Tracked vehicle and tracked robot

Abstract

The utility model relates to the technical field of tracked vehicles, and discloses a tracked vehicle and a tracked robot. Parallel double-crank mechanisms are arranged on the two sides of a rack of the crawler in the width direction respectively, two power mechanisms are assembled on the two parallel double-crank mechanisms respectively, each power mechanism comprises a closed crawler and four rotating wheels, and the four rotating wheels are installed on four rotating shafts of the parallel double-crank mechanisms respectively; two rotating wheels located at the top of the parallel double-crank mechanism form a first wheel set, the other two rotating wheels form a second wheel set, and the closed crawler belt is meshed with the four rotating wheels; the drive control mechanism can make the rotating speeds of the four rotating wheels consistent to maintain the shape of the closed track, and can change the shape of the closed track by generating a rotating speed difference between the first wheel group and the second wheel group. According to the crawler, by means of the deformable design of the parallel double-crank mechanism, the shape of the crawler can be adjusted to be attached to the appearance of an obstacle when the crawler encounters a large obstacle, and therefore obstacle crossing is achieved.

Description

Technical Field

[0001] This utility model relates to the field of tracked vehicle technology, specifically to a tracked vehicle and a tracked robot. Background Technology

[0002] Tracked vehicles are devices that move by means of continuous circular tracks. Their core features are excellent load-bearing capacity and basic obstacle-crossing ability. They can climb steep slopes and cross obstacles by means of the high friction of the tracks. Therefore, they play important roles in emergency rescue, fire fighting, industrial inspection and other scenarios, such as material transportation and environmental monitoring.

[0003] Traditional tracked vehicles have significant limitations in adapting to complex terrain. Their obstacle-crossing mechanism essentially relies on the rigid compaction of obstacles by the tracks. This passive obstacle-crossing mode means that when faced with obstacles of similar size (such as staircases in building ruins, equipment bases in industrial environments, or ravines), the rigid track structure struggles to dynamically conform to the terrain, resulting in a significant decrease in traction or even complete loss of mobility. Therefore, it is necessary to develop a tracked vehicle capable of adapting to changing terrain. Utility Model Content

[0004] The purpose of this invention is to overcome the significant limitations of tracked vehicles in adapting to complex terrain.

[0005] To achieve the above objectives, this utility model provides a tracked vehicle, which includes a frame, two drive control mechanisms, and two power mechanisms. The frame has a parallel double-crank mechanism on each side in its width direction, and each of the four rotating pairs of the parallel double-crank mechanism has a rotating shaft. The two power mechanisms are respectively mounted on the two parallel double-crank mechanisms. Each power mechanism includes a closed track and four wheels, which are respectively mounted on four rotating shafts. Two wheels located at the top of the parallel double-crank mechanisms form a first wheel group, and two wheels located at the bottom of the parallel double-crank mechanisms form a second wheel group. The closed track meshes with the four wheels for transmission. The two drive control mechanisms correspond one-to-one with the two power mechanisms. The drive control mechanisms can respectively regulate the rotational speed of the first wheel group and the second wheel group. The drive control mechanisms are configured to make the rotational speed of the four wheels consistent to maintain the shape of the closed track. Furthermore, the drive control mechanisms are configured to change the shape of the closed track by creating a speed difference between the first wheel group and the second wheel group.

[0006] In some embodiments, the drive control mechanism includes two sets of motor drive components, which are used to drive the first wheel group and the second wheel group respectively. Each motor drive component includes two motors, the output shaft of which is connected to the rotating shaft to drive the rotating shaft to rotate. The motors are equipped with a power supply to power them. The drive control mechanism can control the two sets of motor drive components respectively.

[0007] In some embodiments, the drive control mechanism further includes a controller capable of controlling two sets of motor drive components respectively; the motor is equipped with a rotation sensor, which is signal-connected to the controller to provide feedback on the motor's operating status.

[0008] In some embodiments, the parallel double crank mechanism includes a connecting rod and two cranks, the bottom ends of the two cranks are rotatably connected to the frame via shafts, and the bottom ends of the cranks are rotatably connected to the shafts via bearings; the top ends of the two cranks are connected to the two ends of the connecting rod via shafts.

[0009] In some embodiments, the length of the connecting rod is greater than the sum of the length of the crank and the diameter of the wheel.

[0010] In some embodiments, the roller is located on the side of the crank facing the frame, and the connecting rod is located on the side of the crank facing away from the frame.

