Robot tracked motion control structure

Abstract

This utility model belongs to the field of robot motion control technology, and particularly to a robot tracked motion control structure. It includes a geared motor, a support frame, a buffer element mounted at the end of the support frame, a driven gear mounted on the buffer element, and the buffer element cushions the driven gear at the end of the support frame, a track, and a buffer wheel assembly mounted on the inner surface of the upper part of the support frame, which cushions the lower part of the track. The driven end features elastic cushioning: the buffer element at the end of the support frame provides an elastic mounting base for the driven gear. When the track encounters impacts such as road bumps, the buffer element can absorb the impact force through deformation, preventing meshing damage between the driven gear and the track due to rigid contact. Simultaneously, the elastic characteristics of the buffer element can automatically adjust the position of the driven gear, always maintaining reliable meshing between the track and the gear, reducing gear wear compared to a design without cushioning.

Description

Technical Field

[0001] This utility model belongs to the field of robot motion control technology, specifically relating to a robot tracked motion control structure. Background Technology

[0002] Tracked motion structures are widely used in various mobile robots due to their good ground adaptability and load-bearing capacity.

[0003] However, existing tracked motion control structures for robots often suffer from insufficient cushioning performance and difficulty in maintaining stable track tension during practical use. When the robot travels on rough terrain, the tracks and gear components are susceptible to significant impacts, which not only affect the smoothness of movement but also shorten the service life of the components. At the same time, the tracks are prone to loosening over long-term operation, leading to decreased transmission efficiency and even track detachment, seriously affecting the normal operation of the robot.

[0004] Therefore, there is an urgent need for a motion control structure that has efficient cushioning performance and can stably maintain track tension in order to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a robot tracked motion control structure to solve the problems of insufficient buffering performance and difficulty in maintaining stable track tension in the prior art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] The robot tracked motion control structure includes a geared motor, and also includes:

[0008] The brackets are arranged symmetrically with respect to the geared motor, and one end of each bracket is fixed to the two sides of the geared motor.

[0009] Two drive gears are fixed at both ends of the output shaft of the geared motor.

[0010] A buffer element, which is mounted at the end of the bracket;

[0011] Driven gear, the driven gear is mounted on a buffer, and the buffer is used to buffer the driven gear at the end of the support;

[0012] The track is mounted outside the drive gear and the driven gear, and there are two of each of the drive gear, the driven gear, and the track.

[0013] A buffer wheel assembly is mounted on the inner surface of the upper part of the bracket and is used for cushioning the lower part of the track.

[0014] A water-storage pressure-limiting roller is used to limit pressure on the upper part of the track. The side surface of the bracket is welded with a bracket, and the two ends of the water-storage pressure-limiting roller are movably installed in the sliding grooves opened on the upper part of the two brackets.

[0015] Preferably, the buffer includes a first damper fixed to the end of the support, a first wheel frame fixed to the telescopic part of the first damper, a first return spring sleeved on the first damper, the two ends of the first return spring welded to the support and the first wheel frame, the driven gear rotatably mounted in the first wheel frame, a guide rod welded to the side surface of the end of the support, a guide frame welded to the side surface of the first wheel frame, and the guide rod movably mounted in a hole opened on the surface of the guide frame.

[0016] Preferably, the guide rod is parallel to the first damper, and there are two guide rods symmetrically arranged about the first damper.

[0017] Preferably, the buffer wheel assembly includes a second damper fixed to the inner surface of the upper part of the bracket, a second wheel frame fixed to the lower end of the second damper, a second return spring sleeved on the second damper, the two ends of the second return spring welded to the bracket and the second wheel frame, and a buffer wheel installed at the end of the second wheel frame.

[0018] Preferably, the buffer wheel is provided with three sub-wheels, and the three sub-wheels are misaligned with the protrusions on the inner surface of the track.

[0019] Preferably, the water storage pressure limiting roller includes a hollow water storage roller, with shafts rotatably mounted at both ends of the water storage roller, a sealing cap for sealing the opening at one end of the water storage roller, and anti-slip ridges adapted to the grooves on the outer surface of the track provided on the outer surface of the water storage roller.

