Rotating mechanism of crawling robot
By designing a crawling robot rotating mechanism including a mutually spaced crawler moving unit and a rotating connecting arm, the problem of insufficient walking stability and obstacle-surfing ability of crawler crawler robots in the prior art in complex terrain is solved, the robot's deformation ability in height and width is realized, and environmental adaptability and stability are enhanced.
Patent Information
- Application Number
- CN202422090238.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-28
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-08-28
AI Technical Summary
The existing tracked crawler robots lack self-deforming mechanisms and are difficult to effectively adapt to complex terrain such as deep grooves and high steps, resulting in limited walking stability and obstacle-surfacing ability.
A rotating mechanism including a first track moving unit and a second track moving unit spaced from each other is designed. By combining the first double fork flip frame, a connecting section, a bidirectional rotation between the track moving units, a 180° relative rotation between the track moving units is realized, and has deformation capability.
The rotating mechanism enables the crawling robot to change its maximum height and maximum width, enhances freedom of movement in the height space and width space, improves the stability of anti-roll, and can more effectively cross gullies and steps through shape transformation, improving overall environmental adaptability.
Smart Images
Figure CN222905714U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a rotating mechanism, in particular to a rotating mechanism for a crawling robot. Background Art
[0002] In order to ensure stable operation in complex and changeable terrain environments, most mobile robots adopt tracked walking mechanisms, such as the most common crawling robots on the market. These robots need to adapt to various complex terrains, such as different ground hardness, the presence of obstacles, and the crossing of steps. Therefore, the current research focus in this field mainly concentrates on improving the robot's ability to cross trenches and climb steps, and enhancing its anti-tipping stability.
[0003] Most of the existing tracked crawling robots on the market adopt a design similar to that of a car. The solution idea is to increase the adaptability to the use environment by improving the mobility performance. The structural forms include single-section double-track, double-section four-track, multi-section multi-track, and multi-section track composite, etc. However, due to the general lack of a mechanism design that can self-deform in these robots, there are still very large limitations in terms of width adjustment, walking stability, and obstacle-crossing ability when facing complex terrains such as deep trenches and high steps.
[0004] Therefore, in this application, a rotating mechanism enables the crawling robot to have a deformation ability and improves its adaptability to the use environment. Summary of the Utility Model
[0005] In order to solve the deficiencies existing in the above technologies, the utility model provides a rotating mechanism for a crawling robot.
[0006] In order to solve the above technical problems, the technical solution adopted by the utility model is: it includes a first tracked moving unit and a second tracked moving unit that are spaced apart from each other;
[0007] One end of the first tracked moving unit is sequentially and movably connected outward with a first double-fork flipping frame, a first connecting section, a first two-way steering joint, and a first two-way rotating connecting arm;
[0008] One end of the second tracked moving unit is sequentially and movably connected outward with a second double-fork flipping frame, a second connecting section, a second two-way rotating joint, and a second two-way rotating connecting arm;
[0009] The free ends of the first two-way rotating connecting arm and the second two-way rotating connecting arm are hinged to each other.
[0010] Furthermore, both the first tracked moving unit and the second tracked moving unit are strip-shaped and both include a walking frame and tracks arranged on the outer wall around the walking frame.
[0011] Further, the first double-fork flipping frame is the same as the second double-fork flipping frame, and the two are respectively hinged to the first crawler moving unit and the second crawler moving unit through their bifurcated ends.
[0012] Further, the seat end of the first connecting section is connected to the first double-fork flipping frame, and the sheet-like head end of the first connecting section is hinged to the first two-way steering joint;
[0013] The seat end of the second connecting section is connected to the second double-fork flipping frame, and the sheet-like head end of the second connecting section is hinged to the second two-way rotating joint.
[0014] Further, the other end of the first two-way steering joint is hinged to the first two-way rotating connecting arm;
[0015] The other end of the second two-way rotating joint is hinged to the second two-way rotating connecting arm.
[0016] Further, the maximum angle of relative rotation between the first two-way rotating connecting arm and the second two-way rotating connecting arm is 180°.
[0017] Further, the first two-way rotating connecting arm and the second two-way rotating connecting arm are the same and both include a rod body and connecting section ends connected to both ends of the rod body.