[0011] In some embodiments, in the width direction of the frame, the side of the first wheel set facing the frame is spaced apart from the frame.

[0012] In some embodiments, the wheel includes a wheel engagement portion and two annular limiting portions disposed around its periphery. The two annular limiting portions are distributed on both axial sides of the wheel, and the wheel engagement portion is disposed between the two annular limiting portions. The middle portion of the closed track in the width direction has a track engagement portion, which extends along the length direction of the closed track. The track engagement portion is located in the interval between the two annular limiting portions and engages with the wheel engagement portion for transmission.

[0013] In some embodiments, an inspection module is provided on the top of the rack, and the inspection module includes a radar detector that is signal-connected to the controller.

[0014] In another aspect, this utility model provides a tracked robot, which includes the tracked vehicle described in the above embodiments.

[0015] The above-mentioned technical solution of this utility model has the following beneficial effects:

[0016] When a tracked vehicle travels on flat terrain, the four wheels of the power mechanism maintain the same steering and rotational speed. The closed track meshes with the four wheels, forming a stable transmission path, allowing the tracked vehicle to move smoothly in a fixed shape. When the parallel double-crank mechanism is rectangular, this shape represents the tracked vehicle's operating mode on flat terrain. When the tracked vehicle advances to a larger obstacle, such as needing to cross a slope, the drive control mechanism independently adjusts the first and second wheel groups, making the rotational speed of the first wheel group's wheels greater than that of the second wheel group's wheels. This causes the portion of the closed track that meshes with the first wheel group's wheels to exhibit an increasing linear velocity. To maintain the consistency of the linear velocity across the closed track, this tendency generates a pulling force in the portion of the closed track that meshes with the first wheel group's wheels. This pulling force acts on the parallel double-crank mechanism through the wheels, causing the parallel double-crank mechanism to deform. The closed track changes shape accordingly with the deformation of the parallel double-crank mechanism. When the angle of inclination of the closed track towards the slope is close to the slope's gradient, the drive control mechanism restores the rotational speed of the first wheel set to the same level as the second wheel set, stopping the deformation. This allows the closed track to advance towards the slope in a shape close to its gradient. Once the slope-facing portion of the closed track contacts the slope, the drive control mechanism readjusts the rotational speed of the first wheel set, causing its wheels to continue rotating towards the second wheel set. When the first wheel set's wheels are aligned with the second wheel set's wheels, the tracked vehicle climbs the slope, conforming to its contours. Similarly, when the tracked vehicle descends a slope, the drive control mechanism reverses the rotational speed of the first wheel set. Therefore, this invention's tracked vehicle, thanks to its deformable design with a parallel double-crank mechanism, can adjust its shape to conform to the obstacle's form when encountering significant obstacles, thus enabling it to overcome them. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a tracked vehicle according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the meshing of a closed track and a wheel according to an embodiment of the present invention;

[0019] Figure 3 This is a conceptual diagram of a closed track and parallel double crank mechanism according to an embodiment of the present invention;

[0020] Figure 4 This is a schematic diagram of the flattened shape of a tracked vehicle according to an embodiment of the present invention.

[0021] Explanation of reference numerals in the attached figures

[0022] 1. Frame; 2. Power mechanism; 3. Parallel double crank mechanism; 31. Connecting rod; 32. Crank; 33. Shaft; 4. Rotary wheel; 41. First wheel set; 42. Second wheel set; 43. Rotary wheel meshing part; 44. Annular limiting part; 5. Closed track; 51. Track meshing part; 6. Inspection module. Detailed Implementation

[0023] The specific embodiments of this utility model are described in detail below. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of this utility model.

[0024] In this utility model, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the orientation in the assembled and used state. "Inner" and "outer" refer to the inner and outer sides relative to the outline of each component itself.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] like Figure 1 As shown, this utility model provides a tracked vehicle, which includes a frame 1, two drive control mechanisms, and two power mechanisms 2. The frame 1 has a parallel double-crank mechanism 3 on each side in the width direction, and each of the four rotating pairs of the parallel double-crank mechanism 3 is provided with a rotating shaft 33. The two power mechanisms 2 are respectively mounted on the two parallel double-crank mechanisms 3. Each power mechanism 2 includes a closed track 5 and four wheels 4, which are respectively mounted on four rotating shafts 33. Two wheels 4 located at the top of the parallel double-crank mechanisms 3 form a first wheel set. 41. Two rotating wheels 4 located at the bottom of the parallel double crank mechanism 3 form a second wheel group 42. The closed track 5 meshes with the four rotating wheels 4 for transmission. Two drive control mechanisms correspond one-to-one with two power mechanisms 2. The drive control mechanisms can respectively regulate the rotation speed of the first wheel group 41 and the second wheel group 42. The drive control mechanisms are configured to make the rotation speed of the four rotating wheels 4 consistent to maintain the shape of the closed track 5. The drive control mechanisms are also configured to change the shape of the closed track 5 by creating a speed difference between the first wheel group 41 and the second wheel group 42.

