An interleaved tracked robot

Abstract

The utility model discloses an interlaced heavy wheel crawler robot, including cabin and two drive mechanisms, and drive mechanism includes crawler belt, drive wheel, guide wheel, a plurality of heavy wheel groups and auxiliary wheel, and each heavy wheel group is sequentially interval setting along the length direction of crawler belt, and each auxiliary wheel is located between two heavy wheel groups of adjacent respectively, to make auxiliary wheel and heavy wheel group staggered setting along the length direction of crawler belt, and the two heavy wheels of auxiliary wheel, heavy wheel group are interval setting along the width direction of crawler belt, and each heavy wheel group and / or auxiliary wheel is connected with suspension subassembly, and suspension subassembly includes swing arm and torsion bar, and swing arm is coaxial hinged with the two heavy wheels of heavy wheel group / or auxiliary wheel, and swing arm is hinged with cabin, and one end of torsion bar is fixed with swing arm and cabin hinge point, to make torsion bar along with swing arm rotate along cabin, and the other end of torsion bar is fixed with cabin. The application increases the adhesion effect of each heavy wheel group and crawler belt through the mode of increasing auxiliary wheel and changing suspension, and increases the operation stability of robot.

Description

Technical Field

[0001] This utility model relates to the field of tracked robot technology, and in particular to an interleaved load-bearing wheel tracked robot. Background Technology

[0002] Tracked robots have a large contact area with the ground and have advantages such as strong obstacle crossing ability and strong environmental adaptability. They can be used in inspection and exploration, special photography, special transportation, rescue and bomb disposal and other occasions. They mainly use a tracked chassis to carry lidar, gas sensors, alarm mechanism, GPS positioning mechanism and other functions to achieve the functions of inspection and detection of target sites.

[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 202222639195.7 entitled "A Track Assembly and a Tracked Robot", the track assembly mainly includes tracks, drive wheel sets, load-bearing 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, the swing arms and shock absorbers corresponding to each road wheel set constitute an independent suspension. The spacing and load of each pair of road wheels are different, making it impossible to achieve consistency between the swing arms and shock absorbers in the design. Furthermore, the two road wheels of the road wheel set are arranged on both sides of the track, which makes the existing tracked chassis prone to resonance and has poor stability. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an interlaced load-bearing wheel tracked robot. By adding auxiliary wheels and changing the suspension method, the fit between each load-bearing wheel group and the track is improved, thereby increasing the robot's operational stability.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: an interlaced load-bearing tracked robot, comprising a cabin and two drive mechanisms disposed on both sides of the cabin. Each drive mechanism includes a track, drive wheels, guide wheels, multiple load-bearing wheel sets, and at least one auxiliary wheel. The track is fitted onto the drive wheels, guide wheels, multiple load-bearing wheel sets, and auxiliary wheel, so that the track forms a ring structure. Each road wheel set is arranged sequentially at intervals along the length of the track, and each auxiliary wheel is located between two adjacent road wheel sets, so that the auxiliary wheels and road wheel sets are staggered along the length of the track, and the two road wheels of the auxiliary wheels and road wheel sets are arranged at intervals along the width of the track. Each load-bearing wheel assembly and / or auxiliary wheel is connected to a suspension assembly. The suspension assembly includes a swing arm and a torsion bar. The swing arm is coaxially hinged to the two road wheels and / or auxiliary wheels of the road wheel assembly. The swing arm is also hinged to the cabin body. One end of the torsion bar is fixed to the hinge point between the swing arm and the cabin body, so that the torsion bar rotates with the swing arm along the cabin body. The other end of the torsion bar is fixed to the cabin body.

[0007] Compared with the prior art, the present invention has the following beneficial effects: This application adds an auxiliary wheel to the existing multiple road wheel sets. The auxiliary wheel is installed between two adjacent road wheel sets, which can shorten the distance between the two road wheel sets, resulting in better track fit, less resonance, and better performance.

[0008] Meanwhile, in addition to adding auxiliary wheels, the suspension structure of the load-bearing wheel assembly and / or auxiliary wheels has also been improved by adopting the suspension component of this application. Based on the existing swing arm + shock absorber, the shock absorber is replaced with a torsion bar. The torsion bar can be made of different materials and heat treatment methods to obtain torsion bars that can bear different torques. The torsion bar has a basically consistent external dimension and a simpler structure. Compared with swing arms with different and complex shapes, it is simple and efficient to install, further reducing manufacturing costs. It can also provide a more suitable buffering force for each load-bearing wheel assembly, improving the robot's traversal stability.