[0018] The utility model discloses a rotating mechanism of a crawling robot, which can change the deformation ability of its maximum height and maximum width, and thus has a huge degree of freedom of movement in the height space and width space, extremely strong anti-rollover stability, and can also cross ditches and steps by changing its own shape state, and has a very strong overall environmental adaptability. Brief Description of the Drawings
[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model.
[0020] Figure 2 It is a schematic diagram of a partial structure of the utility model.
[0021] In the figure: 1. First crawler moving unit; 2. Second crawler moving unit; 3. Walking frame; 4. Crawler; 5. First double-fork flipping frame; 6. Second double-fork flipping frame; 7. First connecting section; 8. Second connecting section; 9. First two-way rotating joint; 10. Second two-way rotating joint; 11. First two-way rotating connecting arm; 12. Second two-way rotating connecting arm; 13. Connecting section end; 14. Rod body. Detailed Description of the Embodiment
[0022] The following further describes the utility model in detail with reference to the drawings and specific embodiments.
[0023] Such as Figure 1-2As shown, this embodiment relates to the rotating mechanism of a crawling robot. First of all, it should be noted that this embodiment only modifies the structure. The structure including or used to support walking, such as electric drives, electrical devices, and PCBs, is not the technical feature to be protected by this application, so it is not shown.
[0024] This embodiment includes a first crawler moving unit 1 and a second crawler moving unit 2 that are spaced apart from each other. Both the first crawler moving unit 1 and the second crawler moving unit 2 are strip-shaped and both include a walking frame 3 and crawlers 4 provided on the outer wall around the walking frame 3. Therefore, it can be understood that the first crawler moving unit 1 and the second crawler moving unit 2 are the walking mechanisms of this embodiment.
[0025] In this embodiment, one end of the first crawler moving unit 1 is sequentially and movably connected outward with a first double-fork flipping frame 5, a first connecting joint 7, a first double-directional steering joint 9, and a first double-directional rotating connecting arm 11. It can be understood that all adjacent two components are movably connected, and preferably movably hinged in this embodiment. Therefore, the above components are jointly implemented in a multi-joint manner; one end of the second crawler moving unit 2 is sequentially and movably connected outward with a second double-fork flipping frame 6, a second connecting joint 8, a second double-directional rotating joint 10, and a second double-directional rotating connecting arm 12. It can be understood that all adjacent two components are movably connected, and preferably movably hinged in this embodiment. Therefore, the above components are jointly implemented in a multi-joint manner; in this embodiment, the structural composition of the first crawler moving unit 1 and its connecting parts is exactly the same as that of the second crawler moving unit 2 and its connecting parts.
[0026] The free end of the first double-directional rotating connecting arm 11 and the free end of the second double-directional rotating connecting arm 12 are hinged to each other, and their mutual hinge is also a dynamic hinge.
[0027] Preferably, the first double-fork flipping frame 5 is the same as the second double-fork flipping frame 6, and the two are respectively hinged to the first crawler moving unit 1 and the second crawler moving unit 2 through their bifurcated ends. It should be noted that the hinge is implemented by the way of a hinge rod passing through and connecting. Both the first double-fork flipping frame 5 and the second double-fork flipping frame 6 are fork-shaped frame structures with a single-sided opening. The two sheet-like plates at the opening are fitted on the left and right sides of the walking frame 3, and as Figure 1 shown, specifically connected to the end position of the walking frame 3, and the end position is fitted in the fork of the first double-fork flipping frame 5 and / or the second double-fork flipping frame 6; when this embodiment encounters a space with limited height in the actual driving environment, the first double-fork flipping frame 5 and the second double-fork flipping frame 6 are respectively flipped to the position on the same horizontal line of the first crawler moving unit 1 and the second crawler moving unit 2, then the height occupation of this embodiment itself is minimized to a great extent, and its passability in the height space is greatly increased.
[0028] Preferably, the seat end of the first connecting section 7 is connected to the first double-fork flipping frame 5, and the two are firmly welded during actual production. The sheet-like head end of the first connecting section 7 is hinged to the first two-way steering joint 9, and the maximum angle of the hinged movement between the two is 180°. The seat end of the second connecting section 8 is connected to the second double-fork flipping frame 6, and the two are firmly welded during actual production. The sheet-like head end of the second connecting section 8 is hinged to the second two-way rotating joint 10, and the maximum angle of the hinged movement between the two is 180°.
