Torsion type vehicle body system for belt type robot

Abstract

The utility model relates to the field of robots, and particularly discloses a twisting type vehicle body system for a belt type robot, which comprises a first vehicle frame, a second vehicle frame, a first wheel carrier and a second wheel carrier, the first vehicle frame is rotatably connected with the second vehicle frame, and the first wheel carrier and the second wheel carrier are rotatably connected with the side parts of the first vehicle frame and the second vehicle frame respectively. A first belt wheel is installed on the first wheel frame, a second belt wheel is installed on the second wheel frame, and a crawler belt is installed between the first belt wheel and the second belt wheel. The first wheel carrier, the second wheel carrier, the first vehicle body and the second vehicle body can perform self-adaptive deflection according to the deflection angle of the curved surface, so that the whole vehicle body and the crawler belt form a slight torsion structure, and the lifting trend of the belt wheels at the opposite angle ends can be eliminated; therefore, the belt surface of the crawler belt and the walking surface have better fitting property and adhesive force, and steering is more accurate.

Description

Technical Field

[0001] This utility model belongs to the field of robotics, and specifically relates to a torsion body system for a belt robot. Background Technology

[0002] Belt-crawling robots are a common type of robot structure, mainly composed of a body, pulleys, and tracks. The tracks provide good friction and mobility, and when magnetic blocks or suction cups are installed on the track surface, they can also achieve a certain degree of climbing ability. However, in existing belt-crawling robots, the body and pulleys are rigidly connected. When turning or making a U-turn on a curved surface, the diagonally opposite pulleys tend to lift off the ground, reducing the contact between the track and the walking surface, decreasing adhesion, making it prone to slippage, and affecting the accuracy of movement.

[0003] The patent document with application number "CN2024209472261" discloses a simple robot for removing rust from curved surfaces of ship hulls with magnetic tracks. As can be seen from the specification and the accompanying drawings, the drive gears of the magnetic tracks of this robot are still rigidly connected to the frame. When it turns or turns around on the curved surface, the drive gears at the diagonal ends will still tend to lift, thereby reducing the fit and adhesion of the tracks.

[0004] The above background information is provided only to assist in understanding the utility model concept and technical solution of this utility model, and it does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above information was disclosed on the filing date of this patent application, the above background information should not be used to evaluate the novelty and inventiveness of this application. Utility Model Content

[0005] The purpose of this utility model is to provide a torsion body system for belt robots, thereby overcoming the defects of existing belt walking machines where the track has poor adhesion and bonding to the traveling surface when turning or making a U-turn on a curved traveling surface, which easily leads to slippage and affects the accuracy of travel.

[0006] To achieve the above objectives, this utility model provides a torsion-type vehicle body system for a belt-driven robot, comprising a first frame and a second frame. One end of the first frame is rotatably connected to one end of the second frame. Rotatable first wheel frames are respectively provided on both sides of the first frame, and rotatable second wheel frames are respectively provided on both sides of the second frame. The rotation axes of the first wheel frames, the second wheel frames, and one end of the first frame are parallel. A first pulley is installed in the first wheel frame, and the axis of the first pulley is perpendicular to the rotation axis of the first wheel frame. A second pulley is installed in the second wheel frame, and the axis of the second pulley is perpendicular to the rotation axis of the second wheel frame. Tracks are installed on the first pulley and the second pulley.

[0007] Preferably, in the above technical solution, the first wheel frame is provided with a first drive motor on the side facing the first vehicle frame, and the output end of the first drive motor is coaxially connected to the first pulley; the second wheel frame is provided with a second drive motor on the side facing the second vehicle frame, and the output end of the second drive motor is coaxially connected to the second pulley.

[0008] Preferably, the above technical solution further includes a first cantilever frame, with a plurality of first sliding grooves respectively provided on both sides of the first frame, a first locking bolt provided at one end of the first cantilever frame, the nut end of the first locking bolt being able to be engaged in the first sliding groove and slide along it, the other end of the first cantilever frame extending to the side and downward of the first frame and rotatably connected to both ends of the first wheel frame, and the length direction of the first sliding groove being consistent with the direction of the track.

[0009] Preferably, in the above technical solution, the other end of the first frame is provided with an adjustment seat, and through-pin holes are opened on both sides of the adjustment seat. The first cantilever frame is provided with an adjustment bolt, which passes through the through-pin holes and is provided with an adjustment nut and a locking nut. The adjustment nut and the locking nut are respectively located on both sides of the adjustment seat, and the length direction of the adjustment bolt is consistent with the length direction of the first slide groove.