[0009] Furthermore, the swing arm has a connecting arm and two hinged arms fixed on the connecting arm. The two hinged arms are respectively located on both sides of the connecting arm and extend outwards in opposite directions. The two hinged arms are respectively connected to a torsion bar and a load wheel assembly or auxiliary wheel.

[0010] Furthermore, the number of road wheel sets is n, and the number of auxiliary wheels is n-1, where n is a natural number ≥ 2.

[0011] Furthermore, the guide wheel is connected to an adjustment assembly, which includes a fixed seat, a sliding seat, and an adjustment component. The fixed seat is used to connect with the cabin body, the sliding seat is slidably disposed on the fixed seat and rotatably connected to the guide wheel, and the adjustment component is used to adjust the position of the sliding seat on the fixed seat.

[0012] Furthermore, the adjusting component includes an adjusting screw, which is threadedly connected to the sliding seat and connected to the cabin body.

[0013] Furthermore, the drive wheel is connected to a drive component for driving its rotation. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is an exploded structural diagram of the present invention with one track removed; Figure 3 for Figure 2 A structural diagram from another perspective after removing the base plate.

[0015] In the figure: hull 200, drive mechanism 100, track 110, guide wheel 120, auxiliary wheel 130, drive wheel 140, road wheel 151, road wheel assembly 150, suspension assembly 300, torsion bar 310, swing arm 320, connecting arm 322, articulated arm 321, connecting seat 210, adjustment assembly 400, fixed seat 410, interceptor plate 411, convex groove 412, sliding seat 420, connecting shaft 421, adjusting screw 430, adjusting seat 440. 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 of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0017] like Figure 1 , 2 As shown in Figures 1 and 3, an interleaved load-bearing tracked robot includes a cabin 200 and two drive mechanisms 100 disposed on both sides of the cabin 200.

[0018] The chassis of the robot consists of a cabin 200 and two drive mechanisms 100. The cabin 200 can be a common rectangular box, or it can be a cross-shaped structure as described in the applicant's previous patent application No. 202311863039.1. The structure of the cabin 200 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 200, and they can be adjusted according to the application scenario of the robot. The specific components can be set with reference to the content described in the applicant's previous patent application No. 202311863039.1. The cabin 200 of this utility model is equipped with two drive mechanisms 100. Based on the structure of the drive mechanisms 100, the cabin 200 has at least two oppositely arranged side walls to facilitate the installation of the drive mechanisms 100. Therefore, the cabin 200 preferably has a rectangular cavity structure.

[0019] The drive mechanism 100 of this utility model is an improvement on the existing track 110 drive assembly to increase the overall operational stability of the robot. Specifically, the drive mechanism 100 includes a track 110, a drive wheel 140, a guide wheel 120, multiple load-bearing wheel sets 150, and at least one auxiliary wheel 130. The track 110 is fitted onto the drive wheel 140, guide wheel 120, multiple load-bearing wheel sets 150, and auxiliary wheel 130 to form a ring structure. The load-bearing wheel sets 150 are arranged sequentially at intervals along the length of the track 110. Each auxiliary wheel 130 is located between two adjacent load-bearing wheel sets 150, so that the auxiliary wheel 130 and the load-bearing wheel sets 150 are staggered along the length of the track 110. 30. The two road wheels 151 of the road wheel set 150 are spaced apart along the width direction of the track 110; each road wheel set 150 and / or auxiliary wheel 130 is connected to a suspension assembly 300, the suspension assembly 300 includes a swing arm 320 and a torsion bar 310, the swing arm 320 is coaxially hinged to the two road wheels 151 and / or auxiliary wheel 130 of the road wheel set 150, the swing arm 320 is hinged to the cabin 200, one end of the torsion bar 310 is fixed to the hinge point between the swing arm 320 and the cabin 200 so that the torsion bar 310 rotates with the swing arm 320 along the cabin 200, and the other end of the torsion bar 310 is fixed to the cabin 200.