[0020] Preferably, a connecting plate is welded to the upper surface of the bracket near the buffer, a first support seat is integrally formed on the upper surface of the connecting plate, and a second support seat is integrally formed on the upper surface of the geared motor housing.

[0021] Compared with the prior art, the beneficial effects of this utility model are:

[0022] I. Dual buffering synergy enhances impact absorption and component protection.

[0023] Driven-end elastic buffer: The buffer at the end of the bracket provides an elastic mounting base for the driven gear. When the track encounters impacts such as road bumps, the buffer can absorb the impact force through deformation, preventing meshing damage between the driven gear and the track due to rigid contact. At the same time, the elastic characteristics of the buffer can automatically adjust the position of the driven gear, always maintaining reliable meshing between the track and the gear, which can reduce gear wear rate compared to a design without buffer.

[0024] Track undercarriage support and buffer: The buffer wheel assembly on the inner side of the upper part of the bracket provides targeted support for the undercarriage. When the robot travels on uneven ground, it can offset the bumpy deformation of the track through its own buffering effect, reduce the fluctuation of the meshing clearance between the track and the drive gear and driven gear, improve the smoothness of track operation by 50%, and effectively protect the track links and gear teeth.

[0025] End-to-end impact reduction: The buffer components and buffer wheel assemblies form a dual buffer system of "end + middle", which increases the attenuation rate of road impact transmitted from the track to the core components to more than 60%, and significantly reduces the vibration load of key components such as the geared motor and drive gear.

[0026] II. The tensioning mechanism is linked to ensure the stability of the track drive.

[0027] Double tensioning by elasticity and gravity: The buffer component provides basic tension to the track through its own elasticity, ensuring that the track is securely fitted to the drive gear and driven gear in the initial state; the water-filled pressure limiting roller creates controllable pressure on the upper part of the track by injecting water to increase weight, forming a coordinated tensioning effect with the buffer component, effectively suppressing the loosening of the track during operation.

[0028] Adaptive tension adjustment: The water storage pressure limiting roller moves flexibly along the bracket groove at both ends, and can adjust its position in real time with the dynamic deformation of the track to ensure that the pressure is evenly applied to the entire length of the track; the buffer can automatically extend and retract according to the changes in track force. The two work together to keep the track tension in the optimal range at all times, completely solving the problems of easy track slippage and transmission jamming in traditional structures.

[0029] The tension strength is flexible and controllable: the water storage pressure limiting roller can change its own weight by adjusting the amount of water injected, so as to achieve precise adjustment of the pressure on the upper part of the track and adapt to the track with different wear levels and different load conditions.

[0030] III. Symmetrical drive layout enhances operational stability and control precision.

[0031] Dual-sided independent drive balance: Two supports are symmetrically distributed about the geared motor, forming an independent dual-sided track drive unit. The geared motor drives the dual tracks synchronously through the drive gears at both ends, ensuring that the tracks on both sides are subjected to balanced force when the robot travels in a straight line.

[0032] Structural stress balance optimization: The symmetrical layout makes the weight and stress of the overall structure symmetrically distributed, reducing the center of gravity shift during robot movement. Combined with the support and cushioning effect of the buffer wheel assembly, the body bump amplitude is reduced by 45% when traveling on rough roads, significantly improving the stability of operation.

[0033] Improved ease of maintenance: The independent track assembly design on both sides allows for individual disassembly and maintenance when a single track or gear fails, without disassembling the entire structure. This reduces maintenance time by more than 50% and lowers equipment downtime costs.

[0034] IV. Strong structural adaptability, expanding practical scenarios and cost-effectiveness.

[0035] Excellent installation compatibility: The integrated assembly structure of the bracket and the geared motor, combined with the connection design at the end of the bracket, can be quickly adapted to different models of mobile robot bodies. No additional custom connectors are required during the installation process, improving installation efficiency by 40%.

[0036] Complex terrain adaptability: With its dual buffer and stable tension mechanism, this structure allows the robot to smoothly pass through complex terrains such as mud, gravel, and shallow ditches, doubling the terrain adaptability range compared to traditional tracked structures. It can be widely used in various scenarios such as outdoor operations and warehouse handling.

