All-terrain tracked robot

Abstract

The utility model discloses an all-terrain tracked robot, and particularly relates to the technical field of tracked robots, the all-terrain tracked robot comprises a support frame, the top of the support frame is fixedly connected with a tray and a motor, the middle part of the tray is provided with a battery, the output end of the motor is connected with a speed reducer, and one side of the speed reducer is connected with a driving wheel. Middle thrust wheels are reduced at the bottom of the supporting frame, the tensioning force of the rubber track is balanced through the self-weight of the machine, and the new contact form of the rubber track and the ground is changed in a self-adaptive mode in different terrains and landform areas under the action of the gravity of the machine, so that the rubber track can better wrap the terrains and adapt to the terrains, and the service life of the rubber track is prolonged. And the motor is started to sequentially control the first belt pulley to drive the two thrust wheels to rotate through the transmission belt, so that when the rubber track is lost, the action capability of the machine can still be guaranteed, and the use effect is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to tracked robot technical field, more specifically, the utility model relates to a kind of all-terrain tracked robot. BACKGROUND

[0002] Tracked robot, mainly refers to the robot of tracked chassis mechanism, tracked mobile robot has the advantages such as large traction, not easy to skid, cross-country performance, can be loaded camera, detector and other equipment instead of human to engage in some dangerous work (such as explosive ordnance disposal, chemical detection etc.), reduce unnecessary casualties;

[0003] The existing tracked robot mostly adopts multiple sets of floating wheel chassis structure, realizes the drive of track, but adopts multiple sets of floating wheel chassis structure, and the first set of floating wheel and the last set of floating wheel are prone to long-term head tilting under the action of track tension, in the process of driving on flat road, so that the middle each set of floating wheel cannot effectively play a supporting role, aggravate the load of the first and last two sets of floating wheels and be prone to damage, and the existing tracked robot loses track, and the machine is basically unable to move, which affects the use effect. SUMMARY

[0004] In order to overcome the above-mentioned defects of the prior art, the utility model provides an all-terrain tracked robot to solve the problems raised in the above background art.

[0005] To achieve the above object, the utility model provides the following technical scheme: an all-terrain tracked robot, comprising a support frame, the top of the support frame is fixedly connected with a tray and a motor, the middle of the tray is provided with a battery, the output end of the motor is connected with a speed reducer, one side of the speed reducer is connected with a drive wheel, the output end of the speed reducer is provided with a stabilizing support, one end of the drive wheel is connected with a first pulley;

[0006] The bottom of the support frame is fixedly connected with a first support rod around the symmetry, one end of the first support rod is rotatably connected with two carrier wheels, one side of the carrier wheel is fixedly connected with a second pulley, the middle of the second pulley is sleeved with a transmission belt, one end of the transmission belt is sleeved in the middle of the first pulley.

[0007] The outer part of the drive wheel and the carrier wheel is provided with a rubber track, the top of the support frame is fixedly connected with a fixed cylinder around the symmetry, the middle of the fixed cylinder is inserted with a second support rod, one end of the second support rod is connected with two guide wheels through a rotating shaft, and the fixed cylinder is inserted with a fastening bolt on three sides.

[0008] Preferably, the drive wheel is located in the middle of the inner teeth of the rubber track, and the two carrier wheels at one end of the first support rod are located on both sides of the inner teeth of the rubber track.

[0009] Preferably, the guide wheels are in contact with the inner cavity of the rubber track, and the two guide wheels at one end of the second support rod are located on the two sides of the inner teeth of the rubber track.

[0010] Preferably, the cross-sectional shape of the support frame is arranged as a " " structure, the number of the motors is two, the number of the rubber tracks is two, which are arranged on the two sides of the support frame respectively, and the stabilizing support is fixed on the top of the support frame.

[0011] Preferably, the fixing cylinder is arranged at the two ends of the side of the support frame close to the tray, and the second support rod is fixedly connected with a stabilizing rod at the end away from the guide wheel.