[0020] Understandably, to achieve the rotation of the drive wheel 140 driving the rotation of the track 110, multiple slots along its annular direction can be provided on the track 110, and a toothed ring can be provided around the drive wheel 140. The engagement of the toothed ring with the slots allows the track 110 to move in annular motion while the drive wheel 140 rotates, as shown in the structure of the drive wheel 140 and track 110 in patent application number 202222639195.7. Alternatively, multiple protrusions along its annular direction can be provided on the track 110, and multiple annularly arranged toothed grooves can be provided around the drive wheel 140. The engagement of the track 110 and drive wheel 140 can also be achieved through the cooperation of the protrusions and grooves, allowing the track 110 to move in annular motion while the drive wheel 140 rotates, as shown in the structure of the drive wheel 140 and track 110 in patent application number 202010353678.3. The track 110 and drive wheel 140 in this application adopt the first structure. The drive wheel 140 is connected to a drive component for driving its rotation. The drive component consists of a control motor (servo motor, stepper motor, etc.), a reducer, a coupling, and other components. It only needs to be able to drive the drive wheel 140 to rotate. The drive assembly is located inside the housing 200 and is sealed to the housing 200 through a connecting flange to meet explosion-proof requirements.

[0021] The track 110 has a certain width, therefore, a road wheel assembly 150 structure is required to adapt to the width of the track 110 and ensure that each road wheel assembly 150 can support the width of the track 110 when it rolls. Based on this, constrained by the structure of the track 110, multiple road wheel assemblies 150 are spaced apart along the length of the track 110 (horizontal direction in the diagram). Each road wheel assembly 150 adapts to the width of the track 110, and therefore includes two road wheels 151. The two road wheels 151 are spaced apart along the width of the track 110 and are located close to both sides of the track 110's width. Currently, the multiple road wheel assemblies 150 are spaced apart. This structure results in gaps between adjacent road wheel assemblies 150. During actual travel, due to these gaps, there is a contact gap between the track 110 and the ground, which can easily cause resonance and lead to poor operational stability. Based on this, this application introduces an auxiliary wheel 130 between two adjacent load-bearing wheel sets 150, such as Figure 1 , 2 As shown in Figure 3, the auxiliary wheel 130 and the two cooperating road wheel sets 150 are spaced apart along the length of the track 110, and the auxiliary wheel 130 and the two road wheels 151 are arranged along the width of the track 110. The setting of the auxiliary wheel 130 is equivalent to introducing a new row of load wheels (or a load wheel set, which also has two load wheels, located exactly between the two road wheels 151) in the middle of the track 110. This row of load wheels (auxiliary wheel 130) further shortens the distance between two adjacent road wheel sets 150, resulting in better track fit, less resonance, and better performance. Therefore, only one auxiliary wheel 130 is needed to achieve the effect of increasing stability. Of course, to make the stability effect of the auxiliary wheel 130 even better, the number of road wheel sets 150 is n, and the number of auxiliary wheels 130 is n-1, where n is a natural number ≥ 2. Figure 1 As shown, this application provides four load-bearing wheel sets 150 and three auxiliary wheels 130, with the load-bearing wheel sets 150 and the auxiliary wheels 130 arranged alternately in sequence.

[0022] The aforementioned load-bearing wheel assembly 150 and auxiliary wheel 130 both need to be connected to the cabin 200. This can be achieved using existing suspension components with shock absorbers; however, the spacing and load of each load-bearing wheel assembly 150 differ, making it impossible to achieve consistency between the swing arm 320 and the shock absorbers in the design. Therefore, this application improves the existing suspension component by adopting a torsion bar 310 structure. (As...) Figure 2 , 3As shown, each load-bearing wheel assembly 150 and each auxiliary wheel 130 are connected to the cabin 200 via a suspension assembly 300. The difference between the suspension assembly 300 connected to the load-bearing wheel assembly 150 and the suspension assembly 300 connected to the auxiliary wheel 130 lies in the structure of the swing arm 320. The different structures of the swing arm 320 are used to adapt to the load-bearing wheel assembly 150 and the auxiliary wheel 130. The swing arm 320 is coaxially hinged to the two load-bearing wheels 151 of the load-bearing wheel assembly 150 or coaxially hinged to the auxiliary wheel 130. The swing arm 320 is hinged to the cabin 200. The hinge point between the cabin 200 and the swing arm 320 is fixed to one end of the torsion bar 310, and the other end of the torsion bar 310 is fixed to the connecting seat 210 on the cabin 200. Since the two drive mechanisms 100 are symmetrically arranged along the length of the cabin 200, the two oppositely arranged torsion bars 310 are fixed to one connecting seat 210 of the cabin 200 to reduce the number of connecting parts. Torsion bars 310 can be made from different materials and through different heat treatment methods to achieve torque bearing capacity. The torsion bars 310 have a generally consistent external dimension and a simpler structure. Compared to support arms with different and complex shapes, they are easier and more efficient to install, further reducing manufacturing costs. Furthermore, replacing the shock absorber with the torsion bar 310 further increases operational stability. It is worth noting that, to protect the multiple torsion bars 310 located at the bottom of the cabin 200, a base plate (shown in the figure) is provided at the bottom of the cabin 200 to shield each torsion bar 310. The base plate and the bottom of the cabin 200 are connected at intervals by multiple connecting posts to ensure that the torsion bars 310 have sufficient deformation space.

