A tracked robot having a gripping mechanism

Abstract

The utility model relates to robot technical field, and disclose a caterpillar robot with clamping mechanism, this caterpillar robot with clamping mechanism, including the frame, the fixed mounting of frame has the mounting bracket, the fixed mounting of mounting bracket has clamping subassembly, clamping subassembly includes support rod. This caterpillar robot with clamping mechanism, in order to make the device make robot can be in complex terrain flexible capture irregular object, by setting clamping subassembly, this component cooperation no.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a tracked robot with a clamping mechanism. Background Technology

[0002] In fields such as disaster relief, industrial inspection, agricultural operations, and military reconnaissance, equipment is often required to move through complex terrain and complete specific operational tasks. Tracked robots with gripping mechanisms typically consist of a tracked chassis, a multi-degree-of-freedom gripping manipulator, a high-precision sensor system, a power drive unit, and a remote control system. The tracked chassis uses high-strength rubber tracks and a suspension system to ensure stable movement on complex terrain. The multi-degree-of-freedom gripping manipulator is equipped with electrically or hydraulically driven grippers, enabling the grasping of objects of different shapes and sizes. The high-precision sensor system includes vision sensors, force sensors, and distance sensors to perceive the surrounding environment and object information in real time. The power drive unit provides power for the robot's movement and gripping operations. The remote control system allows operators to remotely control the robot via wireless transmission.

[0003] However, the above-mentioned devices have obvious shortcomings in use. Traditional tracked robot gripping mechanisms are mostly simple opening and closing structures, usually with only 1 to 2 degrees of freedom, which cannot flexibly adjust the posture. When facing irregular objects in complex terrain, it is difficult to achieve accurate gripping. In view of this, we propose a tracked robot with a gripping mechanism. Utility Model Content

[0004] The purpose of this invention is to provide a tracked robot with a clamping mechanism to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A tracked robot with a clamping mechanism includes a frame, a wheel frame fixedly mounted on the frame, a drive motor fixedly mounted on the wheel frame, a drive wheel fixedly mounted on the output end of the drive motor, multiple sets of transmission wheels rotatably mounted on the wheel frame, a moving track driving between the drive wheel and the multiple sets of transmission wheels, a mounting frame fixedly mounted on the frame, and a clamping assembly fixedly mounted on the mounting frame, the clamping assembly including: A support rod is fixedly installed on the mounting bracket. A circular plate is fixedly installed on the support rod. A first motor is fixedly installed on the circular plate. A support plate is fixedly installed at the other end of the support rod. A turntable is rotatably installed on the support plate. A second motor is fixedly installed on the turntable. One end of an H-shaped bracket is fixedly installed at the output end of the second motor. The third double-head motor has an output end of one side of the H-shaped bracket rotatably mounted on the other end. The output end of the third double-head motor is fixedly mounted on one end of a U-shaped bracket. The other end of the U-shaped bracket is fixedly mounted on the fourth double-head motor. The output end of the fourth double-head motor is fixedly mounted on an L-shaped bracket. The other end of the L-shaped bracket is fixedly mounted on the fifth motor. Mounting plate, the output end of motor No. 5 is fixedly mounted on the mounting plate, motor No. 6 is fixedly mounted on the mounting plate, a circular block is rotatably mounted on the mounting plate, one end of the connecting frame is fixedly mounted on the circular block, the other end of the connecting frame is hinged to one end of the arc frame, teeth are fixedly mounted on the circular block, the other end of the arc frame is fixedly mounted to the clamping arm, and a connecting rod is hinged between the arc frame and the mounting plate.

[0006] In a further embodiment, multiple sets of the wheel frame, drive motor, drive wheel, transmission wheel, track, support rod, circular block, connecting frame, arc frame, teeth, clamping arm, and connecting rod are provided.

[0007] In a further embodiment, the output end of motor number one is connected to the turntable, and one of the multiple sets of circular blocks is connected to the output end of motor number six.

[0008] In a further embodiment, the teeth on the multiple sets of circular blocks mesh with each other, and the multiple sets of clamping arms are aligned horizontally.

[0009] In a further embodiment, the mounting plate is provided with a protective component, which includes a cylinder. One end of a helical spring is fixedly installed inside the cylinder, and one end of a sliding rod is fixedly installed at the other end of the helical spring. A sensor is fixedly installed at the other end of the sliding rod.

[0010] In a further embodiment, the cylinder, helical spring, slide bar, and sensor are arranged between multiple sets of clamping arms.

[0011] In a further embodiment, the helical spring is disposed inside the cylinder, and the slide rod slides inside the cylinder.

