Crawler structure and mobile side arm cleaning robot

Abstract

The utility model relates to crawler device technical field, especially relates to a crawler structure and mobile type side arm cleaning robot, and the crawler structure includes main beam frame, walking wheel unit, attitude adjustment unit and crawler body, attitude adjustment unit includes bearing, attitude disc and deformation structure, the inner ring of bearing is used for driving attitude disc rotation, and the one end of attitude disc is connected with the vehicle frame body away from bearing, and deformation structure includes two elastic components along the symmetry distribution of attitude disc middle axis, when attitude disc rotates to the direction close to one of elastic components, two elastic components are deformed, the utility model realizes the buffer effect to whole operation device, reduces the bumping phenomenon of operation device in the process of advancing, improves its walking stability, solves the problem that the existing crawler structure cannot twist swing to buffer, leads to the whole operation device to produce violent bumping in the process of advancing, leads to the walking stability low greatly reduces, also can influence operation efficiency and quality.

Description

Technical Field

[0001] This utility model relates to the field of tracked device technology, and in particular to a tracked structure and a mobile side-arm cleaning robot. Background Technology

[0002] As a highly efficient mobile mechanism, tracks are uniquely designed to maintain good grip on various terrains, ensuring high stability during operation. They are widely used in engineering machinery, military equipment, special vehicles, and agricultural machinery.

[0003] Tracks are typically connected to the chassis to form a complete mobile work device, while the chassis usually carries various heavy loads or work equipment, such as cleaning equipment. In this structure, the tracks, chassis, and cleaning equipment together constitute a mobile cleaning device, also known as a mobile cleaning robot. The working principle of the tracks is as follows: an engine or drive motor drives the drive wheel to rotate, and the drive wheel engages with the toothed structure on the track body to achieve transmission, thereby pulling the track body to move continuously in a cycle. During this process, the tension wheel and support wheel rotate synchronously under the drive of the track body, driving the chassis body to move, thus enabling the entire work device to move forward smoothly.

[0004] However, existing tracks have shortcomings in dynamic adaptability. When encountering obstacles or uneven terrain, each traveling wheel is connected to a spring to undulate, meaning that each traveling wheel will rise and fall. This results in a large degree of bumpiness during the movement of the tracks. In actual working scenarios, when encountering complex conditions such as ground obstacles, uneven ground, or rugged mountain roads, the track structure cannot twist and swing to provide cushioning, causing the entire working device to experience severe bumps during movement. This not only significantly reduces the stability of movement but also affects work efficiency and quality. Utility Model Content

[0005] The main purpose of this utility model is to provide a track structure that can buffer the entire working device, reduce the bumps during the movement of the working device, improve its walking stability, and further improve work efficiency and quality. It solves the problem that the existing track structure cannot twist and swing to buffer, which causes the entire working device to have severe bumps during the movement, resulting in a significant reduction in walking stability and affecting work efficiency and quality.

[0006] Another objective of this invention is to provide a mobile side-arm cleaning robot incorporating the aforementioned tracked structure. This structure acts as a buffer for the entire mobile side-arm cleaning robot, reducing bumps and jolts during movement, improving its stability, and further enhancing operational efficiency and quality. It solves the problem that existing tracked structures cannot twist and oscillate for cushioning, leading to severe bumps and jolts during movement, significantly reducing stability and impacting operational efficiency and quality.

[0007] To achieve the above objectives, the track structure proposed in this utility model includes a main beam frame, a traveling wheel unit, a posture adjustment unit, and a track body;

[0008] The main beam frame connects the walking wheel unit and the attitude adjustment unit;

[0009] The traveling wheel unit is used to drive the main beam frame, the attitude adjustment unit and the track body to move, and the track body is arranged around the traveling wheel unit;

[0010] The attitude adjustment unit is located on the upper part of the main beam frame and on the side of the main beam frame closer to the vehicle frame body. The attitude adjustment unit includes a bearing, an attitude disk, and a deformable structure. The outer ring of the bearing is fixed to the main beam frame, and the inner ring of the bearing is connected to the attitude disk at the end opposite to the main beam frame. The inner ring of the bearing is used to drive the attitude disk to rotate, and the end of the attitude disk opposite to the bearing is connected to the vehicle frame body. The deformable structure includes two elastic components symmetrically distributed along the central axis of the attitude disk. One end of the elastic component is rotatably connected to the attitude disk, and the other end of the elastic component is fixed to the main beam frame. When the attitude disk rotates towards one of the elastic components, the two elastic components deform.

[0011] Optionally, the attitude disk includes a disk body and a connecting part. The disk body is cylindrical. The outer ring of the bearing is detachably connected to the main beam frame, and the inner ring of the bearing is detachably connected to the disk body. The inner ring of the bearing drives the disk body to rotate.

[0012] The upper part of the disc is symmetrically provided with two connecting parts along its own central axis, and the end of the elastic component is rotatably connected to the connecting parts.

[0013] Optionally, the connecting part includes a baffle and an ear piece, the baffle being fixed to the side wall of the disc body, and the extending direction of the baffle being perpendicular to the tangential direction of the side wall of the disc body;

[0014] The baffle is connected to two opposing lugs near the end face of the elastic component. The two lugs are spaced apart along the thickness direction of the disc body and extend radially toward the disc body. The end of the elastic component is located between the two lugs and is rotatably connected to the two lugs.