[0010] Preferably, in the above technical solution, the first wheel frame is provided with a first limiting groove at both ends, and the first limiting groove is bent around the rotation axis of the first wheel frame; the other end of the first cantilever frame is provided with a first limiting pin that matches the first limiting groove.

[0011] Preferably, in the above technical solution, the bottom of the first frame is provided with a protective box, the bottom surface of the protective box is higher than the lower surface of the track, the end of the protective box facing the second frame is provided with a support surface, the first frame is provided with an installation port, and the installation port is provided with a removable cover plate.

[0012] Preferably, in the above technical solution, one end of the first frame is provided with a rotating shaft, which is perpendicular to the support surface; the bottom of the second frame is provided with a bearing seat, which has a shaft hole, and the rotating shaft is rotatably inserted into the shaft hole. A bearing is provided between the shaft hole and the rotating shaft, and a detachable bearing cover is provided at the end of the shaft hole; the bottom surface of the bearing seat is higher than the lower surface of the track.

[0013] Preferably, in the above technical solution, two support frames are provided below the second frame, the two support frames are symmetrically arranged on both sides of the axle seat, and two or more support wheels are provided on the support frames, the wheel surface of the support wheel abutting against the support surface.

[0014] Preferably, the above technical solution further includes a second cantilever, one end of which is fixedly connected to the second vehicle frame, and the other end of which extends to the side and downward of the second vehicle frame and is rotatably connected to both ends of the second wheel frame.

[0015] Preferably, in the above technical solution, the two ends of the second wheel frame are respectively provided with second limiting grooves, and the second limiting grooves are bent around the rotation axis of the second wheel frame; the other end of the second cantilever frame is provided with a second limiting pin that matches the second limiting groove.

[0016] Compared with existing technologies, this utility model has the following beneficial effects:

[0017] 1. The torsion body system of the belt robot in this utility model sets the body into a two-section structure that can be rotatably connected. The first and second pulleys of the fixed track are respectively mounted on the rotatable first and second wheel frames. When the robot turns or makes a U-turn on the curved walking surface, the first wheel frame, the second wheel frame, and the first and second body can adaptively deflect according to the deflection angle of the curved surface, so that the entire body and track form a slightly torsional structure. This can eliminate the upward tendency of the pulleys at the diagonal ends, so that the track surface has better fit and adhesion to the walking surface, making the steering more precise.

[0018] 2. In this utility model, each of the first wheel frame and the second wheel frame is equipped with an independent first motor and a second motor on its side. The first motor and the second motor can drive the first pulley and the second pulley independently, thereby giving the track better power performance and passability.

[0019] 3. The bottom of the first frame in this utility model is provided with a protective box, which can be used to install the controller and other electronic components, thereby protecting the control components. Support wheels are provided under the second frame. When the adjusting bolts are tightened on the tracks, the tracks can pull the second frame closer to the first frame, thereby causing the rotating shaft and bearing to have a relative displacement tendency. At this time, the support wheels can abut against the support surface on the protective box to generate a support force, thereby protecting the rotating shaft and bearing. Since the support surface is perpendicular to the rotating shaft, it can also play a stabilizing role when the first frame and the second frame rotate, preventing the rotating shaft from bending.

[0020] 4. The vehicle body twisting process in this utility model is achieved through the assembly gap between each link of the track. The first limiting groove and the first limiting pin, as well as the second limiting groove and the second limiting pin, can limit the rotation angle of the first wheel frame and the second wheel frame, preventing the relative rotation angle between the two from being too large and damaging the connection structure of each link in the track. Attached Figure Description

[0021] Figure 1 This is a structural diagram of the torsion body system for a belt robot of this utility model.

[0022] Figure 2 This is a structural diagram of the torsion body system used in belt robots, viewed from the bottom.

[0023] Figure 3 This is a structural diagram of the first frame and the adjustment seat.

[0024] Figure 4 This is a structural diagram of the first wheel frame, the first pulley, and the first drive motor.

[0025] Figure 5 This is a structural diagram of the second frame.

[0026] Figure 6 This is a structural diagram of the second wheel frame, the second pulley, and the second drive motor.

