing arm 502 are respectively mounted with road wheels 503, and the road wheels 503 are in contact with the inner bottom of the track 1.

[0047] In this embodiment, during the movement of the tracked vehicle, taking the uphill posture as an example, the front road wheel 503 swings upward, and the rear road wheel 503 swings downward with the rotation of the second load-bearing arm 502. When the front road wheel 503 swings upward, the tension of the track 1 will be reduced. At this time, the rear road wheel 503 swings downward to tighten the track 1 to compensate for the tension, thereby effectively preventing the track 1 from falling off; the downhill posture is the same as the uphill posture.

[0048] The utility model provides a tensioning component 4 and an anti-loosening component 5. During the travel of the crawler vehicle, the tensioning component 4 always applies a tensioning force to the crawler 1 to ensure that the crawler 1 is in a tensioned state. At the same time, the anti-loosening component 5 can play a role in tension compensation for the crawler 1 when the crawler vehicle travels on a road with undulating terrain, thereby ensuring that the tension of the crawler 1 is increased when traveling over obstacles on various road surfaces and for a long time to prevent the crawler 1 from loosening, avoiding the crawler 1 from loosening and falling off, thereby increasing the stability of the crawler wheel group and the service life and cycle of the crawler 1.

[0049] In one embodiment, Figure 4 As shown, a limiting portion 5011 is provided at one end of the first load-bearing arm 501 away from the second load-bearing arm 502 , and the limiting portion 5011 abuts against the tensioning assembly 4 .

[0050] Specifically, in the present embodiment, the middle part of the first load-bearing arm 501 is hinged to the mounting frame 2 through a pin shaft, and a limiting portion 5011 is provided at the upper end of the first load-bearing arm 501. The limiting portion 5011 is in the shape of a groove, and the opening of the groove faces the tensioning assembly 4. During the movement of the track wheel assembly, when the first load-bearing arm 501 swings, the limiting portion 5011 can limit the first load-bearing arm 501 to drive the second load-bearing arm 502 to deviate only in the direction of movement, thereby ensuring that the front side road wheel 503 always supports the tensioning track 1, thereby ensuring that the track 1 will not loosen during the movement.

[0051] In the present invention, a limiting portion 5011 is arranged on the first load-bearing arm 501 , so as to ensure the supporting effect of the first load-bearing arm 501 on the second load-bearing arm 502 .

[0052] In one embodiment, the limiting portion 5011 is located on the side of the tensioning assembly 4 opposite to the traveling direction of the crawler track 1 .

[0053] Specifically, in this embodiment, the limiting portion 5011 is located on the right side of the tensioning assembly 4. During the movement of the track wheel assembly, when the first load-bearing arm 501 swings, the limiting portion 5011 can limit the first load-bearing arm 501 to drive the second load-bearing arm 502 to deviate only in the direction of movement, thereby ensuring that the front load-bearing wheel 503 always supports the tensioning track 1, and further ensuring that the track 1 will not loosen during the movement.

[0054] In one embodiment, Figure 4 As shown, the second load-bearing arm 502 is provided with a reinforcing rib 5021 .

[0055] Specifically, in the present embodiment, the middle portion of the second load-bearing arm 502 is hinged to the lower end of the first load-bearing arm 501 via a pin shaft, and a reinforcing rib 5021 is provided at the hinge between the second weight-bearing arm 502 and the first weight-bearing arm 501. More specifically, in the present embodiment, the hinge between the second weight-bearing arm 502 and the first weight-bearing arm 501 is provided as an upwardly protruding triangular structure, which can increase the strength of the hinge between the second weight-bearing arm 502 and the first weight-bearing arm 501.

[0056] In the present invention, the reinforcing rib 5021 is arranged on the second load-bearing arm 502 to increase the strength of the second load-bearing arm 502 and ensure the stability of the track wheel set during the traveling process.

[0057] In one embodiment, Figure 4 and Figure 5 As shown, the tensioning assembly 4 includes a bracket 401, a mounting seat 402, a tensioning wheel 403 and an elastic member 404. One end of the bracket 401 is fixedly mounted on the track wheel assembly, the mounting seat 402 is mounted on the end of the bracket 401 facing the track 1, the tensioning wheel 403 is rotatably mounted on the mounting seat 402, and the elastic member 404 is arranged between the bracket 401 and the mounting seat 402.

[0058] Specifically, in this embodiment, one end of the bracket 401 is fixedly mounted on the mounting frame 2 of the track wheel group, and the other end faces the direction of the track 1. The mounting seat 402 is installed on the end of the bracket 401 facing the track 1. A tensioning wheel 403 is rotatably mounted on the mounting seat 402. The tensioning wheel 403 is used to tension the track 1. An elastic member 404 is installed between the bracket 401 and the mounting member bracket 401.

[0059] In this embodiment, the elastic member 404 is not specifically limited. To meet the actual situation, the elastic member 404 in this embodiment is a disc spring, which has a certain rigidity and does not allow excessive rebound while maintaining the elastic stroke. In other embodiments, the elastic member 404 can also be a spring or a shrapnel.

[0060] In this embodiment, a protective member 407 is further provided on the mounting seat 402 . More specifically, in this embodiment, the protective member 407 is two protective covers, which are symmetrically arranged. One end of the protective cover is fixed on the mounting seat 402 to protect the elastic member 404 .

[0061] In the present invention, an elastic member 404 is arranged between the bracket 401 and the mounting seat 402 , and the elastic force of the elastic member 404 can ensure that the tensioning wheel 403 always keeps the crawler 1 in a tensioned state.