[0015] Optionally, the track structure further includes a limiting seat, which is located above the disc and between the two connecting parts. The limiting seat is detachably connected to the main beam frame. When the limiting seat abuts against the connecting part, it restricts the connecting part from continuing to rotate.

[0016] Optionally, the limiting seat includes a connecting plate, a first connecting block, a second connecting block, an extension plate, and a limiting block;

[0017] The connecting plate is detachably connected to the main beam frame;

[0018] The first connecting block and the second connecting block are sequentially connected to one end of the connecting plate away from the main beam frame. The second connecting block and the two side walls opposite to the connecting part are respectively connected to an extension plate. The two extension plates are parallel to each other. Each extension plate is provided with a limiting block at one end away from the second connecting block. When the limiting block abuts against the connecting part, it restricts the connecting part from continuing to rotate.

[0019] Optionally, the track structure further includes a first connecting shaft, the two ends of which are mounted on the connecting portion along the length direction, and the first connecting shaft is rotatably connected to the connecting portion; the elastic component includes a cylinder, a rod, a first pressure plate, a second pressure plate, and a spring;

[0020] The cylinder is hollow inside. One end of the cylinder along its length is fixedly connected to the main beam frame, and the other end of the cylinder along its length extends toward the connecting part. One end of the rod is located inside the cylinder and is slidably connected to the inner wall of the cylinder along its length. The other end of the rod passes through the cylinder and is rotatably connected to the first connecting shaft.

[0021] The first pressure plate is sleeved on the outer wall of the cylinder, the second pressure plate is sleeved on the outer wall of the rod, the spring is sleeved on the cylinder and the rod, and the two ends of the spring in the length direction are respectively fixedly connected to the first pressure plate and the second pressure plate.

[0022] Optionally, the track structure further includes a mounting base, which is detachably connected to the main beam frame, and the end of the elastic component away from the attitude disk is fixed to the main beam frame via the mounting base.

[0023] Optionally, the traveling wheel unit includes a drive wheel structure, a tension wheel structure, and a support wheel structure; the drive wheel structure and the tension wheel structure are respectively disposed on the upper part of the main beam frame and located on the two edges of the main beam frame along its length, and the support wheel structure is located on the lower edge of the main beam frame; the track body is wound around the drive wheel structure, the tension wheel structure, and the support wheel structure;

[0024] The tensioning wheel structure includes a shock absorber, a tensioning assembly, and a tensioning wheel assembly; both the shock absorber and the tensioning assembly are located within the main beam frame, with the shock absorber positioned close to the attitude plate and the tensioning wheel assembly positioned at the edge of the main beam frame; one end of the shock absorber is rotatably connected to the main beam frame, and the other end of the shock absorber is connected to the tensioning wheel assembly via the tensioning assembly;

[0025] The tensioning assembly includes a nut, a welding head, a welding rod, and a tensioning seat. The end of the shock absorber near the tensioning wheel assembly is sequentially threaded to the nut, the welding head, and the welding rod, and the end of the shock absorber is located inside the welding rod. The end of the welding rod away from the welding head is snapped into the tensioning seat, and the tensioning seat is rotatably connected to the tensioning wheel assembly.

[0026] Optionally, the track structure further includes a rotating rod and a second connecting shaft, both located below the attitude disc. The second connecting shaft passes through the rotating rod and is fixed to the edge of the main beam frame. The rotating rod is rotatably connected to the main beam frame via the second connecting shaft. The support roller structure includes two first support roller sets and two second support roller sets. The two first support roller sets are rotatably connected to the main beam frame, and are respectively located below the drive wheel structure and the tension wheel structure. The two second support roller sets are rotatably connected to both ends of the rotating rod along its length.

[0027] The present invention also proposes a mobile side-arm cleaning robot, which includes a suspension seat, a suspension, a frame body and any of the track structures described above;

[0028] One end of the suspension mount is connected to the attitude plate, the other end of the suspension mount is connected to the suspension, and the suspension is connected to the vehicle frame body.

[0029] Compared with the prior art, the embodiments of this utility model have the following beneficial effects:

[0030] By setting up a posture adjustment unit, the outer ring of the bearing is fixed to the main beam frame, and the inner ring of the bearing, at the end opposite to the main beam frame, is connected to the posture disc. The inner ring of the bearing drives the posture disc to rotate, and since the posture disc is connected to the chassis body, it can drive the chassis body to rotate. When encountering obstacles, uneven ground, or rugged mountain roads, the main beam frame, the traveling wheel unit, the track body, and the elastic component swing. The inner ring of the bearing causes the posture disc to rotate, and the chassis body connected to the posture disc swings together. Under the action of the elastic component, the entire working device is buffered, reducing the bumps during the working device's movement, improving its stability, and further improving work efficiency and quality. In this track structure, one end of the elastic component is rotatably connected to the attitude disk, and the other end of the elastic component is fixed to the main beam frame. When the main beam frame and attitude disk swing, the elastic component is deformed by the force of the main beam frame and attitude disk. When the force on the elastic component disappears, the elastic component releases the elastic force generated by the deformation. At this time, the elastic component restores its deformation, and the elastic force released by the elastic component makes the track structure completely recover. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the track structure according to an embodiment of the present invention;

