A robot unilateral double-track structure

Abstract

The utility model discloses a unilateral double track structure of robot relates to track structure technical field, including mounting bracket, the both sides of mounting bracket are provided with driving wheel and driven wheel, be equipped with a plurality of side -by -side distribution's narrow track on driving wheel and driven wheel, be equipped with the guide groove corresponding with the narrow track number on driving wheel and driven wheel, be equipped with the guide strip that projects inwards on a plurality of narrow tracks, split the originally single wide track structure into a plurality of independent narrow track subassembly, and every narrow track is equipped with the special guide strip structure alone, and the guide strip and guide groove one -to -one corresponding cooperation, both ensure the reliability of power transmission, and effectively avoid the whole slippage phenomenon that traditional wide track is easy to appear.

Description

Technical Field

[0001] This utility model relates to the field of track structure technology, specifically to a single-sided double track structure for a robot. Background Technology

[0002] Currently, there are many photovoltaic cleaning robots on the market, including several models launched by our company. The vast majority of these use tracked chassis power modules. Compared to other chassis, tracked chassis robots have the following advantages: 1. Lower pressure on photovoltaic panels, making them less prone to damage; 2. Better maneuverability, making them more adaptable to poorly laid photovoltaic panel arrays; 3. Better vibration filtering performance at low speeds, minimizing the impact on the cleaning module; 4. Stronger grip, enabling operation on slopes with greater inclination.

[0003] As the number of intelligent and auxiliary devices required for machinery increases, the weight of the vehicle itself also increases. To prevent the pressure exerted by the vehicle on the photovoltaic panels from increasing and to avoid damaging them, the contact area between the vehicle and the photovoltaic panels needs to be increased; generally, this means increasing the contact area between the tracks and the photovoltaic panels. Where possible, designers will not actively increase the vehicle's volume, because a significantly larger vehicle could prevent it from passing through certain passageways or spaces during transport, increase air resistance during drone lifting and transportation, making the transportation process more unstable, and a larger vehicle often leads to increased weight. Given that the ratio of track wheelbase to width is often above 4, for a fixed increase in the vehicle's projected area, simply increasing the track length does not increase the contact area as much as simply increasing the track width.

[0004] However, wider tracks also bring some problems. For example, when the vehicle makes a right-angle turn, the larger contact area of ​​the tracks will result in greater friction. This means that if the guide rail size does not change, the track guide rail will have more difficulty restraining the track, and the track will be more likely to slip off. Another example is that wider tracks require a higher degree of parallelism between the main and driven wheel axles. Even a slight non-parallelism can cause a huge inconsistency in the tension on the left and right sides of the track. This can lead to uneven wear on the track teeth and the limiting guide rail, and in severe cases, it can also cause the track to slip off.

[0005] Common solutions include increasing the size of the guide bars or increasing the number of guide bars. However, increasing the size of the guide bars requires cutting wider and deeper guide grooves on the wheel, which is sometimes not suitable. Increasing the number of guide bars on the same track also significantly increases the machining difficulty. Moreover, these solutions cannot solve the problem of wide tracks being sensitive to shaft parallelism. Utility Model Content

[0006] Purpose of the utility model: The technical problem to be solved by this utility model is to provide a single-sided double track structure for a robot, which solves the problem that widened tracks are prone to slippage or that the means of preventing slippage are difficult to implement.

[0007] Technical solution

[0008] To solve the above problems, the technical solution provided by this utility model is as follows:

[0009] A single-sided double-track structure for a robot includes a mounting frame. A drive wheel and a driven wheel are rotatably mounted on both sides of the mounting frame. Several narrow tracks are arranged side by side on the drive wheel and the driven wheel. Guide grooves corresponding to the number of narrow tracks are provided on the drive wheel and the driven wheel. Inwardly protruding guide strips are provided on the narrow tracks.

[0010] Furthermore, the guide bar and the guide groove engage with each other.

[0011] Furthermore, the guide bar is centered.

[0012] Furthermore, the gaps between adjacent narrow tracks are equal.

[0013] Furthermore, one driving wheel and one driven wheel are each provided.

[0014] Furthermore, the narrow tracks are two in number.

[0015] Furthermore, the mounting frame is provided with several support wheel assemblies.

[0016] Furthermore, the support wheel assembly includes a deflection shaft, which is centrally located on the side of the mounting frame. A deflection rod is rotatably mounted on the deflection shaft. The lower end of the deflection rod is provided with a support wheel shaft fixedly positioned towards the outer side. Several support wheels rotate at intervals on the support wheel shaft, and the support wheels abut against the inner surface of the narrow track.

[0017] Furthermore, a spring is provided between the upper end of the deflection rod and the mounting frame wall located on the side of the deflection rod.

[0018] Furthermore, the support wheel is configured correspondingly to the narrow track.