[0027] Specifically, when the tracked vehicle is traveling on flat terrain, the four wheels 4 of the power mechanism 2 maintain the same steering and rotation speed, and the closed track 5 meshes with the four wheels 4 to form a stable transmission path, enabling the tracked vehicle to move forward smoothly in a fixed shape.

[0028] When the parallel double crank mechanism 3 is rectangular, the tracked vehicle operates on flat terrain in this form. When the tracked vehicle advances to a larger obstacle, such as needing to cross a slope, the drive control mechanism independently adjusts the first wheel group 41 and the second wheel group 42, making the rotational speed of the wheel 4 of the first wheel group 41 greater than that of the wheel 4 of the second wheel group 42. This causes the part of the closed track 5 that meshes with the wheel 4 of the first wheel group 41 to have an increasing linear velocity. To maintain the consistency of the linear velocity of each part of the closed track 5, this trend causes the part of the closed track 5 that meshes with the wheel 4 of the first wheel group 41 to generate a pulling force. This pulling force acts on the parallel double crank mechanism 3 through the wheel 4, causing the parallel double crank mechanism 3 to deform. The closed track 5 changes shape as the parallel double crank mechanism 3 deforms. When the inclination angle of the closed track 5 facing the slope is close to the slope's gradient, the drive control mechanism restores the rotational speed of the first wheel set 41 to the same speed as the second wheel set 42, thus stopping the deformation. This allows the closed track 5 to move towards the slope in a shape close to its gradient. Once the slope-facing portion of the closed track 5 contacts the slope, the drive control mechanism readjusts the rotational speed of the first wheel set 41, causing the wheels 4 of the first wheel set 41 to continue rotating towards the second wheel set 42. Figure 4 As shown, when the first wheel set 41 rotates to be aligned with the second wheel set 42, the tracked vehicle climbs the slope by conforming to the incline of the hill. Similarly, when the tracked vehicle descends a slope, the rotational speed of the first wheel set 41 is adjusted in the opposite direction through the drive control mechanism. Therefore, thanks to the deformable design of the parallel double crank mechanism 3, the tracked vehicle of this invention can adjust its shape to conform to the shape of the obstacle when encountering a large obstacle, thereby achieving obstacle crossing.

[0029] It should be noted that, as Figure 3 As shown, the length of the closed track 5 can be simplified to the sum of the circumference of the parallel double-crank mechanism 3 and 2πr, where r is the distance from the closed track 5 to its corresponding shaft 33. Under the combined effect of the coordinated tensioning of the four rollers 4 and the parallelogram geometric constraint of the parallel double-crank mechanism 3, its total length can remain constant, ensuring that the deformation process of the tracked vehicle will not cause slackness or overload of the closed track 5. Therefore, the closed track 5 can always maintain a constant effective meshing circumference during the full configuration transformation of the parallel double-crank mechanism 3.

[0030] In some embodiments of this utility model, the drive control mechanism includes two sets of motor drive components. The two sets of motor drive components are used to drive the first wheel group 41 and the second wheel group 42 respectively. The motor drive component includes two motors. The output shaft of the motor is connected to the rotating shaft 33 to drive the rotating shaft 33 to rotate. The motor is equipped with a power supply to power it. The drive control mechanism can control the two sets of motor drive components respectively.

[0031] Specifically, when the tracked vehicle is running in a stable shape, the motor drive assembly can generate dynamic compensation torque in real time to counteract the deformation load generated by the combined action of the gravity load of the closed track 5 and the gravity load of the parallel double crank mechanism 3. The two motors used to drive the first wheel set 41 can be hollow motors, with cables laid in the hollow channels of the hollow motors; the two motors used to drive the second wheel set 42 can be articulated motors to facilitate the shape transformation of the parallel double crank mechanism 3. This utility model does not limit the selection of motors; those skilled in the art can use other motors that can achieve the same technical effect.