[0032] Figure 2 This is a front view of a track structure according to an embodiment of the present invention;

[0033] Figure 3 This is a rear view of a track structure according to an embodiment of the present invention;

[0034] Figure 4 for Figure 2 A schematic diagram of the structure after concealing the attitude adjustment unit and the sealing plate;

[0035] Figure 5 This is a schematic diagram of the bearing and attitude disk of the track structure according to an embodiment of the present invention;

[0036] Figure 6 for Figure 1 A schematic diagram of the structure after the track body is concealed;

[0037] Figure 7 for Figure 6 Enlarged view of point A in the middle;

[0038] Figure 8 This is a schematic diagram of the attitude adjustment unit and mounting base of the track structure according to an embodiment of the present invention;

[0039] Figure 9 This is a schematic diagram of the mounting base for the track structure according to an embodiment of the present invention;

[0040] Figure 10 This is a schematic diagram of the tensioning wheel structure of a track structure according to an embodiment of the present invention;

[0041] Figure 11 for Figure 2 A schematic diagram of the structure after concealing the support rollers;

[0042] Figure 12 This is a front view of the track structure according to another embodiment of the present invention.

[0043] In the attached diagram: 1. Main beam frame; 11. Mounting through hole; 2. Traveling wheel unit; 21. Drive wheel structure; 211. Gear disc; 212. Drive wheel assembly; 22. Tensioning wheel structure; 221. Shock absorber; 222. Tensioning assembly; 2221. Nut; 2222. Welding head; 2223. Welding rod; 2224. Tensioning seat; 223. Tensioning wheel assembly; 224. Tensioning trunnion; 23. Support roller structure; 231. First support roller assembly; 232. Second support roller assembly; 24. Motor; 3. Attitude adjustment unit; 31. Bearing; 32. Attitude disc; 321. Disc body; 322. Connecting part; 3221. Baffle; 3222. Ear plate; 33. Deformation structure; 33 1. Elastic component; 3311. Cylinder; 3311a. First ear; 3312. Rod; 3312a. Second ear; 3313. First pressure plate; 3314. Second pressure plate; 3315. Spring; 4. Track body; 5. Limiting seat; 51. Connecting plate; 52. First connecting block; 53. Second connecting block; 54. Extension plate; 55. Limiting block; 56. Reinforcing plate; 6. First connecting shaft; 7. Pin; 8. Mounting seat; 81. Mounting plate; 82. First boss; 83. Second boss; 84. Third boss; 85. Fourth boss; 101. Rotating rod; 102. Second connecting shaft; 103. Sealing plate; 104. Suspension seat; 105. Rubber pad. Detailed Implementation

[0044] 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.

[0045] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0046] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixing," etc., should be interpreted broadly. For example, "fixing" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0047] Furthermore, in this utility model, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the word "and / or" throughout the text means including three parallel solutions; taking "A and / or B" as an example, it includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0048] This utility model proposes a track structure.

[0049] In the embodiments of this utility model, such as Figures 1 to 5 As shown, the track structure includes a main beam frame 1, a traveling wheel unit 2, a posture adjustment unit 3, and a track body 4;

[0050] The main beam frame 1 connects the traveling wheel unit 2 and the attitude adjustment unit 3;

[0051] The traveling wheel unit 2 is used to drive the main beam frame 1, the attitude adjustment unit 3 and the track body 4 to move. The track body 4 is arranged around the traveling wheel unit 2.

[0052] The attitude adjustment unit 3 is located on the upper part of the main beam frame 1 and on the side of the main beam frame 1 closer to the vehicle frame body. The attitude adjustment unit 3 includes a bearing 31, an attitude disk 32, and a deformable structure 33. The outer ring of the bearing 31 is fixed to the main beam frame 1, and the inner ring of the bearing 31 is connected to the attitude disk 32 at the end away from the main beam frame 1. The inner ring of the bearing 31 is used to drive the attitude disk 32 to rotate, and the end of the attitude disk 32 away from the bearing 31 is connected to the vehicle frame body. The deformable structure 33 includes two elastic components 331 symmetrically distributed along the central axis of the attitude disk 32. One end of the elastic component 331 is rotatably connected to the attitude disk 32, and the other end of the elastic component 331 is fixed to the main beam frame 1. When the attitude disk 32 rotates toward one of the elastic components 331, the two elastic components 331 deform.

[0053] By setting up an attitude adjustment unit 3, the outer ring of the bearing 31 is fixed to the main beam frame 1, and the inner ring of the bearing 31, at the end opposite to the main beam frame 1, is connected to the attitude disk 32. The inner ring of the bearing 31 drives the attitude disk 32 to rotate, and since the attitude disk 32 is connected to the vehicle frame body, it can drive the vehicle frame body to rotate. When encountering obstacles on the ground, uneven ground, or rugged mountain roads, the main beam frame 1, the traveling wheel unit 2, the track body 4, and the elastic component 331 swing. The inner ring of the bearing 31 causes the attitude disk 32 to rotate, and the vehicle frame body connected to the attitude disk 32 swings together. Under the action of the elastic component 331, the entire working device is buffered, reducing the bumps during the working device's movement, improving its walking stability, and further improving work efficiency and quality. In this track structure, one end of the elastic component 331 is rotatably connected to the attitude disk 32, and the other end of the elastic component 331 is fixed to the main beam frame 1. When the main beam frame 1 and the attitude disk 32 swing, the elastic component 331 is deformed by the force of the main beam frame 1 and the attitude disk 32. When the force on the elastic component 331 disappears, the elastic component 331 releases the elastic force generated by the deformation. At this time, the elastic component 331 restores its deformation, and the elastic force released by the elastic component 331 makes the track structure completely recover.

