A servo linear suspension tracked chassis

Abstract

The utility model discloses a kind of servo linear suspension caterpillar chassis, including cabin and two caterpillar drive mechanisms, each caterpillar drive mechanism includes caterpillar, drive wheel group, tensioner group and multiple load wheel groups, multiple load wheel groups are according to arrangement direction, with two load wheel groups adjacent as a group, at least one group between two load wheel groups is equipped with connecting suspension mechanism, connecting suspension mechanism includes connecting rod, swing arm and shock absorber, connecting rod is respectively coaxially hinged with two load wheel groups, connecting rod is hinged between two load wheel groups with swing arm, swing arm is coaxially hinged with one of load wheel groups, and load wheel group hinged with swing arm is hinged with cabin, another load wheel group is movably arranged, shock absorber is located between swing arm and cabin, and is connected with swing arm and cabin respectively. The suspension mode of at least part of the load wheel groups is improved in the present application, so that the two load wheel groups used in cooperation have better ground-hugging effect and smoother obstacle crossing.

Description

Technical Field

[0001] This utility model relates to the field of robot drive mechanism technology, and in particular to a follow-up linear suspension track chassis. Background Technology

[0002] Tracked robots have a large contact area with the ground, offering advantages such as strong obstacle-crossing ability and environmental adaptability. They can be used in various applications including inspection and exploration, special photography, special transportation, and rescue and bomb disposal. Tracked robots primarily utilize a tracked chassis to mount LiDAR, gas sensors, alarm mechanisms, GPS positioning mechanisms, and other equipment to perform functions such as target site inspection and detection.

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

[0004] In the aforementioned patent, each load wheel group of the tracked robot uses an independent suspension. However, the swing arms and shock absorbers in the independent suspension are independent of each other. When the tracked robot is crossing obstacles or in a loaded terrain, its ground contact performance is poor, and some load wheels may even be suspended in the air, losing their load-bearing effect. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a follow-up linear suspension tracked chassis that improves the suspension method of at least some load wheel sets, resulting in better ground contact between the two load wheel sets used in conjunction and smoother obstacle crossing.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a follow-up linear suspension tracked chassis, comprising a cabin and two track drive mechanisms respectively disposed on both sides of the cabin. Each track drive mechanism includes a track, a drive wheel assembly, a tension wheel assembly, and multiple load wheel assemblies. The track is sleeved on the drive wheel assembly, the tension wheel assembly, and the multiple load wheel assemblies to form a ring structure. Multiple load wheel sets are arranged in a specific direction, with adjacent load wheel sets forming a group. At least one group of two load wheel sets is connected by a suspension mechanism. The suspension mechanism includes a connecting rod, a swing arm, and a shock absorber. The connecting rod is coaxially hinged to two load wheel sets. The connecting rod is located between the two load wheel sets and hinged to the swing arm. The swing arm is coaxially hinged to one of the load wheel sets. The load wheel set hinged to the swing arm is hinged to the cabin. The other load wheel set is movably set. The shock absorber is located between the swing arm and the cabin and is connected to both the swing arm and the cabin.

[0007] Compared with the prior art, the present invention has the following beneficial effects: This utility model's track drive mechanism improves upon existing track assemblies by refining the suspension method of some load-bearing wheel sets and the chassis. When the two load-bearing wheel sets work together to overcome obstacles, one load-bearing wheel set is lifted by the linkage, while the other load-bearing wheel set is pulled back to the ground under the action of the linkage. This maximizes the track's contact with the ground, resulting in better obstacle-crossing performance and stronger terrain adaptability. In simpler terms, it uses a lever principle to ensure that the two working load-bearing wheel sets maintain better ground contact during obstacle crossing, avoiding the problem of loss of load-bearing capacity due to excessive suspension.