[0032] In some embodiments of this utility model, the drive control mechanism further includes a controller, which can control two sets of motor drive components respectively; the motor is equipped with a rotation sensor, which is signal-connected to the controller to provide feedback on the motor's operating status.

[0033] Specifically, the controller is connected to the signals of all motors to achieve precise drive and control of the motors. Each motor is equipped with a rotation sensor to monitor its operating status in real time, including key parameters such as speed, direction, and running time, and feeds these parameters back to the controller. In this way, the controller can dynamically adjust the motor drive signals based on the information from the rotation sensors, ensuring stable operation of the motors according to predetermined control logic and parameter requirements, thereby achieving precise control of the tracked vehicle's motion. Those skilled in the art can configure the controller's control logic as needed; this invention does not impose any limitations.

[0034] In some embodiments of this utility model, the parallel double crank mechanism 3 includes a connecting rod 31 and two cranks 32. The bottom ends of the two cranks 32 are rotatably connected to the frame 1 via a rotating shaft 33, and the bottom ends of the cranks 32 are rotatably connected to the rotating shaft 33 via bearings. The top ends of the two cranks 32 are respectively connected to the two ends of the connecting rod 31 via the rotating shaft 33.

[0035] Specifically, a bearing is embedded at the bottom end of the crank 32. The bearing is sleeved on the outer circumference of the rotating shaft 33, so that when the output shaft of the motor drives the rotating shaft 33 to rotate, the bearing can reduce the friction and shaking between the rotating shaft 33 and the crank 32, so that the crank 32 can rotate relatively stably or remain stationary.

[0036] In some embodiments of this utility model, when the crank 32 rotates downward to a horizontal position, the two wheels 4 connected to the bottom end and the top end of the crank 32 are in the same horizontal space. One of the wheels 4 connected to the top end of the crank 32 is located between the two wheels 4 of the second wheel set 42, and the other wheel 4 connected to the top end of the crank 32 is located on the extension line of the two wheels 4 of the second wheel set 42. In order to provide sufficient space for the top wheel 4 of the crank 32 so that the top wheel 4 of the crank 32 can rotate between the two wheels 4 of the second wheel set 42, the length of the connecting rod 31 is greater than the sum of the length of the crank 32 and the diameter of the wheel 4.

[0037] In some embodiments of this invention, the roller 4 is located on the side of the crank 32 facing the frame 1, and the connecting rod 31 is located on the side of the crank 32 away from the frame 1. When the parallel double crank mechanism 3 deforms, the reaction force generated by the connecting rod 31 acts on the side of the crank 32 away from the frame 1. This distribution of the roller 4 and the connecting rod 31 can balance the forces on both sides of the crank 32, preventing the crank 32 from bending, twisting, or deforming due to excessive force on one side, thereby improving the service life and motion accuracy of the crank 32.

[0038] In some embodiments of this utility model, in order to prevent the rotating wheel 4 of the first wheel set 41 from being interfered with by the frame 1 when the tracked vehicle deforms, a gap is provided between the side of the rotating wheel 4 of the first wheel set 41 facing the frame 1 and the frame 1 in the width direction of the frame 1.

[0039] like Figure 2 As shown, in some embodiments of this utility model, the wheel 4 includes a wheel engagement portion 43 and two annular limiting portions 44 arranged around its periphery. The two annular limiting portions 44 are distributed on both axial sides of the wheel 4, and the wheel engagement portion 43 is disposed between the two annular limiting portions 44. The closed track 5 has a track engagement portion 51 in the middle of its width direction. The track engagement portion 51 extends along the length direction of the closed track 5 and is located in the interval between the two annular limiting portions 44 and engages with the wheel engagement portion 43 for transmission.

[0040] Specifically, the track engagement portion 51 is confined between two annular limiting portions 44, thereby preventing axial displacement of the closed track 5 during movement, reducing slippage, and ensuring the accuracy and stability of power transmission. Especially when the tracked vehicle performs complex actions (such as crossing obstacles, climbing slopes, etc.), it can ensure that the closed track 5 always maintains good contact with the wheel 4, avoiding equipment failure or accidents caused by the closed track 5 derailing.

[0041] In some embodiments of this utility model, the top of the frame 1 is provided with an inspection module 6, which includes a radar detector and is signal-connected to the controller.

[0042] Specifically, radar detectors can detect the distance, speed, and angle of target objects by emitting electromagnetic waves and receiving reflected waves. The controller can analyze this information in real time to determine the relative position and motion state between the tracked vehicle and the obstacle, thereby controlling the tracked vehicle's motor drive components to adjust the vehicle's shape, speed, and direction to achieve operations such as bypassing or crossing obstacles.