[0054] This invention solves the problem that existing track structures cannot twist and swing to provide cushioning, causing the entire working device to experience severe jolts during movement. This not only significantly reduces the stability of the movement but also affects work efficiency and quality.

[0055] To better understand the track structure, an example is provided, such as... Figure 1 As shown, this track structure moves from direction a to direction b. When this track structure encounters an obstacle on side b, this track structure can swing with the support roller structure 23 on side a as the fulcrum.

[0056] To further explain, when the attitude disk 32 rotates toward one of the elastic components 331 (i.e., toward the other elastic component 331), the elastic component 331 undergoes compressive deformation, while the other elastic component 331 undergoes tensile deformation; when the attitude disk 32 rotates toward the other elastic component 331 (i.e., toward the other elastic component 331), the elastic component 331 undergoes tensile deformation, while the other elastic component 331 undergoes compressive deformation.

[0057] like Figure 2 and 5 As shown, in one embodiment of this application, the attitude disk 32 includes a disk body 321 and a connecting part 322. The disk body 321 is cylindrical. The outer ring of the bearing 31 is detachably connected to the main beam frame 1, and the inner ring of the bearing 31 is detachably connected to the disk body 321. The inner ring of the bearing 31 drives the disk body 321 to rotate.

[0058] The upper part of the disc body 321 is symmetrically provided with two connecting parts 322 along its own central axis, and the end of the elastic component 331 is rotatably connected to the connecting parts 322.

[0059] The outer ring of bearing 31 is detachably connected to the main beam frame 1, and the inner ring of bearing 31 is detachably connected to the disc body 321. The detachable connection method facilitates the maintenance of bearing 31 and attitude disc 32. When maintenance of bearing 31 or disc body 321 is required, it can be quickly disassembled, greatly improving maintenance efficiency. By setting two connecting parts 322, disc body 321 and elastic component 331 are connected. Moreover, the two connecting parts 322 are symmetrically arranged along the central axis of disc body 321, which can ensure that the two elastic components 331 are subjected to balanced forces from disc body 321, thereby ensuring that the two elastic components 331 produce the same degree of deformation. When the two elastic components 331 recover their deformation, they can also generate the same elastic force, further improving the stability of this track structure.

[0060] like Figure 5 As shown, in one embodiment of this utility model, the end of the disc 321 facing away from the bearing 31 is open and hollow inside. The open and hollow disc 321 not only reduces its own weight, but also further improves the heat dissipation of this track structure.

[0061] like Figure 4As shown, in one embodiment of this utility model, the upper part of the main beam frame 1 has a mounting through hole 11 along its thickness direction. The mounting through hole 11 corresponds to the inner ring of the bearing 31, and the outer ring of the bearing 31 is arranged around the mounting through hole 11. By providing the mounting through hole 11, not only can the stable rotation of the inner ring of the bearing 31 be ensured, but the weight of the main beam frame 1 itself can also be reduced, thereby reducing the driving force required by this track structure during operation, thus reducing energy consumption. Moreover, the lighter main beam frame 1 improves the flexibility of this track structure.

[0062] like Figure 3 As shown, in one embodiment of this utility model, the track structure further includes a sealing plate 103, which is used to cover the mounting through hole 11 to prevent the bearing 31 from being disturbed by external forces, thereby ensuring that the bearing 31 can maintain normal operation and performance.

[0063] like Figure 5 As shown, in one embodiment of this application, the connecting part 322 includes a baffle 3221 and an ear piece 3222. The baffle 3221 is fixed to the side wall of the disc body 321, and the extending direction of the baffle 3221 is perpendicular to the tangential direction of the side wall of the disc body 321.

[0064] Two opposing lugs 3222 are connected to the end face of the baffle 3221 near the elastic component 331. The two lugs 3222 are spaced apart along the thickness direction of the disc body 321 and extend in the radial direction of the disc body 321. The end of the elastic component 331 is located between the two lugs 3222 and is rotatably connected to the two lugs 3222.

[0065] The connecting part 322 includes a baffle 3221 and ear pieces 3222. The baffle 3221 is fixed to the side wall of the disc body 321. Two ear pieces 3222 are connected to the end face of the baffle 3221 near the elastic component 331. The two ear pieces 3222 are spaced apart along the thickness direction of the disc body 321. In this way, the end of the elastic component 331 is placed between the two ear pieces 3222, and the two ear pieces 3222 can connect the elastic component 331.

[0066] In one embodiment of this utility model, the two ear pieces 3222 and the baffle 3221 are arranged perpendicularly to each other.

