Robot chassis giving consideration to traction driving and self-driving

Abstract

The robot chassis comprises a main frame, a rear wheel set, a first driving device, an auxiliary frame, a front wheel set, a slewing bearing and a traction mechanism. The rear wheel sets and the first driving device are arranged on the main frame, and the first driving device is used for driving the first rear wheel set to rotate; the front wheel set is arranged on the auxiliary frame, and the traction mechanism is arranged at the front end of the auxiliary frame. The bottom of the front end of the main frame is rotationally connected with the auxiliary frame through the slewing bearing; a first connecting part is arranged at the front end of the main frame, a second connecting part is arranged on the auxiliary frame, and the first connecting part and the second connecting part are matched in a limiting mode in the self-driving process and release limiting in the traction driving process. Compared with the prior art, the chassis has a traction driving state and a self-driving state, and is high in applicability and more convenient and flexible to use.

Description

Technical Field

[0001] This utility model belongs to the field of chassis technology, specifically relating to a robot chassis that combines traction and self-driving capabilities. Background Technology

[0002] Bomb disposal robot chassis primarily employ a tracked or wheeled integral structure design. While tracked chassis offer excellent off-road performance, their transport relies on dedicated flatbed trucks, and their transfer speed is limited, making it difficult to meet rapid response requirements. Wheeled chassis, on the other hand, currently have battery packs primarily used for movement during bomb disposal operations, insufficient to support long-distance travel. Therefore, during transport, the chassis still needs to be placed on a transport vehicle to move it to the work site. It is evident that both tracked and wheeled bomb disposal robots depend on transport vehicles for transportation. During transport, the chassis must be driven onto the transport vehicle and restrained; upon arrival at the destination, the restraints must be released, and the vehicle must be driven off the transport vehicle. This transportation process is cumbersome, time-consuming, and can easily disrupt bomb disposal missions. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a robot chassis that combines traction and self-driving.

[0004] To achieve the above objectives, this utility model discloses a robot chassis that combines traction and self-driving: including a main frame, a rear wheel assembly, a first drive unit, a subframe, a front wheel assembly, a slewing bearing, and a traction mechanism;

[0005] The rear wheel assembly and the first drive unit are mounted on the main frame, and the first drive unit is used to drive the first rear wheel assembly to rotate.

[0006] The front wheel assembly is mounted on the subframe, and the traction mechanism is located at the front end of the subframe;

[0007] The front bottom of the main frame is rotatably connected to the subframe via the slewing bearing;

[0008] The front end of the main frame is provided with a first connecting part, and the subframe is provided with a second connecting part. The first connecting part and the second connecting part are engaged in a limiting action when the vehicle is in motion, and the limiting action is released when the vehicle is towed.

[0009] In one embodiment, both the first connecting part and the second connecting part are connecting holes, and the limiting is achieved by a pin.

[0010] In another embodiment, the traction mechanism includes a connecting rod, a traction frame, and a spring. The connecting rod is arranged in a front-rear direction, one end of which is slidably connected to the subframe. The traction frame is connected to the other end of the connecting rod, and the spring is sleeved on the connecting rod. Both ends of the spring are in abutting engagement with the subframe and the traction frame, respectively.

[0011] In another embodiment, the traction frame is hinged to the connecting rod.

[0012] In another embodiment, the front end of the subframe is provided with a sleeve, and the outer side wall of the connecting rod contacts and slides with the inner side wall of the sleeve.

[0013] In another embodiment, the front wheel assembly includes two front wheels and a front axle connecting the two front wheels, the rear wheel assembly includes two rear wheels and a rear axle connecting the two rear wheels, and both front wheels and two rear wheels are equipped with brake calipers.

[0014] The traction mechanism also includes an oil pipe and an oil pump. The two ends of the oil pipe are respectively connected to the oil pump and the oil inlet of a brake caliper. One end of the connecting rod is connected to the plunger of the oil pump. When the connecting rod moves inward to the side of the oil pump, the plunger pushes the oil inside the oil pump to brake the brake caliper.

[0015] In another embodiment, there are four oil pipes, each connected to a brake caliper.

[0016] In another embodiment, there are two traction mechanisms, which are symmetrically arranged at the front end of the subframe.

[0017] In another embodiment, a second drive mechanism is also included, which is used to drive the front wheel assembly to rotate.