[0027] Figure 7 This is a partial sectional view of the bearing seat.

[0028] Explanation of key figure labels:

[0029] 100 - First frame, 110 - First cantilever, 120 - First slide rail, 130 - First locking bolt, 140 - First limit pin, 150 - Rotating shaft;

[0030] 200-Second frame, 210-Axle seat, 211-Axle hole, 212-Bearing, 213-Bearing cover, 214-Axle sleeve, 230-Second cantilever, 240-Second limit pin;

[0031] 300 - First wheel frame, 310 - First pulley, 320 - First drive motor, 330 - First limiting groove;

[0032] 400 - Second wheel frame, 410 - Second pulley, 420 - Second drive motor, 430 - Second limit groove;

[0033] 500 - Tracks;

[0034] 600 - Adjusting seat, 610 - Through-pin hole, 620 - Adjusting bolt, 630 - Adjusting nut, 640 - Locking nut;

[0035] 700 - Protective box, 710 - Support surface, 720 - Mounting port, 730 - Cover plate;

[0036] 800 - Support frame, 810 - Support wheel. Detailed Implementation

[0037] 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.

[0038] In the description of this utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "top surface", "bottom surface", "inner", "outer", "inner side", "outer side", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0039] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. Where the terms "first," "second," and "third" are used for descriptive purposes and to distinguish technical features, they should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0040] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. The embodiments of this utility model will now be described based on its overall structure.

[0041] like Figures 1 to 7 As shown, the torsion body system for the belt robot in this embodiment includes: a first frame 100, a first cantilever 110, a first slide groove 120, a first locking bolt 130, a first limiting pin 140, a rotating shaft 150, a second frame 200, a shaft seat 210, a shaft hole 211, a bearing 212, a bearing cover 213, a bushing 214, a second cantilever 230, a second limiting pin 240, a first wheel frame 300, a first pulley 310, a first drive motor 320, a first limiting groove 330, a second wheel frame 400, a second pulley 410, a second drive motor 420, a second limiting groove 430, a track 500, an adjusting seat 600, a through-hole 610, an adjusting bolt 620, an adjusting nut 630, a locking nut 640, a protective box 700, a support surface 710, a mounting port 720, a cover plate 730, a support frame 800, and a support wheel 810.

[0042] A rotating shaft 150 is fixedly mounted at one end of the first frame 100. A bearing seat 210 is mounted at the bottom of the second frame 200. A shaft hole 211 is provided on the bearing seat 210. The two ends of the shaft hole 211 pass through the two ends of the bearing seat 210. The rotating shaft 150 is rotatably inserted into the shaft hole 211. Two bearings 212 are installed between the shaft hole 211 and the rotating shaft 150. A bushing 214 is provided between the two bearings 212. A removable bearing cover 213 is installed at the end of the shaft hole 211. Multiple first sliding grooves 120 are respectively opened on both sides of the first frame 100. The length direction of each first sliding groove 120 is located in the same straight line position and is aligned with the track 500. The first slide groove 120 has a T-shaped cross-section. A first locking bolt 130 is installed at one end of the first cantilever 110. The number and position of the first locking bolts 130 correspond to the number and position of the first slide groove 120. The nut end of the first locking bolt 130 can be engaged within the first slide groove 120 and slide along it. When the first locking bolt 130 is tightened, the position between the first cantilever 110 and the first frame 100 is fixed. An adjusting seat 600 is installed at the other end of the first frame 100. Through-nails 610 are provided on both sides of the adjusting seat 600. An adjusting bolt 620 is installed at one end of the first cantilever 110, passing through the through-nails 610 and equipped with an adjusting nut 6. Adjusting nut 630 and locking nut 640 are located on both sides of adjusting seat 600, and the length direction of adjusting bolt 620 is consistent with the length direction of first slide groove 120; the other end of first cantilever 110 extends to the lower side of first frame 100 and is rotatably connected to both ends of first wheel frame 300. First wheel frame 300 has a rectangular frame structure. First pulley 310 is rotatably installed in first wheel frame 300, and the axis of first pulley 310 is perpendicular to the rotation axis 150 of first wheel frame 300; one end of second cantilever 230 is fixedly connected to second frame 200 by second locking bolt, and the other end of second cantilever 230 extends to second frame 200. The first wheel 300 extends to the lower side and is rotatably connected to both ends of the second wheel frame 400. The second wheel frame 400 has a rectangular frame structure. The second pulley 410 is rotatably installed inside the second wheel frame 400, and the axis of the second pulley 410 is perpendicular to the rotation axis 150 of the second wheel frame 400. A track 500 is installed between the first pulley 310 and the second pulley 410, and the lower surface of the track 500 is lower than the bottom surface of the axle seat 210. The rotation axis 150 of the first wheel frame 300, the second wheel frame 400 and the first frame 100 are parallel. A first drive motor 320 is installed on the side of the first wheel frame 300 facing the first frame 100, and the output end of the first drive motor 320 is coaxially connected to the first pulley 310.A second drive motor 420 is mounted on the side of the second wheel frame 400 facing the second frame 200, and the output end of the second drive motor 420 is coaxially connected to the second pulley 410.