[0008] Furthermore, the number of load wheel sets is odd, and these multiple load wheel sets are divided into a first load wheel set and multiple second load wheel sets according to their arrangement direction. Multiple second load wheel sets are arranged in a certain direction, with two adjacent second load wheel sets forming a group, and at least one group of two second load wheel sets is provided with a connecting suspension mechanism; The first load wheel set is installed adjacent to the drive wheel set, and an auxiliary suspension mechanism is provided between the first load wheel set and the drive wheel set.

[0009] Furthermore, the auxiliary suspension mechanism includes a connecting rod, a swing rod, and a shock absorber. The connecting rod is coaxially hinged to the first load wheel set and the drive wheel set, respectively. The connecting rod is located between the first load wheel set and the drive wheel set and is hinged to the swing rod. The swing rod is coaxially hinged to the first load wheel set. The first load wheel set is hinged to the cabin. The shock absorber is located between the swing rod and the cabin and is connected to the swing rod and the cabin, respectively.

[0010] Furthermore, the drive wheel assembly is connected to a drive shaft, which is connected to the cabin. The rotation of the drive shaft drives the drive wheel assembly to rotate.

[0011] Furthermore, the tensioning wheel assembly is adjustablely connected to the outer wall of the cabin. The tensioning wheel assembly includes an action wheel and a mounting base for connecting the action wheel. The mounting base is adjustablely connected to the outer wall of the cabin.

[0012] Furthermore, the mounting base has multiple mounting slots, which are arranged parallel to each other along their length. Each mounting slot is fixed to the outer wall of the cabin by a through-connecting locking member. Attached Figure Description

[0013] Figure 1This is a structural schematic diagram of a robot using the tracked chassis of this utility model; Figure 2 This is a schematic diagram of the tracked chassis of this utility model with one track removed; Figure 3 for Figure 2 A structural diagram from another perspective.

[0014] In the diagram: hull 100, track drive mechanism 200, drive wheel assembly 210, connecting shaft 211, drive wheel 201, half-wheel structure 212, toothed structure 213, drive shaft 214, track 220, convex tooth 221, first load wheel assembly 230, tension wheel assembly 240, actuating wheel 241, mounting post 242, mounting groove 243, locking element 244, mounting seat 245, second load wheel assembly 250, load wheel 251, fixed shaft 252, connecting suspension mechanism 260, connecting rod 261, shock absorber 262, swing arm 263, auxiliary suspension mechanism 270, shock absorber 271, connecting rod 272, swing arm 273. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0016] like Figure 1 , 2 As shown in Figure 3, a follower linear suspension tracked chassis includes a cabin 100 and two track drive mechanisms 200 respectively disposed on both sides of the cabin 100. The cabin 100 and the two track drive mechanisms 200 constitute the chassis of the robot. The shape of the cabin 100 can be a common rectangular box, or it can be a cross-shaped structure as described in the applicant's previous patent application with patent number CN202311863039.1. The structure of the cabin 100 can be designed according to the components to be mounted (LiDAR, lifting gimbal, audio system, GPS positioning mechanism, etc.). This utility model does not limit the components mounted on the cabin 100 and can be adjusted according to the application scenario of the robot. The cabin 100 in this utility model is equipped with two track drive mechanisms 200. Based on the structure of the track drive mechanisms 200, the cabin 100 has at least two oppositely arranged side walls to facilitate the installation of the track drive mechanisms 200. Therefore, as shown in Figure 3, the following can be used to further illustrate the design of the cabin 100. Figure 1 , 2 As shown in Figure 3, the cabin 100 has a rectangular cavity structure, and two track drive mechanisms 200 are located on both sides of the cabin 100 and are connected to the cabin 100.

[0017] The track drive mechanism 200 has an overall structure similar to existing track drive assemblies, mainly including a track 220, a drive wheel assembly 210, a tension wheel assembly 240, and multiple load wheel assemblies. The track 220 is fitted onto the drive wheel assembly 210, the tension wheel assembly 240, and the multiple load wheel assemblies to form a ring structure. However, the tension wheel assembly 240 is not located on the front or rear sides of the track drive mechanism 200, and it does not have guide wheel assemblies. Figure 1 , 2 As shown in Figure 3, the drive wheel set 210 and multiple load wheel sets have the same wheel diameter and are arranged in a row. The tension wheel set 240 is located in the upper middle space of the drive wheel set 210, and the upper part of the tension wheel set 240 is in contact with the inner wall of the track 220.

