Crawler drive mechanism and robot

Abstract

The utility model discloses a caterpillar drive mechanism and robot, including caterpillar, drive wheel group, guide wheel group and a plurality of load wheel group, caterpillar periphery is equipped with the outward convex of a plurality of steel tooth, and each steel tooth is uniformly arranged along the annular direction of caterpillar, each load wheel group is sequentially interval setting, and each load wheel group is used for extruding the rubber structure between each steel tooth or adjacent steel tooth of caterpillar, when using, part load wheel group is used for extruding each steel tooth of caterpillar, and part load wheel group is used for extruding the rubber structure between adjacent steel tooth. The caterpillar drive mechanism of the utility model is on the basis of the existing caterpillar assembly, and the clearance of each load wheel is designed to avoid each load wheel pressing on the steel tooth of caterpillar or pressing on the clearance between two adjacent steel tooth at the same time, so that each load wheel has a small difference in height direction, thereby avoiding each load wheel and caterpillar causing undulation resonance, and improving the running stability of robot.

Description

Technical Field

[0001] This utility model relates to the field of tracked robot technology, and in particular to a tracked drive mechanism and robot. Background Technology

[0002] Tracked robots have a large contact area with the ground and have advantages such as strong obstacle crossing ability and strong environmental adaptability. They can be used in inspection and exploration, special photography, special transportation, rescue and bomb disposal and other occasions. They mainly use a tracked chassis to carry lidar, gas sensors, alarm mechanisms, GPS positioning mechanisms and other functions to achieve the functions of inspection and detection of target sites.

[0003] Current tracked chassis mainly consist of a chassis and two track assemblies located on both sides of the chassis. As shown in the patent application with patent number CN202222639195.7 entitled "A Track Assembly and a Tracked Robot", the track assembly mainly includes tracks, drive wheel sets, load-bearing wheel sets, and tension wheel sets. Each wheel set expands the track into a ring structure. The drive wheel set engages with the gap in the middle of the track ring, so that the drive wheel set can drive the track to roll and also drive the other wheel sets to rotate, thereby realizing the movement of the tracked chassis.

[0004] In the aforementioned patent, the natural frequency of the track rolling process is easily matched with that of each road wheel. Insufficient damping leads to vibration amplification, which makes it easy for each road wheel and track to resonate. This causes continuous impact on the mechanical structure of the track assembly, resulting in accelerated component wear. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a track drive mechanism and robot. The gap between each load wheel is designed to prevent each load wheel from pressing on the steel teeth of the track simultaneously, or on the gap between two adjacent steel teeth simultaneously. This results in a slight difference in the height of each load wheel, thereby avoiding undulating resonance caused by each load wheel and the track, and improving the stability of the robot's operation.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a track drive mechanism, comprising a track, a drive wheel assembly, a guide wheel assembly, and multiple load wheel assemblies, wherein the track is sleeved on the drive wheel assembly, the guide wheel assembly, and the multiple load wheel assemblies so that the track forms a ring structure;

[0007] The track has multiple outwardly protruding steel teeth, which are evenly distributed along the circumferential direction of the track.

[0008] The load-bearing wheel sets are arranged sequentially at intervals, and each load-bearing wheel set is used to compress the rubber structure between the steel teeth of the track or adjacent steel teeth.

[0009] In use, part of the load wheel set is used to compress the steel teeth of the track, and part of the load wheel set is used to compress the rubber structure between adjacent steel teeth.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] The track drive mechanism of this utility model is based on the existing track assembly, and the gap between each load wheel is designed to avoid each load wheel pressing on the steel teeth of the track at the same time, or pressing on the gap between two adjacent steel teeth at the same time. Since each load wheel group is relatively hard when pressing on the steel teeth, it is slightly higher overall. When pressing on the rubber structure between the two steel teeth, the load wheel group sinks slightly as a whole, which makes each load wheel have a slight difference in height. This avoids the load wheel and the track from causing undulating resonance, thus improving the stability of the robot's operation.

[0012] Furthermore, the center distance between any two adjacent steel teeth on the track is N, where N is greater than 0; the center distance between two adjacent load wheel sets is n times N, where n is a positive non-integer number.

[0013] Furthermore, the number of load wheel sets is even, and each load wheel set is equipped with a shock absorber for use. The two shock absorbers corresponding to two adjacent load wheel sets are installed together through connectors.

[0014] Furthermore, the connector has a central rotating shaft, and the two dampers that are connected to it are respectively hinged to the connector, with the two hinge points located on both sides of the central rotating shaft.