[0018] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0019] The main frame and subframe are connected by a slewing bearing, allowing relative rotation between them. Each frame has a first connecting part and a second connecting part. These two connecting parts engage during self-driving and disengage during towing. Thus, at the work site, the first and second connecting parts can be engaged, forming a single unit that allows self-driving under the action of a first drive unit. During transport, the chassis is connected to the transport vehicle via a towing mechanism, allowing the chassis to move with the vehicle (towing), simplifying operation. During towing, the engagement between the first and second connecting parts is disengaged, resulting in a smaller turning radius and greater maneuverability. Attached Figure Description

[0020] Figure 1 A three-dimensional structural diagram of a robot chassis that combines traction and self-driving capabilities, as shown in the embodiment.

[0021] Figure 2 A structural schematic diagram of the main frame's running-related devices;

[0022] Figure 3 A schematic diagram of the subframe's running-related devices;

[0023] Figure 4 This is a three-dimensional structural diagram of part of the subframe and traction mechanism;

[0024] Figure 5 A top view of part of the subframe and traction mechanism;

[0025] Figure 6 for Figure 5 Sectional view of AA;

[0026] Main frame 100; first connecting part 110; rear wheel assembly 200; rear wheel 210; rear axle 220; first drive unit 300; subframe 400; second connecting part 410; sleeve 420; front wheel assembly 500; front wheel 510; slewing bearing 600; traction mechanism 700; connecting rod 710; traction frame 720; spring 730; oil pump 740; pin 800. Detailed Implementation

[0027] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] A robot chassis that combines traction and self-propelled movement: See Figures 1-6 It includes a main frame 100, a rear wheel assembly 200, a first drive unit 300, a subframe 400, a front wheel assembly 500, a slewing bearing 600, and a traction mechanism 700.

[0029] The rear wheel assembly 200 and the first drive unit 300 are mounted on the main frame 100. The first drive unit 300 is used to drive the first rear wheel assembly 200 to rotate. The front wheel assembly 500 is mounted on the subframe 400, and the traction mechanism 700 is mounted on the front end of the subframe 400. The bottom front end of the main frame 100 is rotatably connected to the subframe 400 through a slewing bearing 600. The front end of the main frame 100 is provided with a first connecting part 110, and the subframe 400 is provided with a second connecting part 410. The first connecting part 110 and the second connecting part 410 are engaged in a limiting fit during self-driving and are released from the limiting fit during traction driving.

[0030] In this embodiment, the main frame 100 and the subframe 400 are connected by a slewing bearing 600, allowing relative rotation between the two frames. The main frame 100 and the subframe 400 are respectively provided with a first connecting portion 110 and a second connecting portion 410. The first connecting portion 110 and the second connecting portion 410 are engaged during self-driving and released during towing. Thus, at the work site, the first connecting portion 110 and the second connecting portion 410 can be engaged, forming a single unit between the main frame 100 and the subframe 400, enabling self-driving under the action of the first drive device 300. During transportation, the chassis is connected to the transport vehicle via a towing mechanism 700, allowing the chassis to move with the transport vehicle (towing). During towing, the engagement between the first connecting portion 110 and the second connecting portion 410 is released, resulting in a smaller turning radius and more flexible driving.

[0031] In this embodiment, both the first connecting part 110 and the second connecting part 410 are connecting holes, and the two are limited by the pin 800. When it is necessary to limit or release the main frame 100 and the sub-frame 400, the pin 800 can be inserted or removed, which is convenient to use.

[0032] In this embodiment, the traction mechanism 700 includes a connecting rod 710, a towing frame 720, and a spring 730. The towing frame 720 uses a conventional structure, requiring only the ability to connect to and be towed by the transport vehicle. To facilitate connection with the transport vehicle, the towing frame 720 is hinged to the connecting rod 710. The connecting rod 710 is arranged in the front-rear direction, with one end slidably connected to the subframe 400, and the towing frame 720 connected to the other end of the connecting rod 710. The spring 730 is sleeved on the connecting rod 710, with both ends of the spring 730 engaging with the subframe 400 and the towing frame 720 respectively. By providing a sliding connecting rod 710 and spring 730, the elastic buffering effect of the spring 730 can absorb the instantaneous impact force between the transport vehicle and the chassis during traction, preventing deformation or breakage of the traction mechanism 700 due to rigid connection. The sliding connection of the connecting rod 710 allows the towing frame 720 to undergo slight displacement under tension, maintaining traction stability while adapting to road bumps.

[0033] In order to improve the moving stability and rigidity of the connecting rod 710, see [reference needed]. Figures 4-5 The front end of the subframe 400 is provided with a sleeve 420, and the outer side wall of the connecting rod 710 contacts the inner side wall of the sleeve 420 and can slide along the inner side wall of the sleeve 420.

[0034] In this embodiment, the front wheel assembly 500 includes two front wheels 510 and a front axle connecting the two front wheels, and the rear wheel assembly 200 includes two rear wheels 210 and a rear axle 220 connecting the two rear wheels 210. Both the two front wheels and the two rear wheels 210 are equipped with brake calipers, which can achieve wheel braking under hydraulic pressure. The specific model and specifications can be selected according to actual needs.