[0018] Understandably, the track 220 has a certain width. Therefore, a wheel assembly structure is required to adapt to the width of the track 220 and ensure that each wheel assembly can support the track 220 in the width direction when the track 220 is rolling. For example, Figure 1 , 2 As shown in Figure 3, the drive wheel assembly 210 includes a drive wheel 201 and a drive assembly connected to the drive wheel 201. The drive assembly consists of a control motor (servo motor, stepper motor, etc.), a reducer, and a coupling (i.e., the drive shaft 214 of this application, which is a universal joint drive shaft). It only needs to be able to drive the drive wheel 201 to rotate. The drive assembly is located inside the housing 100 to meet explosion-proof requirements. The drive wheel 201 has multiple evenly distributed toothed groove structures 213 along its circumference, which allows the drive wheel 201 to engage with multiple protruding teeth 221 on the track 220, achieving "meshing" with the track 220. Thus, the rotation of the drive wheel 201 can drive the track 220 to rotate. Since the drive wheel 201 will connect to other components, the drive wheel 201 is a symmetrically arranged half-wheel structure 212. The two half-wheel structures 212 are coaxially fixed by the connecting shaft 211 to facilitate the connection of other components (connecting rod 272) with the drive wheel 201, and at the same time, it can also realize the connection between the drive wheel 201 and the drive assembly.

[0019] Similarly, the load wheel set also needs to be set according to the width of the track 220. For this purpose, the load wheel set (including the first load wheel set 230 and the second load wheel set 250) includes two load wheels 251 spaced apart along the width direction of the track 220 and a fixed shaft 252 for connecting the load wheels 251. The load wheels 251 and the fixed shaft 252 are rotatably connected by ball bearings.

[0020] Correspondingly, the tensioning wheel assembly 240 is also designed to fit the width of the track 220. The tensioning wheel assembly 240 includes an actuating wheel 241 and a mounting seat 245 for connecting the actuating wheel 241. The actuating wheel 241 is similar to an I-beam structure. The mounting seat 245 has a mounting post 242 fitted inside the actuating wheel 241. The mounting post 242 and the actuating wheel 241 are rotatably connected via bearings. The mounting seat 245 is adjustablely connected to the outer wall of the housing 100. Since the tensioning wheel assembly 240 can adjust the tension of the track 220, the connection position between the mounting seat 245 and the side wall of the housing 100 is adjustable to achieve the purpose of adjusting the tension of the track 220. Specifically, the mounting seat 245 has multiple mounting slots 243, which are parallel in length. Each mounting slot 243 is fixed to the outer wall of the housing 100 via a through-connecting locking member 244. Figure 1 , 2 As shown in Figure 3, there are four mounting slots 243 arranged in a rectangular array. Each mounting slot 243 is a vertically arranged strip-shaped groove structure. The locking element 244 is a locking bolt. During installation, the locking element 244 is connected to the cabin 100. At this time, the locking element 244 is not yet fixed to the mounting slot 243. The mounting seat 245 can be moved to the position of the cabin 100. After the mounting seat 245 is in place, the locking element 244 is tightened again to fix the mounting seat 245 and the cabin 100.