[0067] In one embodiment of this utility model, the lug 3222 is triangular in shape. The triangular lug 3222 can not only be used to connect the end of the elastic component 331, but also can strengthen the baffle 3221, preventing the connection part 322 from being damaged under external force, and further extending the service life of this track structure.

[0068] like Figure 6 and 7 As shown, in one embodiment of this application, the track structure further includes a limiting seat 5, which is located above the disc body 321 and between two connecting parts 322. The limiting seat 5 is detachably connected to the main beam frame 1. When the limiting seat 5 abuts against the connecting part 322, the limiting connecting part 322 continues to rotate.

[0069] The limiting seat 5 is located above the disc body 321 and between the two connecting parts 322. When the limiting seat 5 abuts against the connecting part 322, the connecting part 322 cannot continue to rotate. The limiting seat 5 restricts the rotation range of the connecting part 322, thereby restricting the rotation of the disc body 321 and the bearing 31. This prevents the rotation angle of the disc body 321 and the bearing 31 from being too large, which would cause the elastic component 331 to generate too large a force and thus cause irreversible deformation of the elastic component 331, ensuring the stability and reliability of this track structure.

[0070] like Figure 7 As shown, in one embodiment of this application, the limiting seat 5 includes a connecting plate 51, a first connecting block 52, a second connecting block 53, an extension plate 54, and a limiting block 55;

[0071] The connecting plate 51 is detachably connected to the main beam frame 1;

[0072] The end of the connecting plate 51 facing away from the main beam frame 1 is sequentially connected to a first connecting block 52 and a second connecting block 53. The two side walls of the second connecting block 53, which are opposite to the connecting part 322, are respectively connected to an extension plate 54. The two extension plates 54 are parallel to each other. Each extension plate 54 is provided with a limiting block 55 at the end facing away from the second connecting block 53. When the limiting block 55 abuts against the connecting part 322, it restricts the connecting part 322 from continuing to rotate.

[0073] The detachable connection between the connecting plate 51 and the main beam frame 1 allows for the rapid disassembly of the entire limiting seat 5. By setting the first connecting block 52, the second connecting block 53, and the extension plate 54, when the limiting block 55 is connected to the end of the extension plate 54 away from the second connecting block 53, the first connecting block 52, the second connecting block 53, and the extension plate 54 can stably connect the limiting block 55 to the main beam frame 1, and also allow the limiting block 55 to be closer to the positions of the two connecting parts 322, thereby better realizing the restriction of the rotation of the connecting parts 322 by the limiting block 55.

[0074] like Figure 7 As shown, preferably, the end face of the limiting block 55 that abuts against the connecting part 322 is an inclined surface. By setting the end face of the limiting block 55 that abuts against the connecting part 322 as an inclined surface, since the connecting part 322 is inclined, the end face of the limiting block 55 that abuts against the connecting part 322 is an inclined surface, which matches the connecting part 322, and the two can abut smoothly.

[0075] In one embodiment of the present invention, the second connecting block 53 is larger than the first connecting block 52, and the second connecting block 53 protrudes from the first connecting block 52 in a direction close to the disc body 321; the extension plate 54 and the limiting block 55 protrude from the second connecting block 53 in a direction close to the disc body 321.

[0076] like Figure 7 As shown, in one embodiment of this utility model, the limiting seat 5 further includes a reinforcing plate 56. A reinforcing plate 56 is vertically disposed on each of the two side walls of the first connecting block 52 along the length direction of the connecting plate 51, and the reinforcing plate 56 is connected to the connecting plate 51. By providing the reinforcing plate 56, the connecting plate 51 and the first connecting block 52 can be strengthened.

[0077] like Figure 8 As shown, in one embodiment of this application, the track structure further includes a first connecting shaft 6, with both ends of the first connecting shaft 6 mounted on the connecting portion 322 along its length, and the first connecting shaft 6 being rotatably connected to the connecting portion 322; the elastic component 331 includes a cylinder 3311, a rod 3312, a first pressure plate 3313, a second pressure plate 3314, and a spring 3315;

[0078] The cylinder 3311 is hollow inside. One end of the cylinder 3311 is fixedly connected to the main beam frame 1 along its length. The other end of the cylinder 3311 extends toward the connecting part 322. One end of the rod 3312 is located inside the cylinder 3311 and is slidably connected to the inner wall of the cylinder 3311 along its length. The other end of the rod 3312 passes through the cylinder 3311 and is rotatably connected to the first connecting shaft 6.

[0079] The first pressure plate 3313 is sleeved on the outer wall of the cylinder 3311, the second pressure plate 3314 is sleeved on the outer wall of the rod 3312, and the spring 3315 is sleeved on the outside of the cylinder 3311 and the rod 3312, with the two ends of the spring 3315 in the length direction being fixedly connected to the first pressure plate 3313 and the second pressure plate 3314 respectively.

[0080] One end of the cylinder 3311 along its length is connected to the main beam frame 1. One end of the rod 3312 is located inside the cylinder 3311 and is slidably connected to the inner wall of the cylinder 3311. The other end of the rod 3312 is rotatably connected to the first connecting shaft 6. The two ends of the spring 3315 along its length are fixedly connected to the first pressure plate 3313 and the second pressure plate 3314 respectively. By setting the first pressure plate 3313 and the second pressure plate 3314, when the elastic component 331 is subjected to the force of the main beam frame 1 and the disc 321, the spring 3315 undergoes compression deformation or tensile deformation between the first pressure plate 3313 and the second pressure plate 3314. When the force on the spring 3315 disappears, the spring 3315 releases its elastic force to restore its deformation, which can drive the main beam frame 1 and the disc 321 to return to their original state.