[0062] In one embodiment, Figure 5As shown, the tensioning assembly 4 further includes an adjusting member 405 , one end of which is fixedly connected to the mounting seat 402 , and the other end of which is movably connected to the bracket 401 , and the elastic member 404 is sleeved on the adjusting member 405 .

[0063] The utility model can adjust the degree of elastic compression by setting the adjusting member 405, so that the elastic member 404 has different elastic forces, thereby adjusting the tightness of the crawler track 1.

[0064] In one embodiment, a mounting hole is provided on the bracket 401 , and one end of the adjusting member 405 away from the mounting seat 402 passes through the mounting hole, and a limiting member 406 is movably installed on one end of the adjusting member 405 away from the mounting seat 402 .

[0065] In one embodiment, Figure 5 As shown, one end of the adjusting member 405 away from the mounting seat 402 is provided with an external thread, the limiting member 406 is provided with an internal thread, and the adjusting member 405 is threadedly connected to the limiting member 406 .

[0066] Specifically, in this embodiment, the adjusting member 405 is a screw, and the limiting member 406 is a nut. The screw is provided with an external thread, and one end of the screw is fixedly connected to the mounting seat 402. The elastic member 404 is sleeved on the screw, and the end of the screw away from the mounting seat 402 passes through the mounting hole on the bracket 401, and the protruding part is threadedly connected to the nut. When it is necessary to adjust the elastic force of the elastic member 404, the elastic member 404 can be tightened or prevented from loosening by rotating the nut, so that the tensioning wheel 403 can adjust the tensioning degree of the track 1.

[0067] The utility model can adjust the elastic force of the elastic member 404 between the bracket 401 and the mounting seat 402 by rotating the adjustment limit member 406, thereby adjusting the tightness of the track 1, and has the advantages of simple structure and convenient operation. Since the disc spring has the characteristic that the elastic force borne by one disc and multiple discs is the same, the tensioning component has a certain toughness and will not have excessive rebound, and can also ensure that the track 1 is in a tensioned state.

[0068] According to an embodiment of the present utility model, on the other hand, a tracked vehicle is provided, comprising a vehicle body and at least two of the above-mentioned tracked wheel assemblies, which are symmetrically arranged on both sides of the vehicle body.

[0069] Specifically, in this embodiment, there is no specific limitation on the number of track wheel assemblies. There can be two, four or six track wheel assemblies, etc. The track wheel assemblies are symmetrically arranged on both sides of the vehicle body, the mounting frame 2 is rotatably connected to the vehicle body, and a controller is provided in the vehicle body, which controls the operation of the drive assembly 3 in the track wheel assembly.

[0070] Although the embodiments of the present invention are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A crawler wheel set, characterized in that: include: Track (1); A mounting frame (2), wherein the mounting frame (2) is arranged inside the crawler (1); A driving assembly (3), the driving assembly (3) being arranged on the mounting frame (2) and being suitable for driving the crawler (1) to move; An anti-loosening compensation mechanism is arranged on the mounting frame (2) and is suitable for tensioning the crawler (1), and the anti-loosening compensation mechanism comprises: A tensioning assembly (4), wherein the tensioning assembly (4) is suitable for being arranged on a track wheel assembly, and the tensioning assembly (4) is suitable for tensioning the track (1); An anti-loosening component (5), the anti-loosening component (5) comprising: A first load-bearing arm (501), the first load-bearing arm (501) being adapted to be rotatably disposed on the track wheel set; A second load-bearing arm (502), the second load-bearing arm (502) being rotatably connected to the first load-bearing arm (501); A road wheel (503), the road wheel (503) is rotatably mounted on both ends of the second load-bearing arm (502), and the road wheel (503) is suitable for tensioning the crawler track (1).

2. The track wheel assembly according to claim 1, characterized in that: A limiting portion (5011) is provided at one end of the first load-bearing arm (501) away from the second load-bearing arm (502), and the limiting portion (5011) is in abutment with the tensioning assembly (4).

3. The track wheel assembly according to claim 2, characterized in that: The limiting portion (5011) is located on the side of the tensioning assembly (4) opposite to the traveling direction of the crawler (1).

4. The crawler wheel assembly according to any one of claims 1 to 3, characterized in that: The second load-bearing arm (502) is provided with a reinforcing rib (5021).

5. The crawler wheel assembly according to claim 1, characterized in that: The tensioning assembly (4) comprises: A bracket (401), one end of which is fixedly mounted on the track wheel set; A mounting seat (402), the mounting seat (402) being mounted on one end of the bracket (401) facing the crawler track (1); A tensioning wheel (403), the tensioning wheel (403) being rotatably mounted on the mounting seat (402); An elastic member (404), wherein the elastic member (404) is arranged between the bracket (401) and the mounting seat (402).

6. The track wheel assembly according to claim 5, characterized in that: The tensioning assembly (4) further comprises: An adjusting member (405), one end of which is fixedly connected to the mounting seat (402) and the other end of which is movably connected to the bracket (401), and the elastic member (404) is sleeved on the adjusting member (405).

7. The track wheel assembly according to claim 6, characterized in that: The bracket (401) is provided with a mounting hole, and one end of the adjusting member (405) away from the mounting seat (402) passes through the mounting hole. A limiting member (406) is movably mounted on one end of the adjusting member (405) away from the mounting seat (402).

8. The track wheel assembly according to claim 7, characterized in that: An end of the adjusting member (405) away from the mounting seat (402) is provided with an external thread, the limiting member (406) is provided with an internal thread, and the adjusting member (405) is threadedly connected to the limiting member (406).

9. A crawler vehicle, characterized in that: include: Vehicle body; At least two track wheel assemblies according to any one of claims 1 to 8 are symmetrically arranged on both sides of the vehicle body.

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