[0019] Beneficial effects

[0020] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0021] The technical solution provided by this utility model breaks down the original single wide track structure into multiple independent narrow track components, each narrow track being equipped with a dedicated guide bar structure. Simultaneously, guide groove structures are precisely machined on the outer circumference of the power transmission wheel, perfectly matching the number and size of the guide bars of each narrow track. When the track is running, the guide bars of each narrow track accurately embed into their corresponding guide grooves, forming a tight engagement. This one-to-one correspondence between the guide bars and guide grooves ensures the reliability of power transmission and effectively avoids the overall slippage phenomenon that easily occurs with traditional wide tracks, thus fundamentally solving the technical problem of easy slippage in track systems without increasing the size of the track guide bars. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present utility model;

[0023] Figure 2 This is a cross-sectional view of the track in Embodiment 1 of this utility model;

[0024] Figure 3 This is a cross-sectional view of Embodiment 1 of the present invention;

[0025] Figure 4 This is a side view of Embodiment 1 of the present utility model.

[0026] 1. Mounting bracket; 2. Drive wheel; 3. Driven wheel; 4. Motor;

[0027] 5. Narrow tracks; 6. Guide bars; 7. Guide grooves; 8. Deflection shaft;

[0028] 9. Deflection rod; 10. Support wheel; 11. Spring; 12. Arc groove;

[0029] 13. Insertion rod; 14. Protective plate; Detailed Implementation

[0030] To make the technical solution of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] Example 1

[0032] Combined with appendix Figure 1-4A single-sided double-track robot structure includes a mounting frame 1 for mounting components that make up the robot's power structure. On both sides of the mounting frame 1 are symmetrically arranged drive wheels 2 and driven wheels 3 for driving the track rotation to achieve robot movement. The drive wheels 2 and driven wheels 3 have identical structures. The drive wheel 2 is connected to a power component, preferably a motor 4. The drive wheel 2 is fixedly mounted on the output shaft of the motor 4. When the motor 4 is turned on, it drives the drive wheel 2 to rotate through the output shaft. The drive wheels 2 and driven wheels 3 cooperate to form a track. The drive wheels 2 and driven wheels 3 on both sides support the track, and when the drive wheels 2 rotate, they synchronously drive the driven wheels 3 to rotate, thus enabling the robot to move.

[0033] Driven wheel 3 is directly rotatably mounted on mounting frame 1. By installing a rotating shaft on mounting frame 1, driven wheel 3 is mounted on the rotating shaft on mounting frame 1. When the track is installed on drive wheel 2 and driven wheel 3, both drive wheel 2 and driven wheel 3 play the role of supporting and rotating the track. Thus, when drive wheel 2 rotates, it can synchronously drive the track to rotate. The track forms friction with the ground, thereby realizing the movement of the robot.

[0034] In other implementations, two drive wheels can be installed simultaneously on both sides of the mounting frame 1, thereby providing greater and more stable power for robot movement by mounting tracks on both drive wheels.

[0035] The drive wheel 2 and the driven wheel 3 have the same structure. The wide track on the same side of the robot can be set as several independent narrow tracks 5. By setting guide strips 6 on each narrow track 5, the track can be guided, preventing the track from slipping off during operation when the track is wide.

[0036] Only one drive wheel 2 and one driven wheel 3 are provided on the same side. By installing several narrow tracks 5 at different positions on the drive wheel 2 and the driven wheel 3, the synchronous drive of several narrow tracks 5 can be achieved.

[0037] On the same side, the driving wheel 2 and the driven wheel 3 are provided with several parallel narrow tracks 5. The narrow tracks 5 have the same width and the gap between adjacent narrow tracks 5 are the same. Each narrow track 5 is provided with a guide bar 6. The guide bar 6 protrudes from the inner plane of the track. The guide bar 6 on each narrow track 5 is centrally located on the track. The guide bar 6 and the track are connected in a ring structure at the end.

[0038] Both the drive wheel 2 and the driven wheel 3 are provided with a number of guide grooves 7. The number and position of the guide grooves 7 correspond to the guide strips 6 on each narrow track 5. The guide strips 6 of each narrow track 5 are embedded in the corresponding guide grooves 7. Through the continuous engagement of the guide grooves 7 and the guide strips 6 during track operation, the deviation of several narrow tracks 5 is limited, thereby preventing slippage from the drive wheel 2 and the driven wheel 3.

[0039] While directly installing a wider track on the drive wheel 2 and driven wheel 3 increases the contact area with the ground, the wider track is also more sensitive to wheel axle parallelism, making it prone to slippage. Furthermore, installing multiple guide strips 6 on the wider track, or changing the size of the guide strips 6 and the corresponding guide grooves 7, makes the process more complex. In contrast, directly replacing the wider track with multiple narrow tracks 5 not only allows the use of existing production lines to produce smaller tracks, but also only requires installing guide grooves 7 of the same size on the drive wheel 2 and driven wheel 3, eliminating the need for a separate production line and resulting in lower costs.

[0040] Preferably, two narrow tracks 5 are arranged in parallel on the drive wheel 2 and the driven wheel 3, and a guide bar 6 is provided at the center of each of the two narrow tracks 5. The drive wheel 2 and the driven wheel 3 are provided with guide grooves 7 for engaging the guide bar 6.