[0043] In another aspect, this utility model provides a tracked robot, which includes the tracked vehicle described in the above embodiments.

[0044] Specifically, because this tracked robot utilizes a tracked vehicle, it also possesses excellent terrain adaptability. The tracked robot can be equipped with a load-bearing mechanism on top of the tracked vehicle's frame 1 to carry various goods, meeting transportation needs in different scenarios; it can also be equipped with detection instruments, enabling the tracked robot to effectively monitor its surrounding environment, making it suitable for various complex monitoring tasks.

[0045] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

[0046] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this utility model will not describe the various possible combinations separately.

[0047] Furthermore, various different embodiments of this utility model can be combined in any way, as long as they do not violate the spirit of this utility model, they should also be regarded as the content disclosed by this utility model.

Claims

1. A tracked vehicle, characterized in that, It includes a frame (1), two drive control mechanisms and two power mechanisms (2); The frame (1) has a parallel double crank mechanism (3) on each side in the width direction, and the four rotating pairs of the parallel double crank mechanism (3) are provided with rotating shafts (33); The two power mechanisms (2) are respectively mounted on the two parallel double crank mechanisms (3). The power mechanism (2) includes a closed track (5) and four wheels (4). The four wheels (4) are respectively mounted on the four shafts (33). The two wheels (4) located at the top of the parallel double crank mechanism (3) form a first wheel group (41), and the two wheels (4) located at the bottom of the parallel double crank mechanism (3) form a second wheel group (42). The closed track (5) meshes with the four wheels (4) for transmission. The two drive control mechanisms correspond one-to-one with the two power mechanisms (2). The drive control mechanisms can respectively regulate the rotational speed of the first wheel set (41) and the second wheel set (42). The drive control mechanisms are configured to make the rotational speed of the four wheels (4) consistent to maintain the shape of the closed track (5). The drive control mechanisms are also configured to change the shape of the closed track (5) by creating a speed difference between the first wheel set (41) and the second wheel set (42).

2. The tracklayer of claim 1, wherein, The drive control mechanism includes two sets of motor drive components. The two sets of motor drive components are used to drive the first wheel group (41) and the second wheel group (42) respectively. Each motor drive component includes two motors. The output shaft of each motor is connected to the rotating shaft (33) to drive the rotating shaft (33) to rotate. Each motor is equipped with a power supply to power it. The drive control mechanism can control the two sets of motor drive components respectively.

3. The track-laying vehicle of claim 2, wherein The drive control mechanism also includes a controller, which can control the two sets of motor drive components respectively; the motor is equipped with a rotation sensor, which is signal-connected to the controller to provide feedback on the operating status of the motor.

4. The track-layer vehicle of claim 1, wherein The parallel double crank mechanism (3) includes a connecting rod (31) and two cranks (32). The bottom ends of the two cranks (32) are rotatably connected to the frame (1) through the rotating shaft (33), and the bottom ends of the cranks (32) are rotatably connected to the rotating shaft (33) through bearings. The top ends of the two cranks (32) are connected to the two ends of the connecting rod (31) through the rotating shaft (33).

5. The track-laying vehicle of claim 4, wherein The length of the connecting rod (31) is greater than the sum of the length of the crank (32) and the diameter of the wheel (4).

6. The tracklayer of claim 5, wherein, The wheel (4) is located on the side of the crank (32) facing the frame (1), and the connecting rod (31) is located on the side of the crank (32) facing away from the frame (1).

7. The tracklayer of claim 6, wherein, In the width direction of the frame (1), there is a gap between the side of the first wheel set (41) facing the frame (1) and the frame (1).

8. The tracklayer of claim 7, wherein, The wheel (4) includes a wheel engagement part (43) and two annular limiting parts (44) arranged around its periphery. The two annular limiting parts (44) are distributed on both sides of the axial direction of the wheel (4), and the wheel engagement part (43) is located between the two annular limiting parts (44). The closed track (5) has a track engagement part (51) in the middle of its width direction. The track engagement part (51) extends along the length direction of the closed track (5). The track engagement part (51) is located in the interval between the two annular limiting parts (44) and engages with the wheel engagement part (43) for transmission.

9. The track-layer vehicle of claim 3, wherein, The top of the rack (1) is provided with an inspection module (6), which includes a radar detector and is signal-connected to the controller.

10. A track robot, characterized in that The tracked vehicle included in any one of claims 1-9.

Images