[0023] In this application, the swing arm 320 used to connect the load-bearing wheel assembly 150 and the auxiliary wheel 130 has a basically the same structure, both including a connecting arm 322 and two hinged arms 321 fixed on the connecting arm 322. The two hinged arms 321 are respectively arranged on both sides of the connecting arm 322 and extend outwards in opposite directions. The two hinged arms 321 are respectively connected to the torsion bar 310 and the load-bearing wheel assembly 150 or the auxiliary wheel 130. Figure 2 , 3 As shown, the articulated arm 321 connected to the road wheel assembly 150 needs to be rotatably connected to both road wheels 151; therefore, the articulated arm 321 connected to the road wheel assembly 150 is longer. The articulated arm 321 connected to the auxiliary wheel 130 is rotatably connected to the auxiliary wheel 130, and since the thickness of the auxiliary wheel 130 is less than the distance between the two road wheels 151 of the road wheel assembly 150, the articulated arm 321 connected to the auxiliary wheel 130 is shorter. Another articulated arm 321 on the connecting arm 322 is hinged to the side wall of the cabin 200 and fixed to the torsion bar 310.

[0024] In this application, the guide wheel 120 functions as a tensioning wheel to adjust the tension of the track 110. For this purpose, the guide wheel 120 is connected to an adjustment assembly 400. The overall structure of the adjustment assembly 400 can be designed with reference to existing technology, such as the track 110 tensioning device in patent application number CN201420867580.X. In this application, the structure of the adjustment assembly 400 is simplified. Specifically, the adjustment assembly 400 includes a fixed base 410, a sliding base 420, and an adjustment member. The fixed base 410 is connected to the housing 200. The sliding base 420 is slidably disposed on the fixed base 410 and rotatably connected to the guide wheel 120. The adjustment member is used to adjust the position of the sliding base 420 on the fixed base 410. The adjustment member includes an adjustment screw 430, which is threadedly connected to the sliding base 420 and connected to the housing 200. Figure 3 As shown, the fixed seat 410 is composed of two spaced-apart intercepting plates 411, with a convex groove 412 between the two intercepting plates 411. The two intercepting plates 411 are fixed to the side wall of the cabin 200. The sliding seat 420 is engaged in the convex groove 412 and slidably connected to the fixed seat 410. The guide wheel 120 is connected to a rotatably connected connecting shaft 421. The connecting shaft 421 and the guide wheel 120 are coaxially arranged and fixed to the sliding seat 420. An adjusting seat 440 is also fixed on the cabin 200. The adjusting screw 430 passes through the adjusting seat 440 and is threadedly connected to the adjusting seat 440. During installation, the sliding seat 420 is moved to the corresponding position to ensure the tension of the track 110. Then, the adjusting screw 430 is used to lock the sliding seat 420 and the adjusting seat 440 to complete the installation.

[0025] As can be seen, this application adds an auxiliary wheel 130 to the existing configuration of multiple load-bearing wheel sets 150. The auxiliary wheel 130 is installed between two adjacent load-bearing wheel sets 150, which can shorten the distance between the two load-bearing wheel sets 150, resulting in better track fit, less resonance, and better performance. Simultaneously, based on the addition of the auxiliary wheel 130, the suspension structure of the load-bearing wheel sets 150 and / or the auxiliary wheel 130 has also been improved. The suspension assembly 300 of this application is adopted. Based on the existing swing arm 320 + shock absorber, the shock absorber is replaced with a torsion bar 310. The torsion bar 310 can be made of different materials and heat treatment methods to obtain torsion bars 310 that can bear different torques. The torsion bar 310 has basically the same external dimensions and a simpler structure. Compared with the swing arm 320 with different and complex shapes, it is simpler and more efficient to install, further reducing manufacturing costs. It can also provide a more suitable buffer force for each load-bearing wheel set 150, improving the robot's traversal stability.