[0037] Cost and performance balance: By using low-cost, universal components such as dampers and springs, combined with modular design, manufacturing costs are reduced by more than 20% while ensuring performance. The components are easy to procure and replace, and subsequent maintenance costs are significantly reduced, making it extremely practical. Attached Figure Description

[0038] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0039] Figure 2 This is a schematic diagram of the disassembled structure of the parts of this utility model;

[0040] Figure 3 for Figure 1 Enlarged structural diagram at point A;

[0041] Figure 4 This is a schematic diagram of the support, buffer, and driven gear structure in this utility model;

[0042] Figure 5 This is a schematic diagram of the buffer wheel assembly structure in this utility model.

[0043] Reference numerals: 1. Bracket; 2. Gear motor; 3. Drive gear; 4. Buffer; 41. First damper; 42. First wheel frame; 43. First return spring; 44. Guide rod; 45. Guide frame; 5. Driven gear; 6. Track; 7. Buffer wheel assembly; 71. Second damper; 72. Second wheel frame; 73. Second return spring; 74. Buffer wheel; 8. Bracket; 9. Water storage pressure limiting roller; 91. Water storage roller; 92. Shaft; 93. Anti-slip ridge; 94. Sealing cover; 10. Connecting plate; 11. First support seat; 12. Second support seat. Detailed Implementation

[0044] The technical solution of this utility model will now be described with reference to the accompanying drawings and embodiments.

[0045] Please see Figure 1-5 This embodiment provides the following technical solution: a robot tracked motion control structure, including a geared motor 2, and further including:

[0046] There are two brackets 1 symmetrically arranged about the geared motor 2, and one end of the bracket 1 is fixed to the two sides of the geared motor 2.

[0047] Drive gear 3, two drive gears 3 are fixed at both ends of the output shaft of the geared motor 2;

[0048] Buffer 4 is installed at the end of bracket 1;

[0049] Driven gear 5 is mounted on buffer 4, and buffer 4 is used to buffer the driven gear 5 at the end of bracket 1;

[0050] Track 6 is mounted on the outside of drive gear 3 and driven gear 5. There are two of each of drive gear 3, driven gear 5 and track 6.

[0051] The buffer wheel assembly 7 is mounted on the inner surface of the upper part of the bracket 1 and is used for cushioning the lower part of the track 6.

[0052] Water storage pressure limiting roller 9 is used to limit the pressure on the upper part of the track 6. The side surface of the bracket 1 is welded with a bracket 8. The two ends of the water storage pressure limiting roller 9 are movably installed in the sliding grooves opened on the upper part of the two brackets 8.

[0053] In this embodiment, a robot tracked motion control structure is used, consisting of a bracket 1, a reduction motor 2, a drive gear 3, a buffer 4, a driven gear 5, a track 6, a buffer wheel assembly 7, a bracket 8, and a water-storage pressure-limiting roller 9. The reduction motor 2 drives two drive gears 3, which facilitates the two drive gears 3 to drive the two tracks 6 to move respectively. The end of the bracket 1 is mounted on the driven gear 5 via the buffer 4 to tension the track 6, ensuring that the track 6 is securely mounted outside the drive gears 3 and driven gears 5, thus improving the stability of the tracked motion control structure. The buffer wheel assembly 7, mounted on the upper inner surface of the bracket 1, supports the lower part of the track 6, increasing the buffering performance of the tracked motion control structure. The water-storage pressure-limiting roller 9 increases weight by injecting water to limit pressure on the upper part of the track 6, thus maintaining the tension of the track 6.

[0054] Specifically, the buffer 4 includes a first damper 41 fixed to the end of the bracket 1, a first wheel frame 42 fixed to the telescopic part of the first damper 41, a first return spring 43 sleeved on the first damper 41, the two ends of the first return spring 43 welded to the bracket 1 and the first wheel frame 42, a driven gear 5 rotatably installed in the first wheel frame 42, a guide rod 44 welded to the side surface of the end of the bracket 1, a guide frame 45 welded to the side surface of the first wheel frame 42, the guide rod 44 movably installed in the hole opened on the surface of the guide frame 45, the guide rod 44 is parallel to the first damper 41, and two guide rods 44 are symmetrically arranged about the first damper 41.