[0015] Furthermore, each load wheel assembly is located between the drive wheel assembly and the guide wheel assembly, and the load wheel assembly closest to the guide wheel assembly is connected to an auxiliary tension wheel assembly, which is located between the guide wheel assembly and the load wheel assembly.

[0016] Furthermore, each load wheel assembly includes two load wheels, a connecting shaft, a swing arm, and a swing shaft. The two load wheels are coaxially arranged on the connecting shaft, the swing arm is inclined, and the lower end of the swing arm is hinged to the connecting shaft, while the upper end is hinged to the swing shaft.

[0017] Except for the load wheel set near the drive wheel set, the shock absorbers of the other load wheel sets are all hinged to the lower part of the corresponding swing arm.

[0018] Furthermore, the swing arm of the load wheel assembly near the drive wheel assembly has an extension, and the shock absorber of the load wheel assembly is hinged to the extension. The hinge point of the extension and the hinge point of the swing arm and the connecting shaft are located on both sides of the swing shaft.

[0019] Furthermore, it also includes at least one auxiliary wheel set, with each auxiliary wheel set and multiple load wheel sets arranged vertically at intervals to support the tracks.

[0020] This utility model also provides a robot, including two of the above-mentioned track drive mechanisms, and a cabin, with the two track drive mechanisms located on both sides of the cabin and installed in conjunction with the cabin.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] Based on existing technologies, this invention improves the structure of the track drive mechanism of the robot by using a reasonable layout to reduce the resonance effect of the track drive mechanism during operation, thereby improving the overall stability of the robot's operation and extending its service life. Attached Figure Description

[0023] Figure 1 This is a side view of the robot in this utility model;

[0024] Figure 2 This is a side view of the track drive mechanism of this utility model;

[0025] Figure 3 This is a schematic diagram of one structure of the robot in this utility model;

[0026] Figure 4 for Figure 3 A structural diagram from another perspective.

[0027] In the diagram: hull 100, track drive mechanism 200, track 210, steel teeth 211, drive wheel assembly 280, drive wheel 281, guide wheel assembly 260, guide wheel 261, tension adjustment component 262, load wheel assembly 220, load wheel 221, connecting shaft 222, swing arm 223, extension 224, swing shaft 225, shock absorber 230, auxiliary tension wheel assembly 240, auxiliary tension wheel 241, mounting arm 242, mounting shaft 243, connector 250, central rotation shaft 251, auxiliary wheel assembly 270, auxiliary wheel 271. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0029] like Figure 1 , 2 As shown in Figures 3 and 4, a robot includes a cabin 100 and two track drive mechanisms 200, which are respectively located on both sides of the cabin 100 and are installed in conjunction with the cabin 100.

[0030] The chassis of the robot consists of a cabin 100 and two track drive mechanisms 200. The shape of the cabin 100 can be a common rectangular box or a circular box. The cabin 100 can also have a cross-shaped structure as described in the applicant's previous patent application CN202311863039.1. The structure of the cabin 100 can be designed according to the components to be mounted (LiDAR, lifting gimbal, audio system, GPS positioning mechanism, etc.). This utility model does not limit the components mounted on the cabin 100; they can be adjusted according to the robot's application scenario. Specific components can be set according to the content described in the applicant's previous patent application CN202311863039.1. The cabin 100 in this utility model is equipped with two track drive mechanisms 200. Based on the structure of the track drive mechanisms 200, the cabin 100 has at least two oppositely arranged sidewalls to facilitate the installation of the track drive mechanisms 200. Therefore, a rectangular cavity structure is preferred for the cabin 100.

[0031] The track drive mechanism 200 of this utility model is an improvement on the existing track 210 assembly to increase the overall operational stability of the robot. Therefore, this utility model also provides a track drive mechanism 200, such as... Figure 1 , 2 As shown in Figures 3 and 4, the track includes a track 210, a drive wheel assembly 280, a guide wheel assembly 260, and multiple load wheel assemblies 220. The track 210 is fitted onto the drive wheel assembly 280, the guide wheel assembly 260, and the multiple load wheel assemblies 220 to form a ring structure. The track 210 has multiple outwardly protruding steel teeth 211 on its periphery, and each steel tooth 211 is evenly distributed along the ring direction of the track 210. The load wheel assemblies 220 are arranged sequentially at intervals. Each load wheel assembly 220 is used to compress the rubber structure between the steel teeth 211 of the track 210 or between adjacent steel teeth 211. In use, some load wheel assemblies 220 are used to compress the steel teeth 211 of the track 210, and some load wheel assemblies 220 are used to compress the rubber structure between adjacent steel teeth 211.