[0081] like Figure 8 As shown, in one embodiment of the present invention, the end of the cylinder 3311 away from the connecting part 322 is provided with a first ear 3311a, and the cylinder 3311 is connected to the main beam frame 1 through the first ear 3311a; the end of the rod 3312 near the connecting part 322 is provided with a second ear 3312a, and the rod 3312 is rotatably connected to the first connecting shaft 6 through the second ear 3312a.

[0082] In one embodiment of the present invention, the end of the cylinder 3311 near the connecting part 322 is provided with an opening. The cylinder 3311 with the opening can reduce the friction between it and the rod 3312, and further extend the service life of the elastic component 331.

[0083] In one embodiment of the present invention, the two ends of the first connecting shaft 6 in the length direction are respectively rotatably connected to two ear pieces 3222, and the two ends of the first connecting shaft 6 in the length direction are respectively provided to protrude from the two ear pieces 3222.

[0084] like Figure 8 As shown, in one embodiment of this utility model, the track structure further includes a pin 7, which passes through the end of the first connecting shaft 6 along the height direction of the first connecting shaft 6, and the pin 7 is located on the side of the lug 3222 away from the rod body 3312 (i.e., the pin 7 is located on the part of the first connecting shaft 6 that protrudes from the lug 3222). The pin 7 serves to limit the first connecting shaft 6 and prevent the first connecting shaft 6 from coming out of the lug 3222.

[0085] like Figure 1 , 2 As shown in Figures 8 and 9, in one embodiment of this application, the track structure further includes a mounting base 8, which is detachably connected to the main beam frame 1. The end of the elastic component 331 away from the attitude disk 32 is fixed to the main beam frame 1 through the mounting base 8.

[0086] The mounting base 8 is detachably connected to the main beam frame 1, which allows the elastic component 331 to be easily installed on or removed from the main beam frame 1. By setting the mounting base 8, a stable fixing point is provided for the end of the elastic component 331 away from the attitude plate 32, ensuring that the performance of the elastic component 331 will not be affected by loosening or shaking during operation.

[0087] like Figure 8 and 9As shown, in one embodiment of this utility model, the end of the elastic component 331 away from the attitude disk 32 is detachably connected to the mounting base 8. The mounting base 8 includes a mounting plate 81, a first boss 82, a second boss 83, a third boss 84, and a fourth boss 85. The mounting plate 81 is detachably connected to the main beam frame 1. The end of the mounting plate 81 away from the main beam frame 1 is sequentially connected to the first boss 82, the second boss 83, the third boss 84, and the fourth boss 85. The mounting plate 81, the first boss 82, the second boss 83, the third boss 84, and the fourth boss 85 are coaxially arranged, and the size of the first boss 82 > the size of the second boss 83 > the size of the third boss 84 > the size of the fourth boss 85. Specifically, the end of the elastic component 331 away from the attitude disk 32 is connected to the third boss 84, and the fourth boss 85 is fitted with a nut 2221 to fix the end of the elastic component 331 away from the attitude disk 32 to the third boss 84. More specifically, the fourth boss 85 is provided with a thread corresponding to the nut 2221, and the fourth boss 85 is threadedly connected to the nut 2221.

[0088] like Figure 2 , 3 As shown in Figures 6 and 10, in one embodiment of this application, the walking wheel unit 2 includes a drive wheel structure 21, a tension wheel structure 22, and a support wheel structure 23; the drive wheel structure 21 and the tension wheel structure 22 are respectively disposed on the upper part of the main beam frame 1 and located on the two edge sides of the main beam frame 1 in the length direction, and the support wheel structure 23 is located on the lower edge side of the main beam frame 1; the track body 4 is wrapped around the drive wheel structure 21, the tension wheel structure 22, and the support wheel structure 23;

[0089] The tensioning wheel structure 22 includes a shock absorber 221, a tensioning assembly 222, and a tensioning wheel group 223. Both the shock absorber 221 and the tensioning assembly 222 are located inside the main beam frame 1, with the shock absorber 221 positioned close to the attitude plate 32 and the tensioning wheel group 223 positioned at the edge of the main beam frame 1. One end of the shock absorber 221 is rotatably connected to the main beam frame 1, and the other end of the shock absorber 221 is connected to the tensioning wheel group 223 via the tensioning assembly 222.

[0090] The tensioning assembly 222 includes a nut 2221, a welding head 2222, a welding rod 2223, and a tensioning seat 2224. The end of the shock absorber 221 near the tensioning wheel assembly 223 is sequentially threaded to the nut 2221, the welding head 2222, and the welding rod 2223, and the end of the shock absorber 221 is located inside the welding rod 2223. The end of the welding rod 2223 away from the welding head 2222 is snapped into the tensioning seat 2224, and the tensioning seat 2224 is rotatably connected to the tensioning wheel assembly 223.