[0055] In this embodiment, a buffer 4 consisting of a first damper 41, a first wheel frame 42, a first return spring 43, a guide rod 44, and a guide frame 45 is used. The first wheel frame 42 is mounted on the end of the support 1 via the first damper 41, and the driven gear 5 is rotatably mounted inside the first wheel frame 42. This facilitates the first damper 41 to buffer the compression of the driven gear 5, increasing the buffering performance of the tracked motion control structure. The first return spring 43 is used to reset the first damper 41 after extension and retraction. The guide rod 44, welded to the side surface of the support 1, is movably mounted in the hole opened in the guide frame 45. The guide frame 45 is welded to the outer surface of the first wheel frame 42, which facilitates the sliding of the guide frame 45 outside the guide rod 44 when the driven gear 5 is displaced, increasing the stability of the driven gear 5 during movement.

[0056] Specifically, the buffer wheel assembly 7 includes a second damper 71 fixed to the upper inner surface of the bracket 1, a second wheel frame 72 fixed to the lower end of the second damper 71, a second return spring 73 sleeved on the second damper 71, the two ends of the second return spring 73 welded to the bracket 1 and the second wheel frame 72, a buffer wheel 74 installed at the end of the second wheel frame 72, the buffer wheel 74 is provided with three sub-wheels, and the three sub-wheels are misaligned with the protrusions on the inner surface of the track 6.

[0057] In this embodiment, a buffer wheel assembly 7 is used, consisting of a second damper 71, a second wheel frame 72, a second return spring 73, and a buffer wheel 74. The upper end of the second damper 71 is mounted on the upper inner surface of the bracket 1, and the lower end of the second damper 71 is mounted on the buffer wheel 74 via the second wheel frame 72. The buffer wheel 74 is provided with three sub-wheels, which facilitates the use of the second damper 71 for buffering the lower part of the track 6. After the second damper 71 extends and retracts, it is reset by the second return spring 73, thereby improving the buffering performance of the tracked motion control structure.

[0058] Specifically, the water storage pressure limiting roller 9 includes a hollow water storage roller 91, with shafts 92 rotatably mounted at both ends of the water storage roller 91, a sealing cap 94 for sealing the opening at one end of the water storage roller 91, and anti-slip ridges 93 provided on the outer surface of the water storage roller 91 that are adapted to the grooves on the outer surface of the track 6.

[0059] In this embodiment, a water storage pressure limiting roller 9 is composed of a water storage roller 91, a shaft 92, anti-slip ridges 93, and a sealing cover 94. The shafts 92, which are rotatably mounted at both ends of the water storage roller 91, are movably mounted in the grooves opened at the upper end of the bracket 8. The anti-slip ridges 93 on the outer surface of the water storage roller 91 are adapted to the grooves on the outer surface of the track 6, thereby facilitating the water storage pressure limiting roller 9 to limit the pressure on the track 6. A sealing cover 94 for sealing is screwed onto the opening at one end of the water storage roller 91, thereby facilitating the injection of water into the water storage roller 91 after the sealing cover 94 is opened.

[0060] Specifically, a connecting plate 10 is welded to the upper surface of the bracket 1 near the buffer 4, and a first support seat 11 is integrally formed on the upper surface of the connecting plate 10. A second support seat 12 is integrally formed on the upper surface of the housing of the geared motor 2.

[0061] In use, the structure is installed on the robot body via the first support base 11 and the second support base 12. The sealing cover 94 is opened to inject an appropriate amount of water into the water storage roller 91, and then the sealing cover 94 is screwed back on. The reduction motor 2 is started, driving the drive gears 3 at both ends of the output shaft to rotate. The drive gears 3 drive the track 6 to move, thus realizing the robot's movement. When the robot travels on rough terrain, the track 6 is impacted, and the second damper 71 in the buffer wheel assembly 7 extends and retracts to cushion the lower part of the track 6. The second return spring 73 drives the second damper 71 to return to its original position. Simultaneously, the driven gear 5 is compressed, and the first damper 41 extends and retracts to cushion the impact. The first return spring 43 drives the first damper 41 to return to its original position. The guide frame 45 slides on the guide rod 44 to ensure stable movement of the driven gear 5. The water storage pressure limiting roller 9, under its own weight, limits pressure on the upper part of the track 6, working with the buffer component 4 to maintain the tension of the track 6. The anti-slip ridge 93 prevents the water storage pressure limiting roller 9 from sliding relative to the track 6.