[0021] The biggest difference between the track drive mechanism 200 in this application and the existing ones is that, in order to install guide wheels, the suspension method of the load wheel sets has been improved. Specifically, multiple load wheel sets are arranged in a certain direction, with two adjacent load wheel sets forming a group. At least one group of two load wheel sets (second load wheel sets 250) is provided with a connecting suspension mechanism 260. The connecting suspension mechanism 260 includes a connecting rod 261, a swing arm 263, and a shock absorber 262. The connecting rod 261 is connected to the two load wheel sets (second load wheel sets) respectively. 250) Coaxially hinged, connecting rod 261 is located between two load wheel sets (second load wheel set 250) and hinged to swing arm 263. Swing arm 263 is coaxially hinged to one of the load wheel sets (second load wheel set 250). The load wheel set (second load wheel set 250) hinged to swing arm 263 is hinged to cabin 100. The other load wheel set (second load wheel set 250) is movably set. Shock absorber 262 is located between swing arm 263 and cabin 100 and is connected to both swing arm 263 and cabin 100. Figure 1 , 2As shown in Figure 3, the two ends of the connecting rod 261 are respectively hinged to the two fixed shafts 252 of the two second load wheel sets 250. The swing arm 263 has a streamlined structure with one end larger than the other. The small end of the swing arm 263 is hinged to the middle of the connecting rod 261, and the large end of the swing arm 263 is coaxially hinged to the corresponding second load wheel set 250 and hinged to the side wall of the cabin 100. The end of the shock absorber 262 connected to the swing arm 263 is located near the small end of the swing arm 263. The upper end of the shock absorber 262 is located above the swing arm 263 and connected to the cabin 100.

[0022] The track drive mechanism 200 of this invention improves the suspension method of some load-bearing wheel sets and the housing 100 based on the existing track 220 assembly. When the two load-bearing wheel sets are used together to overcome obstacles, one load-bearing wheel set is lifted by the connecting rod 261, and the other load-bearing wheel set is brought into contact with the ground in the opposite direction under the action of the connecting rod 261. This allows the track 220 to contact the ground as much as possible, resulting in better obstacle-crossing performance and stronger terrain adaptability. In simple terms, it uses the lever principle to make the two cooperating load-bearing wheel sets more in contact with the ground during obstacle crossing, avoiding the problem of loss of load-bearing effect caused by excessive suspension.

[0023] Because the suspension structure of the load wheel set in this application does not include multiple load wheel sets, such as Figure 1 , 2 As shown in Figure 3, the number of load wheel sets is an odd number, actually three load wheel sets. The multiple load wheel sets are divided into a first load wheel set 230 and two second load wheel sets 250 according to the arrangement direction. The two second load wheels 251 form a group, and a connecting suspension mechanism 260 is provided between the two second load wheel sets 250.

[0024] The first load wheel assembly 230 is installed adjacent to the drive wheel assembly 210, and an auxiliary suspension mechanism 270 is provided between the first load wheel assembly 230 and the drive wheel assembly 210. The auxiliary suspension mechanism 270 is equivalent to the connecting suspension mechanism 260. Based on the drive shaft 214 (universal drive shaft) structure of the drive wheel assembly 210, even if the drive wheel assembly 210 and the first load wheel assembly 230 are connected by the auxiliary suspension mechanism 270, there can still be an adjustment distance of 10-30mm between the drive wheel assembly 210 and the first load wheel assembly 230. Based on this, the auxiliary suspension mechanism 270 includes a connecting rod 272, a swing rod 273, and a shock absorber 271. The connecting rod 272 is coaxially hinged to the first load wheel assembly 230 and the drive wheel assembly 210, respectively. The connecting rod 272 is located between the first load wheel assembly 230 and the drive wheel assembly 210 and is hinged to the swing rod 273. The swing rod 273 is coaxially hinged to the first load wheel assembly 230. The first load wheel assembly 230 is hinged to the cabin 100. The shock absorber 271 is located between the swing rod 273 and the cabin 100 and is connected to both the swing rod 273 and the cabin 100. Figure 1 , 2As shown in Figure 3, the swing rod 273 and the swing arm 263 have the same structure. The shock absorber 271 is a shock absorber 262. The two ends of the connecting rod 272 are respectively hinged to the connecting shaft 211 of the drive wheel assembly 210 and the fixed shaft 252 of the first load wheel assembly 230. Similarly, the drive wheel assembly 210 and the first load wheel assembly 230 can also promote ground contact under the action of the auxiliary suspension mechanism 270.