[0012] Preferably, one end of the stabilizing rod is sleeved with a stabilizing plate, the stabilizing plate is fixed on the support frame, one end of the stabilizing rod is fixedly connected with a limiting screw head, and the middle part of the stabilizing rod is sleeved with a nut.

[0013] The technical effects and advantages of the utility model are as follows:

[0014] 1. The utility model discloses a support frame bottom reduces the intermediate supporting roller, utilizes the machine self-weight to balance the rubber track tension, and in different topography, landform area, under the machine gravity, the contact new form of rubber track and ground is changed adaptively, so that the rubber track can better coat the terrain, adapt to the terrain, obtain greater grip, and then obtain the cross-country ability of full terrain, ground condition, and through starting motor, first pulley drives two supporting rollers to rotate through transmission belt in turn, can still guarantee the machine action ability when losing the rubber track, improve use effect.

[0015] 2. The utility model discloses still through the cooperation of stabilizing rod and stabilizing plate, improve the stability that second support rod removes, and through second support rod, the stability of guide wheel is improved, and through the control of second support rod, the position of guide wheel can be adjusted according to the size of rubber track, improve the driving effect of rubber track, and through the rotation of fastening bolt, the position of second support rod can be fixed, through the cooperation of nut and limiting screw head, the moving range of stabilizing rod is limited, and the use effect is improved.

[0016] In conclusion, through the mutual influence of the above-mentioned multiple effects, the intermediate supporting roller can be reduced, the contact new form of rubber track and ground can be changed adaptively, so that the rubber track can better coat the terrain, adapt to the terrain, obtain greater grip, and then obtain the cross-country ability of full terrain, ground condition, and can still guarantee the machine action ability when losing the rubber track. ACCURACY

[0017] Figure 1 It is the whole structure schematic view of the utility model.

[0018] Figure 2 This is a schematic diagram of the structure of this utility model from another angle.

[0019] Figure 3 This is a side view of the structure of this utility model.

[0020] Figure 4 This utility model Figure 2 A magnified schematic diagram of the structure at point A in the middle.

[0021] Figure 5 This is a top view of the structure of this utility model.

[0022] Figure 6 This is a side view of the structure of this utility model in the climbing state.

[0023] The attached diagram is labeled as follows: 1. Support frame; 2. Tray; 3. Battery; 4. Motor; 5. Reducer; 6. Drive wheel; 7. Stabilizer; 8. First pulley; 9. Drive belt; 10. First support rod; 11. Track roller; 12. Second pulley; 13. Rubber track; 14. Fixed cylinder; 15. Second support rod; 16. Guide wheel; 17. Stabilizer bar; 18. Stabilizer plate; 19. Fastening bolt. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] As attached Figures 1-6 The all-terrain tracked robot shown includes a support frame 1. A tray 2 and a motor 4 are fixedly connected to the top of the support frame 1. A battery 3 is set in the middle of the tray 2, which provides power for starting the motor 4. The tray 2 supports the battery 3 for easy fixation. A reducer 5 is connected to the output end of the motor 4. A drive wheel 6 is connected to one side of the reducer 5. Starting the motor 4 controls the reducer 5 to drive the drive wheel 6 to rotate. The reducer 5 controls the drive wheel 6 to generate a large torque to improve the driving effect. A stabilizing bracket 7 is set at the output end of the reducer 5. A first pulley 8 is connected to one end of the drive wheel 6. The stabilizing bracket 7 improves the stability of the drive wheel 6, and the first pulley 8 facilitates transmission and drive.