[0032] Understandably, the track 210 has a certain width. Therefore, a wheel assembly structure is required to adapt to the width of the track 210 and ensure that each wheel assembly can support the track 210 in the width direction when the track 210 is rolling. For example, Figure 1 , 2As shown in Figures 3 and 4, the drive wheel assembly 280 includes a drive wheel 281 and a drive component connected to the drive wheel 281. The drive component consists of a control motor (servo motor, stepper motor, etc.), a reducer, a coupling, and other components, and is sufficient to drive the drive wheel 281 to rotate. The drive component is located inside the housing 100 and is sealed to the housing 100 via a connecting flange to meet explosion-proof requirements. The drive wheel 281 has a gear structure, allowing it to engage with the track 210, thus enabling the drive wheel 281 to rotate and drive the track 210 to rotate. The guide wheel assembly 260 includes two coaxially spaced guide wheels 261, which are rotatably connected to the housing 100. The spacing between the two guide wheels 261 is adapted to the width of the track 210. A tension adjustment component 262 can also be installed between the guide wheels 261 and the outer wall of the housing 100. The tension of the track 210 can be adjusted using a telescopic tension rod, facilitating the installation and use of the track 210. The drive wheel assembly 280 and the guide wheel assembly 260 are located at opposite ends of the track 210 in the rolling direction. The diameters of the drive wheel assembly 280 and the guide wheel assembly 260 are larger than the diameter of the load wheel assembly 220, so that the diameters of the drive wheel assembly 280 and the guide wheel assembly 260 are adapted to the annular structure of the entire track 210. The load wheel assembly 220 is used to compress the track 210, allowing the track 210 to adhere to the ground (or other contact surface). In conjunction with the multiple steel teeth 211 around the track 210, the track 210 achieves traction and forward movement.

[0033] The load-bearing wheel assembly 220 achieves its load-bearing function by pressing against the track 210 through the shock absorber 230. For example... Figure 1 , 2 The load wheel assembly 220 shown in Figures 3 and 4 also needs to be adapted to the width of the track 210. Therefore, each load wheel assembly 220 includes two load wheels 221, a connecting shaft 222, a swing arm 223 and a swing shaft 225. The two load wheels 221 are coaxially arranged on the connecting shaft 222. The swing arm 223 is inclined and the lower end of the swing arm 223 is hinged to the connecting shaft 222, and the upper end is hinged to the swing shaft 225. The shock absorber 230 is hinged to the swing arm 223, and the other end of the shock absorber 230 is connected to the side wall of the hull 100.

[0034] To avoid undulating resonance during transmission between the load wheel sets 220 and the track 210, this invention designs the spacing of the load wheel sets 220. During use, some load wheel sets 220 are used to press against the steel teeth 211 of the track 210, while others are used to press against the rubber structure between adjacent steel teeth 211. This prevents each load wheel 221 from simultaneously pressing against the steel teeth 211 of the track 210, or simultaneously pressing against the gap between two adjacent steel teeth 211. Because each load wheel set 220 is relatively hard and slightly higher when pressing against the steel teeth 211, and slightly lower when pressing against the rubber structure between two steel teeth 211, this creates a slight difference in height between the load wheels 221, thereby preventing undulating resonance between the load wheels 221 and the track 210 and improving the robot's operational stability.

[0035] To achieve partial load bearing, the wheel assembly 220 is used to compress the steel teeth 211 of the track 210, and the wheel assembly 220 is used to compress the rubber structure between adjacent steel teeth 211. For example... Figure 2 As shown, the center distance between any two adjacent steel teeth 211 on the track 210 is set to N, where N is greater than 0; then the center distance between two adjacent load wheel sets 220 is n times N, where n is a positive non-integer number. This avoids each load wheel 221 from simultaneously pressing on the steel teeth 211 of the track 210, or simultaneously pressing on the gap between two adjacent steel teeth 211. In this utility model, N is 60mm, and the spacing between the four load wheel sets 220 is 230mm, 220mm, and 230mm respectively.