[0029] Preferably, the other end of the first two-way steering joint 9 is hinged to the first two-way rotating connecting arm 11, and the maximum angle of the hinged movement between the two is 180°. The other end of the second two-way rotating joint 10 is hinged to the second two-way rotating connecting arm 12, and the maximum angle of the hinged movement between the two is 180°. The settings of the first two-way rotating connecting arm 11 and the second two-way rotating connecting arm 12 greatly improve the movement range of the respective end-side mobility.
[0030] The maximum angle of relative rotation between the first two-way rotating connecting arm 11 and the second two-way rotating connecting arm 12 is 180°.
[0031] The first two-way rotating connecting arm 11 and the second two-way rotating connecting arm 12 are the same and each includes a rod body 14 and connecting joint ends 13 connected to both ends of the rod body 14. The rod body 14 is not only used to connect the connecting joint ends 13, but also used to increase the overall length.
[0032] With the above structure, this embodiment can change the height space it occupies; it can change the width space it occupies, that is, change its own width. In the maximum extension degree of this embodiment, it can extend into a straight-line long strip, and its width is equal to the maximum width of the first crawler moving unit 1 or the second crawler moving unit 2.
[0033] In this way, the rotation mechanism of the crawling robot disclosed by the present utility model can change the deformation ability of its maximum height and maximum width, and thus has a huge degree of freedom of movement in the height space and width space. The anti-rollover stability is extremely strong, and it can also cross ditches and steps by changing its own shape state, and the overall environmental adaptability is very strong.
[0034] The above embodiments are not limitations on the present utility model, and the present utility model is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the technical scope of the present utility model also belong to the protection scope of the present utility model.
Claims
1. A crawling robot rotation mechanism, characterized in that: It comprises a first crawler moving unit (1) and a second crawler moving unit (2) which are spaced apart from each other; One end of the first crawler moving unit (1) is movably connected outwardly to a first double-fork flip frame (5), a first connecting joint (7), a first bidirectional steering knuckle (9), and a first bidirectional rotating connecting arm (11); One end of the second crawler moving unit (2) is movably connected outwardly to a second double-fork flip frame (6), a second connecting joint (8), a second bidirectional rotating joint (10), and a second bidirectional rotating connecting arm (12); The free end of the first bidirectional rotating connecting arm (11) and the free end of the second bidirectional rotating connecting arm (12) are hinged to each other.
2. The crawling robot rotation mechanism according to claim 1, characterized in that: The first crawler moving unit (1) and the second crawler moving unit (2) are both in the shape of long strips and both comprise a walking frame (3) and a crawler (4) arranged on the circumferential outer wall of the walking frame (3).
3. The crawling robot rotation mechanism according to claim 1, characterized in that: The first double-forked flip frame (5) is identical to the second double-forked flip frame (6), and both are hinged to the first crawler moving unit (1) and the second crawler moving unit (2) respectively through their bifurcated ends.
4. The crawling robot rotation mechanism according to claim 3, characterized in that: The seat end of the first connecting joint (7) is connected to the first double-fork flip frame (5), and the sheet-shaped head end of the first connecting joint (7) is hinged to the first two-way steering knuckle (9); The seat end of the second connecting joint (8) is connected to the second double-fork flip frame (6), and the sheet-shaped head end of the second connecting joint (8) is hinged to the second two-way rotating joint (10).
5. The crawling robot rotation mechanism according to claim 4, characterized in that: The other end of the first bidirectional steering knuckle (9) is hingedly connected to a first bidirectional rotating connecting arm (11); The other end of the second bidirectional rotating joint (10) is hingedly connected to a second bidirectional rotating connecting arm (12).
6. The crawling robot rotation mechanism according to claim 5, characterized in that: The maximum relative rotation angle of the first bidirectional rotating connecting arm (11) and the second bidirectional rotating connecting arm (12) is 180°.
7. The crawling robot rotation mechanism according to claim 1, characterized in that: The first bidirectional rotating connecting arm (11) and the second bidirectional rotating connecting arm (12) are identical and both comprise a rod body (14) and connecting section ends (13) connected to both ends of the rod body (14).