[0012] Compared with the prior art, this utility model provides a tracked robot with a gripping mechanism, which has the following beneficial effects: 1. This tracked robot with a gripping mechanism is equipped with a gripping component to enable it to flexibly grasp irregular objects in complex terrain. This component works with motor 1 to drive the turntable to rotate, which in turn drives motor 2 and the H-shaped bracket to achieve 360° horizontal rotation. Motor 3, a dual-head motor, works with the U-shaped bracket to give the gripping arm pitch freedom. Motor 4, a dual-head motor, adjusts the lateral roll angle of the gripping arm through the L-shaped bracket. Motor 5 controls the rotation of the mounting plate. Motor 6 drives multiple sets of circular blocks to rotate synchronously through tooth meshing, so that the gripping arm closes symmetrically. The hinged design of the arc frame and the connecting rod forms a parallelogram mechanism to ensure that the gripping arm remains parallel when closed. With the real-time feedback from the sensors, it can accurately grasp objects.

[0013] 2. This tracked robot with a clamping mechanism is equipped with a protective component to prevent overload damage. This component, together with multiple sets of helical springs inside the cylinders, pushes the sliding rod to keep the sensor at the front end of the clamping arm. When the clamping arm contacts an object, the sensor provides real-time feedback. The buffer stroke of the helical springs absorbs collision energy, avoiding rigid contact that could damage the object or deform the clamping arm. The sliding design of the sliding rod inside the cylinder, combined with the preload of the helical springs, ensures that the sensor remains sensitive during clamping. When the clamping force exceeds a set threshold, the system automatically triggers the motor to reverse to prevent overload damage. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective; Figure 3 This is a schematic diagram of the tracked vehicle structure of this utility model; Figure 4 This is a first-view schematic diagram of the clamping arm structure of this utility model; Figure 5 This is a second-view schematic diagram of the clamping arm structure of this utility model; Figure 6 This is a schematic diagram of the clamping arm structure of this utility model; Figure 7 This is a schematic diagram of the clamping arm structure of this utility model; Figure 8 This is a cross-sectional view of the clamping arm structure of this utility model.

[0015] Explanation of icon numbers: 1. Chassis; 2. Wheel frame; 3. Drive motor; 4. Drive wheel; 5. Transmission wheel; 6. Track; 7. Mounting bracket; 8. Clamping assembly; 81. Support rod; 82. Circular plate; 83. Motor No. 1; 84. Support plate; 85. Turntable; 86. Motor No. 2; 87. H-shaped bracket; 88. Double-headed motor No. 3; 89. U-shaped bracket; 810. Double-headed motor No. 4; 811. L-shaped bracket; 812. Motor No. 5; 813. Mounting plate; 814. Motor No. 6; 815. Circular block; 816. Connecting frame; 817. Arc-shaped frame; 818. Tooth; 819. Clamping arm; 820. Connecting rod; 9. Protective components; 91. Cylinder; 92. Helical spring; 93. Slide bar; 94. Sensor. Detailed Implementation

[0016] 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.

[0017] In this application, the term "above" indicates the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is primarily used to better describe this application and its embodiments, and is not intended to limit the indicated device, element, or component to having a specific orientation, or to construct and operate in a specific orientation. Furthermore, the term "above" may also be used in certain circumstances to indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0018] Please see Figures 1-8 This utility model provides a technical solution: A tracked robot with a clamping mechanism includes a frame 1, a wheel frame 2 fixedly mounted on the frame 1, a drive motor 3 fixedly mounted on the wheel frame 2, a drive wheel 4 fixedly mounted on the output end of the drive motor 3, multiple sets of transmission wheels 5 rotatably mounted on the wheel frame 2, and a moving track 6 connecting the drive wheel 4 and the multiple sets of transmission wheels 5. A mounting frame 7 is fixedly mounted on the frame 1. The frame 1 serves as the main support structure of the tracked robot, and the wheel frame 2 fixed on it carries the drive motor 3, the drive wheel 4, and the transmission wheels 5. After the drive motor 3 is started, its output end drives the drive wheel 4 to rotate. The drive wheel 4 and the multiple sets of transmission wheels 5 are connected by the moving track 6, which surrounds the drive wheel 4 and the transmission wheels 5. The rotation of the drive wheel 4 is converted into forward, backward, or turning power for the robot through the friction of the track, enabling the robot to move in complex terrain.