[0036] In the prior art, each load wheel assembly 220 is equipped with a shock absorber 230 for use. One end of the shock absorber 230 is hinged to the load wheel assembly 220, and the other end is hinged to the frame (equivalent to the outer wall of the cabin 100 in this application). The shock absorber 230 is a spring shock absorber 230, and each shock absorber 230 independently achieves the corresponding damping and compression effect. This can be called an "independent shock absorption structure". Although this structure has the effect of independent buffering and flexible response, it lacks the ability to coordinate the impact of multiple load wheels 221 and can also increase the undulation resonance problem of the load wheel assembly 220. Therefore, this utility model improves the existing "independent shock absorption structure" by adopting a related shock absorption structure. Therefore, the number of load wheel assemblies 220 is even, and each load wheel assembly 220 is equipped with a shock absorber 230 for use. The two shock absorbers 230 corresponding to two adjacent load wheel assemblies 220 are installed together by connecting members 250. The connector 250 allows the two shock absorbers 230 of two adjacent load wheel sets 220 to be used together. The two shock absorbers 230 can achieve synergistic buffering, which is superior in five aspects: load distribution, vibration suppression, posture stability, structural simplification, and terrain adaptation. It is especially suitable for robots with high requirements for stability and durability.

[0037] To facilitate the connection between connector 250 and shock absorber 230, such as Figure 1 , 2 As shown in Figures 3 and 4, the connector 250 has a central rotating shaft 251, which is rotatably connected to the outer wall of the hull 100, or the connector 250 is rotatably connected to the central rotating shaft 251. Two shock absorbers 230 are hinged to the connector 250, with the two hinge points located on opposite sides of the central rotating shaft 251. The central rotating shaft 251 allows the connector 250 to swing, enabling the two shock absorbers 230 located on opposite sides of the central rotating shaft 251 to be used together for their intended purpose.

[0038] Of course, in order to make the shock absorber 230 of each load wheel set 220 have an independent shock absorption effect, in other embodiments of this utility model, the central rotating shaft 251 is fixed to the outer wall of the cabin 100, and the central rotating shaft 251 is fixed to the connecting member 250. Then the hinge point of the shock absorber 230 and the connecting member 250 is fixed. At this time, each shock absorber 230 has an independent shock absorption effect, and the presence of the connecting member 250 can also facilitate the fixed-point installation and layout of each load wheel set 220.

[0039] In this invention, four load wheel sets 220 are located between the drive wheel set 280 and the guide wheel set 260. Two load wheel sets 220 on each side are adjacent to the drive wheel set 280 and the guide wheel set 260, respectively. Therefore, these two load wheel sets 220 on the sides also need to provide a rotational transition effect. Thus, this invention connects an auxiliary tension wheel set 240 to the load wheel set 220 closest to the guide wheel set 260. The auxiliary tension wheel set 240 is located between the guide wheel set 260 and the load wheel set 220. Figure 1 , 2 As shown in Figures 3 and 4, the load wheel assembly 220 located at the far left end is connected to an auxiliary tension wheel assembly 240. The auxiliary tension wheel assembly 240 and the load wheel assembly 220 are set at an angle. The structure of the auxiliary tension wheel assembly 240 is similar to that of the load wheel assembly 220, including two auxiliary tension wheels 241, a mounting shaft 243, and a mounting arm 242. The two auxiliary tension wheels 241 are coaxially set on the mounting shaft 243. The mounting arm 242 is set at an angle, and the lower end of the mounting arm 242 is hinged to the mounting shaft 243, and the upper end is hinged to the swing shaft 225. The mounting arm 242 and the swing arm 223 are used to make the auxiliary tension wheel assembly 240 and the load wheel assembly 220 set at an angle. The auxiliary tension wheel assembly 240 is used to realize the transition transmission of the track 210 from the guide wheel assembly 260 to the load wheel assembly 220.

[0040] Correspondingly, such as Figure 1 , 2As shown in Figures 3 and 4, the rightmost load wheel assembly 220 has an extension 224 on its swing arm 223. The shock absorber 230 of this load wheel assembly 220 is hinged to the extension 224, and the hinge points of the extension 224, the swing arm 223, and the connecting shaft 222 are located on both sides of the swing shaft 225. The shock absorbers 230 of the other load wheel assemblies 220 are all hinged to the lower part of their corresponding swing arms 223. This load wheel assembly 220 does not have an auxiliary tensioning wheel assembly 240; instead, it utilizes the shock absorber 230 for auxiliary support, making the overall design of the track drive mechanism 200 more rational and its operation smoother.