[0041] The mounting frame 1 is also equipped with several support wheel assemblies. These support wheel assemblies are used to keep the track in contact with the ground. Each support wheel assembly includes a deflection shaft 8, which is centrally located on the side of the mounting frame 1. A deflection rod 9 is rotatably mounted on the deflection shaft 8. A support wheel shaft, fixedly facing outwards, is located at the lower end of the deflection rod 9. Several support wheels 10 rotate at intervals on the support wheel shaft, and each support wheel 10 abuts against the inner surface of the narrow track 5. The number of support wheels 10 corresponds to the route of the narrow track 5, with the same number and location of support wheels 10 on each narrow track 5.

[0042] A spring 11 is provided between the upper end of the deflection rod 9 and the wall of the mounting bracket 1 located on the side of the deflection rod 9. The spring 11 can pull the deflection rod 9 to rotate through its own elastic force, so that the deflection rod 9 can be kept as vertical as possible through the tension of the spring 11, so that the support wheel 10 located on the lower side of the deflection rod 9 can fully contact the narrow track 5.

[0043] An arc-shaped groove 12 is provided on the mounting frame 1 at the upper position of each deflection rod. The top end of the deflection rod 9 is fixedly provided with an insertion rod 13. The insertion rod 13 is inserted into the arc-shaped groove 12, so that the insertion rod 13 slides in the arc-shaped groove 12, thereby causing the deflection rod 9 to rotate around the deflection axis 8. The arc-shaped groove 12 can limit the deflection angle of the deflection rod 9, thereby preventing excessive deformation of the track. A spring 11 is provided between the insertion rod 13 and the mounting frame 1.

[0044] When the track is on an uneven surface, the protruding ground will cause the bottom surface of the track to sink inward. The track is lifted by the ground, causing the corresponding support wheel 10 to deflect. At this time, the track can prevent the track from being excessively suspended in the air through slight deformation, which reduces the contact area between the track and the ground, reduces the friction when the robot moves, and causes the robot to slip. At the same time, it can also reduce the damage to the road surface caused by the track when passing through uneven road surfaces.

[0045] Furthermore, since the deflection rod 9 is connected to the spring 11, when the track deforms inward, the support wheel 10 deflects. At this time, the deflection rod 9 deflects around the deflection axis 8. Since the top of the deflection rod 9 is connected to the spring 11, the spring 11 changes phase. After the track passes through the uneven road surface, the external force that causes the track to concave inward is canceled. At this time, the spring 11 returns to its original state, and the deflection rod 9 deflects in the opposite direction. The deflection rod 9 drives the support wheel 10 to push the track outward again. At this time, the track can fully contact the ground.

[0046] The spring 11 can be selected according to the different positions of the spring 11 on different sides of the deflection rod 9. When the spring 11 is opposite to the deflection direction of the deflection rod 9, the spring 11 is a tension spring 11. When the spring 11 is in the same direction as the deflection, the spring 11 is a compression spring 11. Preferably, the spring 11 is set to be opposite to the deflection direction of the deflection rod 9, and the spring 11 is a tension spring 11.

[0047] The sides of the drive wheel 2 and the driven wheel 3 can also be used to fix the protective plate 14 to prevent impurities from entering the track and hindering the track's operation. A handle can also be provided on the protective plate 14 for workers to hold.

[0048] The drive wheel 2 and driven wheel 3 are preferably in a meshing relationship with several narrow tracks 5, so as to fully transmit power and prevent slippage between the drive wheel 2 and driven wheel 3 and the narrow tracks 5.

[0049] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A robot with dual tracks on one side, characterized in that, The device includes a mounting frame, on both sides of which are rotatably provided a drive wheel and a driven wheel. The drive wheel and the driven wheel are provided with a plurality of narrow tracks arranged side by side. The drive wheel and the driven wheel are provided with guide grooves corresponding to the number of narrow tracks. The plurality of narrow tracks are provided with inwardly protruding guide strips.

2. The robot single-sided double-track structure according to claim 1, characterized in that, The guide bar and the guide groove engage with each other.

3. The robot single-sided double-track structure according to claim 2, characterized in that, The guide bar is positioned in the center.

4. The robot single-sided double-track structure according to claim 3, characterized in that, The gaps between adjacent narrow tracks are equal.

5. A robot single-sided double-track structure according to claim 3, characterized in that, One driving wheel and one driven wheel are each provided.

6. The robot single-sided double-track structure according to claim 3, characterized in that, The narrow tracks are two in number.

7. A robot single-sided double-track structure according to claim 1, characterized in that, The mounting frame is equipped with several support wheel assemblies.

8. A robot single-sided double-track structure according to claim 7, characterized in that, The support wheel assembly includes a deflection shaft, which is centrally located on the side of the mounting frame. A deflection rod is rotatably mounted on the deflection shaft. The lower end of the deflection rod is provided with a support wheel shaft fixedly facing outward. Several support wheels rotate at intervals on the support wheel shaft, and the support wheels abut against the inner surface of the narrow track.

9. A robot single-sided double-track structure according to claim 8, characterized in that, A spring is provided between the upper end of the deflection rod and the mounting frame wall located on the side of the deflection rod.

10. A robot single-sided double-track structure according to claim 9, characterized in that, The support wheel is configured to correspond to the narrow track.

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