[0043] Furthermore, first limiting grooves 330 are respectively provided at both ends of the first wheel frame 300. The first limiting grooves 330 have a "C" shape and are bent around the rotation axis 150 of the first wheel frame 300. The first limiting pin 140 is fixedly connected to the other end of the first cantilever frame 110 by means of a threaded connection. The end of the first limiting pin 140 can be inserted into the first limiting groove 330 and slide along the first limiting groove 330. When the first limiting pin 140 slides to both ends of the first limiting groove 330, it can control the rotation of the first wheel frame 300. Limiting: Second limiting grooves 430 are respectively provided at both ends of the second wheel frame 400. The second limiting grooves 430 have a "C" shape and are bent around the rotation axis 150 of the second wheel frame 400. The second limiting pin 240 is fixedly connected to the other end of the second cantilever frame 230 by means of threaded connection. The end of the second limiting pin 240 can be inserted into the second limiting groove 430 and slide along the second limiting groove 430. When the second limiting pin 240 slides to both ends of the second limiting groove 430, it can limit the rotation of the second wheel frame 400.

[0044] In addition, a protective box 700 is installed at the bottom of the first frame 100. The protective box 700 has a cuboid structure, and its bottom surface is higher than the lower surface of the track 500. A support surface 710 is provided at the end of the protective box 700 facing the second frame 200. An installation opening 720 is provided at the top of the first frame 100, and a removable cover plate 730 is installed at the installation opening 720. Electrical components such as controllers are installed inside the protective box 700. Two support frames 800 are provided below the second frame 200. The two support frames 800 are symmetrically arranged on both sides of the axle seat 210. Two or more support wheels 810 are provided on the support frames 800. The wheel surface of the support wheel 810 abuts against the support surface 710. Each support wheel 810 is symmetrically arranged with the axle seat 210 as the center.

[0045] Next, the working principle of a twisting body system for a belt robot in this embodiment will be described in detail to enable those skilled in the art to better understand this utility model:

[0046] When the vehicle system travels over curved surfaces, such as concave tunnel surfaces or outwardly arched arc surfaces, when the travel direction is along the generatrix of the arc surface, the first wheel frame 300 and the second wheel frame 400 can automatically adapt to the slope of the attachment point of the track 500 and rotate accordingly, thereby improving the fit between the track 500 and the travel surface. When the travel direction is perpendicular to the generatrix of the arc surface, the middle position of the lower track surface of the track 500 can automatically adapt to the arc surface, and by additionally installing a flexible transition wheel system, the track surface is always in contact with the travel surface. Since this structure is relatively common and is common knowledge in this field, its principle will not be elaborated on further. When turning or making a U-turn on a curved surface, the first wheel frame 300, the second wheel frame 400, the first chassis 100, and the second chassis 200 can deflect according to the terrain. Furthermore, due to the certain gap between the links of the track 500, the vehicle body and the track 500 will also twist to a certain extent, thereby giving the track 500 better fit and adhesion to the running surface, thus improving the steering accuracy.

[0047] In summary, the torsion body system for the belt robot in this embodiment sets the body into a two-section structure that can be rotatably connected. Furthermore, by mounting the first pulley 310 and second pulley 410 of the fixed track 500 onto the rotatable first wheel frame 300 and second wheel frame 400 respectively, when the robot turns or makes a U-turn on the curved walking surface, the first wheel frame 300, the second wheel frame 400, and the first and second body sections can adaptively deflect according to the deflection angle of the curved surface. This causes the entire body section and track 500 to form a slightly torsional structure, thereby eliminating the upward tendency of the diagonally opposite pulleys. This results in better contact and adhesion between the track surface and the walking surface, leading to more precise steering.