[0041] The existing track 210 assembly mainly uses drive wheel set 280 and guide wheel set 260 to achieve tension on the upper part of the track 210. However, this method still has support gaps, which affect the transmission effect of the track 210. To address this, the present invention also provides two auxiliary wheel sets 270. Each auxiliary wheel set 270 is arranged vertically and vertically with multiple load wheel sets 220 to support the track 210. Each auxiliary wheel set 270 includes two auxiliary wheels 271 that are spaced apart and coaxially connected. The auxiliary wheels 271 are rotatably connected to the outer wall of the housing 100. The distance between the two auxiliary wheels 271 is adapted to the width of the track 210 to support the track 210, making the transmission of the track 210 smoother and increasing the stability of the track drive mechanism 200.

[0042] Based on existing technology, this utility model improves the structure of the track drive mechanism 200 by using a reasonable layout to reduce the resonance effect of the track drive mechanism 200 during operation, thereby improving the overall stability of the robot and extending its service life.

[0043] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0044] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0045] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A track drive mechanism, characterized in that: It includes a track (210), a drive wheel set (280), a guide wheel set (260), and multiple load wheel sets (220). The track (210) is fitted onto the drive wheel set (280), the guide wheel set (260), and the multiple load wheel sets (220) so that the track (210) forms a ring structure. The track (210) is provided with a plurality of outwardly protruding steel teeth (211), and each steel tooth (211) is evenly distributed along the annular direction of the track (210); Each load wheel assembly (220) is arranged sequentially at intervals, and each load wheel assembly (220) is used to compress the rubber structure between each steel tooth (211) or adjacent steel teeth (211) of the track (210). In use, the partial load wheel set (220) is used to compress each steel tooth (211) of the track (210), and the partial load wheel set (220) is used to compress the rubber structure between adjacent steel teeth (211).

2. The track drive mechanism according to claim 1, characterized in that: The center distance between any two adjacent steel teeth (211) on the track (210) is N, where N is greater than 0; the center distance between two adjacent load wheel sets (220) is n times N, where n is a positive non-integer number.

3. The track drive mechanism according to claim 1 or 2, characterized in that: The number of load wheel sets (220) is even, and each load wheel set (220) is equipped with a shock absorber (230) for use. The two shock absorbers (230) corresponding to two adjacent load wheel sets (220) are installed together through a connector (250).

4. The track drive mechanism according to claim 3, characterized in that: The connector (250) has a central rotating shaft (251), and two dampers (230) are connected to the connector (250) respectively, with the two hinge points located on both sides of the central rotating shaft (251).

5. The track drive mechanism according to claim 3, characterized in that: Each load wheel assembly (220) is located between the drive wheel assembly (280) and the guide wheel assembly (260). The load wheel assembly (220) closest to the guide wheel assembly (260) is connected to an auxiliary tension wheel assembly (240), which is located between the guide wheel assembly (260) and the load wheel assembly (220).

6. The track drive mechanism according to claim 4, characterized in that: Each load wheel assembly (220) is located between the drive wheel assembly (280) and the guide wheel assembly (260). The load wheel assembly (220) closest to the guide wheel assembly (260) is connected to an auxiliary tension wheel assembly (240), which is located between the guide wheel assembly (260) and the load wheel assembly (220).

7. The track drive mechanism according to claim 5 or 6, characterized in that: Each load wheel assembly (220) includes two load wheels (221), a connecting shaft (222), a swing arm (223), and a swing shaft (225). The two load wheels (221) are coaxially arranged on the connecting shaft (222). The swing arm (223) is inclined, and the lower end of the swing arm (223) is hinged to the connecting shaft (222), and the upper end is hinged to the swing shaft (225). Except for the load wheel set (220) which is close to the drive wheel set (280), the shock absorbers (230) of each other load wheel set (220) are hinged to the lower part of the corresponding swing arm (223).

8. The track drive mechanism according to claim 7, characterized in that: The swing arm (223) of the load wheel assembly (220) near the drive wheel assembly (280) has an extension (224), and the shock absorber (230) of the load wheel assembly (220) is hinged to the extension (224), and the hinge point of the extension (224) and the hinge point of the swing arm (223) and the connecting shaft (222) are located on both sides of the swing shaft (225).

9. The track drive mechanism according to claim 1, 2, 4, 5, 6 or 8, characterized in that: It also includes at least one auxiliary wheel set (270), with each auxiliary wheel set (270) and multiple load wheel sets (220) arranged vertically at intervals to support the track (210).

10. A robot, characterized in that: It includes two track drive mechanisms (200) as described in any one of claims 1-9, and also includes a housing (100), with the two track drive mechanisms (200) located on both sides of the housing (100) and installed in conjunction with the housing (100).

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