[0026] The bottom of the support frame 1 is fixedly connected with a first support rod 10 symmetrically, one end of the first support rod 10 is rotatably connected with two supporting wheels 11, one side of the supporting wheel 11 is fixedly connected with a second belt pulley 12, the middle part of the second belt pulley 12 is sleeved with a transmission belt 9, one end of the transmission belt 9 is sleeved in the middle part of the first belt pulley 8, the supporting wheel 11 is supported through the first support rod 10, and the transmission belt 9 and the second belt pulley 12 can be matched to control the rotation of the supporting wheel 11 while the first belt pulley 8 drives the rotation of the transmission belt 9, so as to play a transmission role, and the rubber track 13 can be used as a driving wheel to facilitate driving when the rubber track 13 is lost;

[0027] The driving wheel 6 and the supporting wheel 11 are externally provided with a rubber track 13, the top of the support frame 1 is fixedly connected with a fixed cylinder 14 symmetrically, the middle part of the fixed cylinder 14 is inserted with a second support rod 15, one end of the second support rod 15 is connected with two guide wheels 16 through an axis, and the three sides of the fixed cylinder 14 are inserted with fastening bolts 19, the rubber track 13 is driven to rotate by the driving wheel 6, and the rubber track 13 is supported by the supporting wheel 11 and the guide wheel 16, which facilitates driving and improves the grip of the rubber track 13, reduces the intermediate supporting wheel, reduces the cost while enhancing the adaptability of the robot operation terrain, and facilitates the adjustment of the distance between the guide wheel 16 and the support frame 1 through the cooperation of the fixed cylinder 14 and the second support rod 15, so as to conveniently adapt to rubber tracks 13 of different lengths for adjustment and use, and improve the flexibility of use.

[0028] As shown in the accompanying Figures 1-3 , the driving wheel 6 is located in the middle of the inner teeth of the rubber track 13, the two supporting wheels 11 at one end of the first support rod 10 are located on both sides of the inner teeth of the rubber track 13, the driving wheel 6 is started to control the rotation of the rubber track 13, and the rubber track 13 is supported by the supporting wheel 11, which facilitates driving use.

[0029] As shown in the accompanying Figures 1-3 , the guide wheel 16 is in close contact with the inner cavity of the rubber track 13, the two guide wheels 16 at one end of the second support rod 15 are located on both sides of the inner teeth of the rubber track 13, and the rubber track 13 is supported by the guide wheel 16 to improve the driving stability of the rubber track 13.

[0030] As shown in the accompanying Figure 1 , 2As shown in Figure 5, the cross-sectional shape of the support frame 1 is set as a "ㅍ" shape. There are two motors 4 and two rubber tracks 13, which are respectively set on both sides of the support frame 1. The stabilizing bracket 7 is fixed on the top of the support frame 1. The two rubber tracks 13 facilitate driving movement to adapt to various terrains and improve the use effect. At the same time, the rubber tracks 13 can change the contact shape between the rubber tracks 13 and the ground, so that the rubber tracks 13 can better cover the terrain, adapt to the terrain, obtain greater traction, and have all-terrain off-road capability.

[0031] As attached Figure 1 , 2 As shown in Figures 3, 4, and 6, the fixed cylinder 14 is installed at both ends of the support frame 1 on the side near the tray 2, and the second support rod 15 is fixedly connected to the stabilizing rod 17 at the end away from the guide wheel 16.

[0032] As attached Figure 4 As shown, a stabilizing plate 18 is fitted onto one end of the stabilizing rod 17, and the stabilizing plate 18 is fixed to the support frame 1. A limiting screw head is fixedly connected to one end of the stabilizing rod 17, and a nut is fitted onto the middle of the stabilizing rod 17. Through the cooperation of the stabilizing rod 17 and the stabilizing plate 18, the stability of the movement of the second support rod 15 is improved, and the stability of the guide wheel 16 is improved through the second support rod 15. The position of the second support rod 15 can be fixed by rotating the fastening bolt 19. Through the cooperation of the nut and the limiting screw head, the movement range of the stabilizing rod 17 is limited, thereby improving the performance.

[0033] The working principle of this utility model is as follows: When in use, the battery 3 provides power to the motor 4, and the motor 4 starts to control the reducer 5 to drive the drive wheel 6 to rotate. Through the cooperation of the first pulley 8, the transmission belt 9, and the second pulley 12, the support wheel 11 rotates simultaneously with the drive wheel 6, which facilitates the rotation of the rubber track 13 to achieve movement. Moreover, when the rubber track 13 is damaged or lost, the robot can still be controlled to move by rotating the support wheel 11, so that the machine can maintain its mobility.