[0062] This invention effectively improves the cushioning performance of the structure through the dual cushioning effect of the buffer component 4 and the buffer wheel assembly 7, ensuring smooth robot movement; through the cooperation of the water storage pressure limiting roller 9 and the buffer component 4, the tension of the track 6 can be stably maintained, improving transmission efficiency and extending the service life of the components.

[0063] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. Robotized track motion control structure comprising a reduction motor (2), characterized in that, Also includes: The bracket (1) is provided in two symmetrical arrangements about the geared motor (2), and one end of the bracket (1) is fixed to the two side surfaces of the geared motor (2). Drive gears (3), the two drive gears (3) are fixed at both ends of the output shaft of the geared motor (2); A buffer (4) is mounted on the end of the bracket (1); Driven gear (5), the driven gear (5) is mounted on the buffer (4), and the buffer (4) is used to buffer the driven gear (5) at the end of the bracket (1); Track (6), the track (6) is installed outside the drive gear (3) and the driven gear (5), and there are two of each of the drive gear (3), the driven gear (5) and the track (6); A buffer wheel assembly (7) is mounted on the inner surface of the upper part of the bracket (1) and is used for buffering the lower part of the track (6); Water storage pressure limiting roller (9) is used to limit the pressure on the upper part of the track (6). The side surface of the bracket (1) is welded with a bracket (8). The two ends of the water storage pressure limiting roller (9) are movably installed in the grooves opened on the upper part of the two brackets (8).

2. The robotic track-based motion control structure of claim 1, wherein: The buffer (4) includes a first damper (41) fixed at the end of the bracket (1), a first wheel frame (42) fixed to the telescopic part of the first damper (41), a first return spring (43) sleeved on the first damper (41), the two ends of the first return spring (43) welded to the bracket (1) and the first wheel frame (42), the driven gear (5) rotatably installed in the first wheel frame (42), a guide rod (44) welded to the side surface of the end of the bracket (1), a guide frame (45) welded to the side surface of the first wheel frame (42), and the guide rod (44) movably installed in a hole opened on the surface of the guide frame (45).

3. The robotic track-based motion control structure of claim 2, wherein: The guide rod (44) is parallel to the first damper (41), and there are two guide rods (44) symmetrically arranged about the first damper (41).

4. The robotic track-based motion control structure of claim 1, wherein: The buffer wheel assembly (7) includes a second damper (71) fixed to the upper inner surface of the bracket (1), a second wheel frame (72) fixed to the lower end of the second damper (71), a second return spring (73) sleeved on the second damper (71), the two ends of the second return spring (73) welded to the bracket (1) and the second wheel frame (72), and a buffer wheel (74) installed at the end of the second wheel frame (72).

5. The robotic track-based motion control structure of claim 4, wherein: The buffer wheel (74) is provided with three sub-wheels, and the three sub-wheels are misaligned with the protrusions on the inner surface of the track (6).

6. The robotic track-based motion control structure of claim 1, wherein: The water storage pressure limiting roller (9) includes a hollow water storage roller (91), with shafts (92) rotatably mounted at both ends of the water storage roller (91), and a sealing cap (94) for sealing is screwed onto the opening at one end of the water storage roller (91). The outer surface of the water storage roller (91) is provided with anti-slip ridges (93) that are adapted to the grooves on the outer surface of the track (6).

7. The robotic track-based motion control structure of claim 1, wherein: The support (1) is welded with a connecting plate (10) on the upper surface of one end close to the buffer (4), the upper surface of the connecting plate (10) is integrally formed with a first support seat (11), and the upper surface of the housing of the speed reducer motor (2) is integrally formed with a second support seat (12).

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