[0025] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A follow-up linear suspension tracked chassis, characterized in that: The system includes a housing (100) and two track drive mechanisms (200) respectively located on both sides of the housing (100). Each track drive mechanism (200) includes a track (220), a drive wheel assembly (210), a tension wheel assembly (240), and multiple load wheels. The track (220) is fitted onto the drive wheel assembly (210), the tension wheel assembly (240), and the multiple load wheels to form a ring structure. Multiple load wheel sets are arranged in a direction, with two adjacent load wheel sets forming a group, and at least one group of two load wheel sets is provided with a connecting suspension mechanism (260). The connecting suspension mechanism (260) includes a connecting rod (261), a swing arm (263), and a shock absorber (262). The connecting rod (261) is coaxially hinged to two load wheel sets respectively. The connecting rod (261) is located between the two load wheel sets and is hinged to the swing arm (263). The swing arm (263) is coaxially hinged to one of the load wheel sets. The load wheel set hinged to the swing arm (263) is hinged to the cabin (100). The other load wheel set is movably set. The shock absorber (262) is located between the swing arm (263) and the cabin (100) and is connected to the swing arm (263) and the cabin (100) respectively.

2. The follow-up linear suspension tracked chassis according to claim 1, characterized in that: The number of load wheel sets is odd, and the multiple load wheel sets are divided into a first load wheel set (230) and multiple second load wheel sets (250) according to the arrangement direction. Multiple second load wheel sets (250) are arranged in a direction such that two adjacent second load wheel sets (250) form a group, and at least one group of two second load wheel sets (250) is provided with a connecting suspension mechanism (260). The first load wheel assembly (230) is installed adjacent to the drive wheel assembly (210), and an auxiliary suspension mechanism (270) is provided between the first load wheel assembly (230) and the drive wheel assembly (210).

3. The follow-up linear suspension tracked chassis according to claim 2, characterized in that: The auxiliary suspension mechanism (270) includes a connecting rod (272), a swing rod (273), and a shock absorber (271). The connecting rod (272) is coaxially hinged to the first load wheel set (230) and the drive wheel set (210), respectively. The connecting rod (272) is located between the first load wheel set (230) and the drive wheel set (210) and is hinged to the swing rod (273). The swing rod (273) is coaxially hinged to the first load wheel set (230). The first load wheel set (230) is hinged to the cabin (100). The shock absorber (271) is located between the swing rod (273) and the cabin (100) and is connected to the swing rod (273) and the cabin (100) respectively.

4. The follow-up linear suspension tracked chassis according to any one of claims 1-3, characterized in that: The drive wheel assembly (210) is connected to the drive shaft (214), which is connected to the cabin (100). The rotation of the drive shaft (214) drives the drive wheel assembly (210) to rotate.

5. The follow-up linear suspension tracked chassis according to claim 4, characterized in that: The tensioning wheel assembly (240) is adjustablely connected to the outer wall of the cabin (100). The tensioning wheel assembly (240) includes an action wheel (241) and a mounting base (245) for connecting the action wheel (241), the mounting base (245) being adjustablely connected to the outer wall of the hull (100).

6. The follow-up linear suspension tracked chassis according to claim 5, characterized in that: The mounting base (245) has multiple mounting slots (243) arranged in parallel along its length. Each mounting slot (243) is fixed to the outer wall of the cabin (100) by a through-connecting locking member (244).

7. The follow-up linear suspension tracked chassis according to any one of claims 1-3, characterized in that: The tensioning wheel assembly (240) is adjustablely connected to the outer wall of the cabin (100). The tensioning wheel assembly (240) includes an action wheel (241) and a mounting base (245) for connecting the action wheel (241), the mounting base (245) being adjustablely connected to the outer wall of the hull (100).

8. The follow-up linear suspension tracked chassis according to claim 7, characterized in that: The mounting base (245) has multiple mounting slots (243) arranged in parallel along its length. Each mounting slot (243) is fixed to the outer wall of the cabin (100) by a through-connecting locking member (244).

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