[0091] The traveling wheel unit 2 includes a drive wheel structure 21, a tension wheel structure 22, and a support wheel structure 23. The track body 4 is wound around the drive wheel structure 21, the tension wheel structure 22, and the support wheel structure 23. Thus, the track structure moves under the action of the drive wheel structure 21, the tension wheel structure 22, and the support wheel structure 23. The tensioning assembly 222 serves as a connector between the shock absorber 221 and the tension wheel assembly 223. By setting a nut 2221, a welding head 2222, a welding rod 2223, and a tensioning seat 2224, the shock absorber 221 and the tension wheel assembly 223 are tightly connected, so that the track body 4 maintains an appropriate tension during travel and prevents the tension wheel assembly 223 from loosening when subjected to external forces.

[0092] In one embodiment of this utility model, the track structure is an inverted trapezoidal structure.

[0093] In one embodiment of the present invention, the tensioning wheel structure 22 further includes two tensioning trunnions 224, which are mounted on the main beam frame 1. The shock absorber 221 is rotatably connected to the main beam frame 1 through the two tensioning trunnions 224.

[0094] like Figure 11 As shown, in one embodiment of this application, the track structure further includes a rotating rod 101 and a second connecting shaft 102. Both the rotating rod 101 and the second connecting shaft 102 are located below the attitude disk 32. The second connecting shaft 102 passes through the rotating rod 101 and is fixed to the edge of the main beam frame 1. The rotating rod 101 is rotatably connected to the main beam frame 1 through the second connecting shaft 102. The support roller structure 23 includes two first support roller sets 231 and two second support roller sets 232. The two first support roller sets 231 are rotatably connected to the main beam frame 1 respectively, and the two first support roller sets 231 are respectively located below the drive wheel structure 21 and the tension wheel structure 22. The two second support roller sets 232 are rotatably connected to both ends of the rotating rod 101 in the length direction.

[0095] By setting up the rotating rod 101 and the second connecting shaft 102, the two second heavy roller sets 232 can rotate flexibly around the second connecting shaft 102. When the track body 4 encounters ground obstacles during travel, the two first heavy roller sets 231 and the two second heavy roller sets 232 will be lifted by the obstacles in turn. At this time, the design of the two second heavy roller sets 232 rotating around the second connecting shaft 102 can improve the stability of the track body 4 through the obstacles, play a buffering role, effectively reduce the bumps caused by the impact of the obstacles, and ensure the safety and stability of the entire working device.

[0096] like Figure 1 and 2As shown, the walking wheel unit 2 further includes a motor 24, and the drive wheel structure 21 includes a toothed disc 211 and a drive wheel assembly 212. The toothed disc 211 and the drive wheel assembly 212 are coaxially and fixedly connected. The output end of the motor 24 is connected to the drive wheel assembly 212 to drive the drive wheel assembly 212 to rotate. The track body 4 is provided with a slot that cooperates with the toothed disc 211. Through the cooperation between the toothed disc 211 and the slot, the drive wheel assembly 212 drives the track body 4 to rotate, thereby driving the tension wheel assembly 223, the two first heavy wheel assemblies 231 and the two second heavy wheel assemblies 232 to rotate.

[0097] like Figure 11 As shown, preferably, the track structure also includes rubber pads 105. A rubber pad 105 is provided on the lower edge of the main beam frame 1 at the position corresponding to the two second roller groups 232. When the two second roller groups 232 rotate, it can play a protective and buffering role, avoiding the two second roller groups 232 from directly colliding with the lower edge of the main beam frame 1, and further extending the service life of the track structure.

[0098] This utility model also proposes a mobile side-arm cleaning robot, including a suspension seat 104, a suspension, a vehicle frame body, and any of the above-mentioned track structures;

[0099] One end of the suspension mount 104 is connected to the attitude plate 32, and the other end of the suspension mount 104 is connected to the suspension, which is connected to the vehicle frame body.

[0100] The suspension seat 104 connects the attitude plate 32 and the suspension, which in turn connects the frame body and the suspension seat 104. Using this track structure, the elastic component 331 acts as a buffer for the entire mobile side-arm sweeping robot, reducing bumps during movement and improving its stability, thereby enhancing work efficiency and quality. This solves the problem that existing track structures cannot perform torsional oscillation for cushioning, leading to severe bumps during movement, significantly reducing stability, and impacting work efficiency and quality.

[0101] To further explain, the attitude disc 32 is rotatably connected to the suspension via the suspension mount 104.

[0102] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without any inventive effort, and these embodiments will all fall within the scope of protection of this utility model.

Claims

1. A track structure, characterized in that, Includes main beam frame, traveling wheel unit, attitude adjustment unit and track body; The main beam frame connects the walking wheel unit and the attitude adjustment unit; The traveling wheel unit is used to drive the main beam frame, the attitude adjustment unit and the track body to move, and the track body is arranged around the traveling wheel unit; The attitude adjustment unit is located on the upper part of the main beam frame and on the side of the main beam frame closer to the vehicle frame body. The attitude adjustment unit includes a bearing, an attitude disk, and a deformable structure. The outer ring of the bearing is fixed to the main beam frame, and the inner ring of the bearing is connected to the attitude disk at the end opposite to the main beam frame. The inner ring of the bearing is used to drive the attitude disk to rotate, and the end of the attitude disk opposite to the bearing is connected to the vehicle frame body. The deformable structure includes two elastic components symmetrically distributed along the central axis of the attitude disk. One end of the elastic component is rotatably connected to the attitude disk, and the other end of the elastic component is fixed to the main beam frame. When the attitude disk rotates towards one of the elastic components, the two elastic components deform.