[0048] The foregoing description of specific exemplary embodiments of the present invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the present invention to the precise forms disclosed, and it is obvious that many changes and variations can be made based on the above teachings. Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the present invention and are not intended to limit the invention. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. The purpose of selecting and describing exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art, after reading this specification, can make modifications, substitutions, variations, and various choices and changes to the embodiments as needed without departing from the principles and spirit of the present invention, provided that such modifications, substitutions, variations, and choices and changes are within the scope of the claims of the present invention and are protected by patent law.

Claims

1. A torsion body system for a belt-driven robot, characterized in that: The vehicle includes a first frame and a second frame. One end of the first frame is rotatably connected to one end of the second frame. Rotatable first wheel frames are provided on both sides of the first frame, and rotatable second wheel frames are provided on both sides of the second frame. The rotation axes of the first wheel frames, the second wheel frames, and one end of the first frame are parallel. A first pulley is installed in the first wheel frame, and the axis of the first pulley is perpendicular to the rotation axis of the first wheel frame. A second pulley is installed in the second wheel frame, and the axis of the second pulley is perpendicular to the rotation axis of the second wheel frame. Tracks are installed on the first pulley and the second pulley.

2. The torsion body system for a belt robot according to claim 1, characterized in that, The first wheel frame has a first drive motor on the side facing the first vehicle frame, and the output end of the first drive motor is coaxially connected to the first pulley; the second wheel frame has a second drive motor on the side facing the second vehicle frame, and the output end of the second drive motor is coaxially connected to the second pulley.

3. The torsion body system for a belt robot according to claim 1, characterized in that, It also includes a first cantilever frame, with several first sliding grooves on both sides of the first frame. One end of the first cantilever frame is provided with a first locking bolt, the nut end of the first locking bolt can be locked in the first sliding groove and slide along it. The other end of the first cantilever frame extends to the lower side of the first frame and is rotatably connected to both ends of the first wheel frame. The length direction of the first sliding groove is consistent with the direction of the track.

4. The torsion body system for a belt robot according to claim 3, characterized in that, The other end of the first frame is provided with an adjustment seat, and through-pin holes are opened on both sides of the adjustment seat. The first cantilever frame is provided with an adjustment bolt, which passes through the through-pin holes and is provided with an adjustment nut and a locking nut. The adjustment nut and the locking nut are respectively located on both sides of the adjustment seat, and the length direction of the adjustment bolt is consistent with the length direction of the first slide groove.

5. The torsion body system for a belt robot according to claim 4, characterized in that, The first wheel frame has a first limiting groove at each end, and the first limiting groove is bent around the rotation axis of the first wheel frame; the other end of the first cantilever frame has a first limiting pin that matches the first limiting groove.

6. The torsion body system for a belt robot according to claim 5, characterized in that, The first frame has a protective box at its bottom, the bottom surface of which is higher than the lower surface of the track. The protective box has a support surface at one end facing the second frame. The first frame has an installation port with a removable cover.

7. The torsion body system for a belt robot according to claim 6, characterized in that, The first frame has a rotating shaft at one end, which is perpendicular to the support surface; the second frame has a bearing seat at the bottom, which has a shaft hole, and the rotating shaft is rotatably inserted into the shaft hole. A bearing is provided between the shaft hole and the rotating shaft, and a removable bearing cover is provided at the end of the shaft hole; the bottom surface of the bearing seat is higher than the lower surface of the track.

8. The torsion body system for a belt robot according to claim 7, characterized in that, The second frame has two support frames located below it. The two support frames are symmetrically arranged on both sides of the axle seat. Each support frame has two or more support wheels, and the wheel surface of each support wheel abuts against the support surface.

9. The torsion body system for a belt robot according to claim 8, characterized in that, It also includes a second cantilever, one end of which is fixedly connected to the second frame, and the other end of which extends to the side and downward of the second frame and is rotatably connected to both ends of the second wheel frame.

10. The torsion body system for a belt robot according to claim 9, characterized in that, The second wheel frame has a second limiting groove at each end, and the second limiting groove is bent around the rotation axis of the second wheel frame; the other end of the second cantilever frame has a second limiting pin that matches the second limiting groove.

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