[0019] In one embodiment of this utility model, a clamping assembly 8 is fixedly installed on the mounting frame 7. The clamping assembly 8 includes a support rod 81. The support rod 81 is fixedly installed on the mounting frame 7. A circular plate 82 is fixedly installed on the support rod 81. A first motor 83 is fixedly installed on the circular plate 82. A support plate 84 is fixedly installed on the other end of the support rod 81. A turntable 85 is rotatably installed on the support plate 84. A second motor 86 is fixedly installed on the turntable 85. One end of an H-shaped bracket 87 is fixedly installed at the output end of the second motor 86. One output end of a third double-headed motor 88 is rotatably installed at the other end of the H-shaped bracket 87. One end of a U-shaped bracket 89 is fixedly installed at the other end of the third double-headed motor 88. A fourth double-headed motor 810 is fixedly installed at the other end of the U-shaped bracket 89. An L-shaped bracket 811 is fixedly installed at the output end of the fourth double-headed motor 810. A fifth motor 812 is fixedly installed at the other end of the L-shaped bracket 811. The output end of the fifth motor 812 is fixed... A mounting plate 813 is installed, on which a No. 6 motor 814 is fixedly mounted. A circular block 815 is rotatably mounted on the mounting plate 813. One end of a connecting frame 816 is fixedly mounted on the circular block 815. The other end of the connecting frame 816 is hinged to one end of an arc-shaped frame 817. A toothed tooth 818 is fixedly mounted on the circular block 815. A clamping arm 819 is fixedly mounted on the other end of the arc-shaped frame 817. A connecting rod 820 is hinged between the arc-shaped frame 817 and the mounting plate 813. The wheel frame 2, drive motor 3, drive wheel 4, transmission wheel 5, track 6, support rod 81, round block 815, connecting frame 816, arc frame 817, teeth 818, clamping arm 819 and connecting rod 820 are provided in multiple sets. The output end of motor 83 is connected to turntable 85. One set of round blocks 815 is connected to the output end of motor 814. The teeth 818 on the multiple sets of round blocks 815 mesh with each other. The multiple sets of clamping arms 819 are on the same horizontal plane.

[0020] In this embodiment, when the robot moves near the target object and needs to perform a grasping operation, the gripping assembly 8 starts working. The support rod 81 fixed on the mounting frame 7 provides support, with one end connected to the circular plate 82. The output end of the first motor 83 on the circular plate 82 is connected to the turntable 85, driving the turntable 85 to rotate on the support plate 84, thereby driving the entire gripping mechanism to achieve a 360° horizontal rotation and adjusting the gripping direction. The output end of the second motor 86 on the turntable 85 is fixed to the H-shaped bracket 87, allowing the H-shaped bracket 87 to rotate in the vertical plane, giving the gripping arm 819 pitch freedom. One output end of the third dual-head motor 88 is connected to the H-shaped bracket 87, and the other end is connected to the U-shaped bracket 89. The rotation of the U-shaped bracket 89 allows for angle adjustment, further refining the pitch motion of the gripper arm 819. The fourth dual-head motor 810 is connected to the U-shaped bracket 89 via the L-shaped bracket 811, controlling the roll angle of the gripper arm 819 so that it can be aligned with the target object in a suitable posture. The output end of the fifth motor 812 is connected to the mounting plate 813, which can drive the mounting plate 813 to rotate, changing the orientation of the entire gripper. When the sixth motor 814 rotates, it drives multiple sets of circular blocks 815 to rotate synchronously through the transmission of the teeth 818. When the circular blocks 815 rotate, the gripper arm 819 closes symmetrically. Due to the characteristics of the parallelogram mechanism, the gripper arm 819 remains parallel during the closing process, thus accurately gripping the object.

[0021] In one embodiment of this utility model, a protective component 9 is provided on the mounting plate 813. The protective component 9 includes a cylinder 91. One end of a helical spring 92 is fixedly installed inside the cylinder 91. One end of a slide rod 93 is fixedly installed at the other end of the helical spring 92. A sensor 94 is fixedly installed at the other end of the slide rod 93. The cylinder 91, the helical spring 92, the slide rod 93 and the sensor 94 are arranged between multiple sets of clamping arms 819. The helical spring 92 is located inside the cylinder 91, and the slide rod 93 slides inside the cylinder 91.