[0026] 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.

[0027] 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.

[0028] 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 staggered road wheel tracked robot, comprising a cabin (200) and two drive mechanisms (100) disposed on both sides of the cabin (200), characterized in that: The drive mechanism (100) includes a track (110), a drive wheel (140), a guide wheel (120), multiple road wheel sets (150), and at least one auxiliary wheel (130). The track (110) is fitted onto the drive wheel (140), the guide wheel (120), the multiple road wheel sets (150), and the auxiliary wheel (130) to form a ring structure. Each road wheel set (150) is arranged sequentially at intervals along the length direction of the track (110), and each auxiliary wheel (130) is located between two adjacent road wheel sets (150) so that the auxiliary wheel (130) and the road wheel set (150) are staggered along the length direction of the track (110). The auxiliary wheel (130) and the two road wheels (151) of the road wheel set (150) are arranged at intervals along the width direction of the track (110). Each load-bearing wheel assembly (150) and / or auxiliary wheel (130) is connected to a suspension assembly (300). The suspension assembly (300) includes a swing arm (320) and a torsion bar (310). The swing arm (320) is coaxially hinged to the two load wheels (151) / or auxiliary wheels (130) of the load wheel assembly (150). The swing arm (320) is hinged to the cabin body (200). One end of the torsion bar (310) is fixed to the hinge point between the swing arm (320) and the cabin body (200) so that the torsion bar (310) rotates along the cabin body (200) with the swing arm (320). The other end of the torsion bar (310) is fixed to the cabin body (200).

2. The staggered road wheel tracked robot according to claim 1, characterized in that: The swing arm (320) has a connecting arm (322) and two hinged arms (321) fixed on the connecting arm (322). The two hinged arms (321) are respectively arranged on both sides of the connecting arm (322) and extend outwards in opposite directions. The two hinged arms (321) are respectively connected to the torsion bar (310) and the load wheel set (150) or the auxiliary wheel (130).

3. The staggered road wheel tracked robot according to claim 1 or 2, characterized in that: The number of road wheel sets (150) is n, and the number of auxiliary wheels (130) is n-1, where n is a natural number ≥2.

4. The staggered road wheel tracked robot according to claim 1 or 2, characterized in that: The guide wheel (120) is connected to an adjustment assembly (400). The adjustment assembly (400) includes a fixed seat (410), a sliding seat (420), and an adjustment member. The fixed seat (410) is used to connect with the cabin (200). The sliding seat (420) is slidably set on the fixed seat (410) and rotatably connected to the guide wheel (120). The adjustment member is used to adjust the position of the sliding seat (420) on the fixed seat (410).

5. The staggered road wheel tracked robot according to claim 4, characterized in that: The adjusting component includes an adjusting screw (430), which is threadedly connected to a sliding seat (420) and connected to the cabin (200).

6. The staggered road wheel tracked robot according to claim 3, characterized in that: The guide wheel (120) is connected to an adjustment assembly (400). The adjustment assembly (400) includes a fixed seat (410), a sliding seat (420), and an adjustment member. The fixed seat (410) is used to connect with the cabin (200). The sliding seat (420) is slidably set on the fixed seat (410) and rotatably connected to the guide wheel (120). The adjustment member is used to adjust the position of the sliding seat (420) on the fixed seat (410).

7. The staggered road wheel tracked robot according to claim 6, characterized in that: The adjusting component includes an adjusting screw (430), which is threadedly connected to a sliding seat (420) and connected to the cabin (200).

8. The staggered road wheel tracked robot according to claim 1, 2, 5, 6 or 7, characterized in that: The drive wheel (140) is connected to a drive element for driving its rotation.

9. The staggered road wheel tracked robot according to claim 3, characterized in that: The drive wheel (140) is connected to a drive element for driving its rotation.

10. The staggered road wheel tracked robot according to claim 4, characterized in that: The drive wheel (140) is connected to a drive element for driving its rotation.

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