2. The track structure according to claim 1, characterized in that, The attitude disk includes a disk body and a connecting part. The disk body is cylindrical. The outer ring of the bearing is detachably connected to the main beam frame, and the inner ring of the bearing is detachably connected to the disk body. The inner ring of the bearing drives the disk body to rotate. The upper part of the disc is symmetrically provided with two connecting parts along its own central axis, and the end of the elastic component is rotatably connected to the connecting parts.

3. The track structure according to claim 2, characterized in that, The connecting part includes a baffle and an ear piece. The baffle is fixed to the side wall of the disc body, and the extending direction of the baffle is perpendicular to the tangential direction of the side wall of the disc body. The baffle is connected to two opposing lugs near the end face of the elastic component. The two lugs are spaced apart along the thickness direction of the disc body and extend radially toward the disc body. The end of the elastic component is located between the two lugs and is rotatably connected to the two lugs.

4. The track structure according to claim 2, characterized in that, The track structure also includes a limiting seat, which is located above the disc and between the two connecting parts. The limiting seat is detachably connected to the main beam frame. When the limiting seat abuts against the connecting part, it restricts the connecting part from continuing to rotate.

5. The track structure according to claim 4, characterized in that, The limiting seat includes a connecting plate, a first connecting block, a second connecting block, an extension plate, and a limiting block; The connecting plate is detachably connected to the main beam frame; The first connecting block and the second connecting block are sequentially connected to one end of the connecting plate away from the main beam frame. The second connecting block and the two side walls opposite to the connecting part are respectively connected to an extension plate. The two extension plates are parallel to each other. Each extension plate is provided with a limiting block at one end away from the second connecting block. When the limiting block abuts against the connecting part, it restricts the connecting part from continuing to rotate.

6. The track structure according to claim 2, characterized in that, The track structure further includes a first connecting shaft, with both ends of the first connecting shaft along its length mounted on the connecting portion, and the first connecting shaft being rotatably connected to the connecting portion; the elastic component includes a cylinder, a rod, a first pressure plate, a second pressure plate, and a spring; The cylinder is hollow inside. One end of the cylinder along its length is fixedly connected to the main beam frame, and the other end of the cylinder along its length extends toward the connecting part. One end of the rod is located inside the cylinder and is slidably connected to the inner wall of the cylinder along its length. The other end of the rod passes through the cylinder and is rotatably connected to the first connecting shaft. The first pressure plate is sleeved on the outer wall of the cylinder, the second pressure plate is sleeved on the outer wall of the rod, the spring is sleeved on the cylinder and the rod, and the two ends of the spring in the length direction are respectively fixedly connected to the first pressure plate and the second pressure plate.

7. The track structure according to claim 1, characterized in that, The track structure also includes a mounting base, which is detachably connected to the main beam frame. The end of the elastic component away from the attitude disk is fixed to the main beam frame via the mounting base.

8. The track structure according to claim 1, characterized in that, The traveling wheel unit includes a drive wheel structure, a tension wheel structure, and a support wheel structure; the drive wheel structure and the tension wheel structure are respectively disposed on the upper part of the main beam frame and located on the two edges of the main beam frame along its length, and the support wheel structure is located on the lower edge of the main beam frame; the track body is wrapped around the drive wheel structure, the tension wheel structure, and the support wheel structure; The tensioning wheel structure includes a shock absorber, a tensioning assembly, and a tensioning wheel assembly; both the shock absorber and the tensioning assembly are located within the main beam frame, with the shock absorber positioned close to the attitude plate and the tensioning wheel assembly positioned at the edge of the main beam frame; one end of the shock absorber is rotatably connected to the main beam frame, and the other end of the shock absorber is connected to the tensioning wheel assembly via the tensioning assembly; The tensioning assembly includes a nut, a welding head, a welding rod, and a tensioning seat. The end of the shock absorber near the tensioning wheel assembly is sequentially threaded to the nut, the welding head, and the welding rod, and the end of the shock absorber is located inside the welding rod. The end of the welding rod away from the welding head is snapped into the tensioning seat, and the tensioning seat is rotatably connected to the tensioning wheel assembly.

9. The track structure according to claim 8, characterized in that, The track structure further includes a rotating rod and a second connecting shaft, both located below the attitude disc. The second connecting shaft passes through the rotating rod and is fixed to the edge of the main beam frame. The rotating rod is rotatably connected to the main beam frame via the second connecting shaft. The support roller structure includes two first support roller sets and two second support roller sets. The two first support roller sets are rotatably connected to the main beam frame, and are respectively located below the drive wheel structure and the tension wheel structure. The two second support roller sets are rotatably connected to both ends of the rotating rod along its length.

10. A mobile side-arm cleaning robot, characterized in that, Includes a suspension mount, a suspension, a frame body, and a track structure as described in any one of claims 1 to 9; One end of the suspension mount is connected to the attitude plate, the other end of the suspension mount is connected to the suspension, and the suspension is connected to the vehicle frame body.

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