[0034] By reducing the intermediate support rollers at the bottom of the support frame 1, the machine's own weight can be used to balance the tension of the rubber track 13. In different terrains and landforms, under the action of the machine's gravity, the contact pattern between the rubber track 13 and the ground can be adaptively changed, so that the rubber track 13 can better cover and adapt to the terrain, obtain greater grip, and thus obtain all-terrain and all-condition off-road capability.

[0035] The guide wheel 16 is supported by the second support rod 15. The position of the guide wheel 16 can be adjusted according to the size and length of the rubber track 13. The position of the second support rod 15 is fixed by rotating the fastening bolt 19, which facilitates adjustment and use.

[0036] The above merely describes preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An all-terrain tracked robot comprising a support frame (1), characterized in that: The top of the support frame (1) is fixedly connected with a tray (2) and a motor (4), the middle of the tray (2) is provided with a battery (3), the output end of the motor (4) is connected with a speed reducer (5), one side of the speed reducer (5) is connected with a drive wheel (6), the output end of the speed reducer (5) is provided with a stabilizing support (7), one end of the drive wheel (6) is connected with a first belt pulley (8); The bottom of the support frame (1) is fixedly connected with a first support rod (10) around the four symmetrical, one end of the first support rod (10) is rotatably connected with two supporting wheels (11), one side of the supporting wheel (11) is fixedly connected with a second belt pulley (12), the middle of the second belt pulley (12) is sleeved with a transmission belt (9), one end of the transmission belt (9) is sleeved in the middle of the first belt pulley (8); The outside of the drive wheel (6) and the supporting wheel (11) is provided with a rubber track (13), the top of the support frame (1) is fixedly connected with a fixed cylinder (14) on both sides, the middle of the fixed cylinder (14) is inserted with a second support rod (15), one end of the second support rod (15) is connected with two guide wheels (16) through the rotating shaft, the three sides of the fixed cylinder (14) are inserted with fastening bolts (19).

2. An all-terrain track robot according to claim 1, characterized in that: The drive wheel (6) is located in the middle of the inner teeth of the rubber track (13), and the two supporting wheels (11) at one end of the first support rod (10) are located on both sides of the inner teeth of the rubber track (13).

3. An all-terrain track robot according to claim 1, characterized in that: The guide wheel (16) is fitted with the inner cavity of the rubber track (13), and the two guide wheels (16) at one end of the second support rod (15) are located on both sides of the inner teeth of the rubber track (13).

4. An all-terrain track robot according to claim 1, characterized in that: The cross-sectional shape of the support frame (1) is arranged as The structure is characterized in that the number of the motors (4) is two, the number of the rubber tracks (13) is two, and the two rubber tracks are arranged on the two sides of the support frame (1) respectively, and the stabilizing support (7) is fixed on the top of the support frame (1).

5. The all-terrain trackbot of claim 1, wherein: The fixed cylinder (14) is arranged at both ends of the side of the support frame (1) close to the tray (2), and the end of the second support rod (15) away from the guide wheel (16) is fixedly connected with a stabilizing rod (17).

6. An all-terrain track robot according to claim 5, characterized in that: One end of the stabilizing rod (17) is sleeved with a stabilizing plate (18), the stabilizing plate (18) is fixed on the support frame (1), one end of the stabilizing rod (17) is fixedly connected with a limiting screw head, and the middle of the stabilizing rod (17) is sleeved with a nut. One end of the stabilizing rod (17) is sleeved with a stabilizing plate (18), the stabilizing plate (18) is fixed on the support frame (1), one end of the stabilizing rod (17) is fixedly connected with a limiting screw head, and the middle of the stabilizing rod (17) is sleeved with a nut.

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