[0035] Furthermore, the traction mechanism 700 also includes an oil pipe and an oil pump 740. The two ends of the oil pipe are connected to the oil pump 740 and the oil inlet of a brake caliper, respectively. One end of the connecting rod 710 is connected to the plunger of the oil pump 740. When the connecting rod 710 moves inward toward the oil pump 740, the plunger pushes the oil inside the oil pump 740 to brake the brake caliper. Thus, during traction braking, the movement of the connecting rod 710 directly triggers the hydraulic braking system, enabling the chassis to brake during the braking process of the transport vehicle. Under normal conditions, under the action of the spring 730, the connecting rod 710 extends outward, the brake caliper is released, and the chassis can drive normally.

[0036] There are four oil lines, each connected to a brake caliper, so that each wheel can brake by its own inertia while the chassis is moving.

[0037] In this embodiment, there are two traction mechanisms 700, which are symmetrically arranged at the front end of the subframe 400. This improves the driving stability during traction and significantly reduces the problem of steering sway caused by a single mechanism connection.

[0038] In this embodiment, a second drive mechanism is provided on the subframe 400. The second drive is used to drive the front wheel assembly 500 to rotate. In this way, after the front wheel assembly 500 obtains independent driving force, a four-wheel drive system is formed, which greatly improves the obstacle crossing ability and climbing performance in complex terrain. The dual drive system can switch between front drive and rear drive modes, and still has basic mobility when a single system fails.

[0039] In this embodiment, both drive devices are motor driven, and the main frame 100 is equipped with a battery that supplies power to the motor.

[0040] It should be noted that the chassis in this embodiment also includes a braking system, a traction system, a suspension system, a deceleration mechanism, etc., which adopt existing technologies and will not be described in detail here.

[0041] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A robot chassis that combines traction and self-propelled movement, characterized in that: It includes the main frame, rear wheel assembly, first drive unit, subframe, front wheel assembly, slewing bearing, and traction mechanism; The rear wheel assembly and the first drive unit are mounted on the main frame, and the first drive unit is used to drive the first rear wheel assembly to rotate. The front wheel assembly is mounted on the subframe, and the traction mechanism is located at the front end of the subframe; The front bottom of the main frame is rotatably connected to the subframe via the slewing bearing; The front end of the main frame is provided with a first connecting part, and the subframe is provided with a second connecting part. The first connecting part and the second connecting part are engaged in a limiting action when the vehicle is in motion, and the limiting action is released when the vehicle is towed.

2. The robot chassis that combines traction and self-driving as described in claim 1, characterized in that: Both the first connecting part and the second connecting part are connecting holes, and the limiting is achieved by a pin.

3. The robot chassis that combines traction and self-driving as described in claim 1, characterized in that: The traction mechanism includes a connecting rod, a traction frame, and a spring. The connecting rod is arranged in the front-rear direction, one end of which is slidably connected to the subframe. The traction frame is connected to the other end of the connecting rod, and the spring is sleeved on the connecting rod. The two ends of the spring are respectively in abutting engagement with the subframe and the traction frame.

4. The robot chassis that combines traction and self-driving as described in claim 3, characterized in that: The traction frame is hinged to the connecting rod.

5. The robot chassis that combines traction and self-driving as described in claim 3, characterized in that: The front end of the subframe is provided with a sleeve, and the outer side wall of the connecting rod contacts and slides with the inner side wall of the sleeve.

6. The robot chassis that combines traction and self-driving as described in claim 3, characterized in that: The front wheel assembly includes two front wheels and a front axle connecting the two front wheels, and the rear wheel assembly includes two rear wheels and a rear axle connecting the two rear wheels. Both the two front wheels and the two rear wheels are equipped with brake calipers. The traction mechanism also includes an oil pipe and an oil pump. The two ends of the oil pipe are respectively connected to the oil pump and the oil inlet of a brake caliper. One end of the connecting rod is connected to the plunger of the oil pump. When the connecting rod moves inward to the side of the oil pump, the plunger pushes the oil inside the oil pump to brake the brake caliper.

7. The robot chassis that combines traction and self-driving as described in claim 6, characterized in that: There are four oil pipes, each connected to a brake caliper.

8. The robot chassis that combines traction and self-driving as described in claim 1, characterized in that: There are two traction mechanisms, which are symmetrically arranged at the front end of the subframe.

9. The robot chassis that combines traction and self-driving as described in claim 1, characterized in that: It also includes a second drive mechanism, which is used to drive the front wheel assembly to rotate.

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