[0022] In this embodiment, when not in operation, the elastic force of the helical spring 92 pushes the slide bar 93, keeping the sensor 94 always at the front end of the clamping arm 819. When the clamping arm 819 approaches and contacts the object, the sensor 94 detects the contact signal in real time and feeds the data back to the control system. The helical spring 92 has a certain buffer stroke, which can absorb the collision energy at the moment the clamping arm 819 collides with the object, avoiding damage to the object or deformation of the clamping arm 819 caused by rigid contact. During the clamping process, the sliding of the slide bar 93 in the cylinder 91, combined with the preload of the helical spring 92, keeps the sensor 94 sensitive and responsive. When the sensor 94 detects that the clamping force exceeds the system's set threshold, it will immediately send a signal to the control system. The control system will automatically trigger the relevant motor to reverse and release the clamping arm 819, preventing damage to the clamping mechanism due to overload.

[0023] All electrical components appearing in this application are electrically connected to the PLC controller and 220V AC mains power. The PLC controller is a conventional and known device capable of controlling drive motors 3, 83, 86, 88, 810, 812, and 814. All standard parts used in this application can be purchased from the market. The specific connection methods of each part are all conventional methods such as riveting and welding, which are mature in the prior art. The machinery, parts, and equipment are all conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art.

[0024] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A tracked robot with a clamping mechanism, comprising a frame (1), a wheel frame (2) fixedly mounted on the frame (1), a drive motor (3) fixedly mounted on the wheel frame (2), a drive wheel (4) fixedly mounted at the output end of the drive motor (3), a plurality of transmission wheels (5) rotatably mounted on the wheel frame (2), a moving track (6) driving between the drive wheel (4) and the plurality of transmission wheels (5), and a mounting frame (7) fixedly mounted on the frame (1), characterized in that: A clamping assembly (8) is fixedly mounted on the mounting bracket (7), the clamping assembly (8) comprising: A support rod (81) is fixedly installed on the mounting bracket (7). A circular plate (82) is fixedly installed on the support rod (81). A first motor (83) is fixedly installed on the circular plate (82). A support plate (84) is fixedly installed on the other end of the support rod (81). A turntable (85) is rotatably installed on the support plate (84). A second motor (86) is fixedly installed on the turntable (85). One end of an H-shaped bracket (87) is fixedly installed at the output end of the second motor (86). The third double-head motor (88) is rotatably mounted on one side of the H-shaped bracket (87), and the other side of the output end of the third double-head motor (88) is fixedly mounted on one end of the U-shaped bracket (89). The other end of the U-shaped bracket (89) is fixedly mounted on the fourth double-head motor (810). The output end of the fourth double-head motor (810) is fixedly mounted on the L-shaped bracket (811), and the other end of the L-shaped bracket (811) is fixedly mounted on the fifth motor (812). Mounting plate (813), the output end of motor No. 5 (812) is fixedly mounted on mounting plate (813), motor No. 6 (814) is fixedly mounted on mounting plate (813), a round block (815) is rotatably mounted on mounting plate (813), one end of connecting frame (816) is fixedly mounted on round block (815), one end of arc frame (817) is hinged to the other end of connecting frame (816), teeth (818) are fixedly mounted on round block (815), clamping arm (819) is fixedly mounted to the other end of arc frame (817), and connecting rod (820) is hinged between arc frame (817) and mounting plate (813).

2. The track robot with a gripping mechanism according to claim 1, characterized in that: The wheel frame (2), drive motor (3), drive wheel (4), transmission wheel (5), track (6), support rod (81), round block (815), connecting frame (816), arc frame (817), teeth (818), clamping arm (819) and connecting rod (820) are provided in multiple sets.

3. The track robot with a gripping mechanism according to claim 1, characterized in that: The output end of the No. 1 motor (83) is connected to the turntable (85), and one of the multiple sets of circular blocks (815) is connected to the output end of the No. 6 motor (814).

4. A tracked robot with a clamping mechanism according to claim 1, characterized in that: The teeth (818) on the multiple sets of circular blocks (815) mesh with each other, and the multiple sets of clamping arms (819) are aligned on the same horizontal plane.

5. A tracked robot with a clamping mechanism according to claim 1, characterized in that: The mounting plate (813) is provided with a protective component (9), which includes a cylinder (91). One end of a helical spring (92) is fixedly installed inside the cylinder (91), and the other end of the helical spring (92) is fixedly installed with one end of a slide rod (93). The other end of the slide rod (93) is fixedly installed with a sensor (94).

6. A tracked robot with a clamping mechanism according to claim 5, characterized in that: The cylinder (91), helical spring (92), slide bar (93) and sensor (94) are arranged between multiple sets of clamping arms (819).

7. A tracked robot with a clamping mechanism according to claim 5, characterized in that: The helical spring (92) is disposed inside the cylinder (91), and the slide rod (93) slides inside the cylinder (91).

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