阅读说明：本技术 履带底盘组件及机器人 (Crawler chassis assembly and robot ) 是由 肖杰 王成疆 于 2019-09-09 设计创作，主要内容包括：履带底盘组件(10),其用于在一个支撑面上移动。履带底盘组件(10)包括一个活动架和一个高度调节电机(30)。活动架包括一个架体、四个转动轮、一个驱动电机(25)及一条履带(27)。架体为平行四连杆结构,平行四连杆结构中的四个连杆能够沿一个转动平面(43)转动。四个转动轮,其分别可转动的设置于四个转动连接点。一个驱动电机,驱动电机具有一个能输出转矩的主动轮轴(26),主动轮轴同轴连接于主动轮且能够带动主动轮转动。一条履带,其具有一个封闭的内传动面。一个高度调节电机,具有一个能输出转矩的输出轴,输出轴的轴线与上部从动轮的轴线同轴设置。履带底盘组件可根据不同路况调节底盘重心高度,能适应不同路面情况。(A track chassis assembly (10) for movement on a support surface. The track chassis assembly (10) includes a movable frame and a height adjustment motor (30). The movable frame comprises a frame body, four rotating wheels, a driving motor (25) and a crawler belt (27). The frame body is a parallel four-bar linkage structure, and four connecting bars in the parallel four-bar linkage structure can rotate along a rotating plane (43). And the four rotating wheels are respectively and rotatably arranged at the four rotating connection points. And the driving motor is provided with a driving wheel shaft (26) capable of outputting torque, and the driving wheel shaft is coaxially connected with the driving wheel and can drive the driving wheel to rotate. A track having an enclosed inner drive surface. And the height adjusting motor is provided with an output shaft capable of outputting torque, and the axis of the output shaft is coaxial with the axis of the upper driven wheel. The crawler chassis assembly can adjust the height of the gravity center of the chassis according to different road conditions and can adapt to different road conditions.)

1. A track chassis assembly (10) for movement on a support surface, the track chassis assembly (10) further comprising:

a mobile frame, comprising:

the rack body is of a parallel four-bar linkage structure, and four connecting bars in the parallel four-bar linkage structure can rotate in a rotating plane (43); said plane of rotation (43) being perpendicular to said support plane, said four-bar linkage having an upper end (12) and a lower end (13) perpendicular to said support plane; the parallel four-bar linkage structure is provided with a first pair of parallel connecting bars (21) and a second pair of parallel connecting bars (22), and the first pair of parallel connecting bars (21) are parallel to the supporting surface; the second pair of parallel links (22) being able to be perpendicular to the support surface; the first pair of parallel connecting rods (21) and the second pair of parallel connecting rods (22) are intersected at four rotation connecting points;

the four rotating wheels are respectively and rotatably arranged at the four rotating connection points, the rotating axes of the four rotating wheels are vertical to the rotating plane (43) and are parallel to each other, one of the four rotating wheels is a driving wheel (23), and the other three rotating wheels are driven wheels (24); the driving wheel (23) is provided with a driving wheel shaft (26) capable of outputting torque, and one of the driven wheels (24) is positioned at the upper end (12) and is an upper driven wheel (24); one of the second pair of parallel links (22) to which the upper driven wheel (24) is connected is a height-adjusting link;

the driving motor (25) drives the driving wheel shaft (26) through a synchronous belt, and the driving wheel shaft (26) is coaxially connected with the driving wheel (23) and can drive the driving wheel (23) to rotate; and

the crawler belt (27) is provided with a closed inner transmission surface (28), and the crawler belt (27) is sleeved on the outer circumferential surfaces of the four rotating wheels, so that the driving wheel (23) can drive the driven wheel (24) to rotate through being transmitted on the inner transmission surface (28); and

a height adjusting motor (30) having an output shaft (31) capable of outputting torque, the axis of the output shaft (31) being coaxially arranged with the axis of the upper driven wheel (24), the height adjusting link being connected to the outer circumferential surface of the output shaft (31) such that the height adjusting link extends in the radial direction of the upper driven wheel (24); when the output shaft (31) rotates, the output shaft (31) can drive the height-adjusting connecting rods to rotate around the axial direction of the upper driven wheel (24), so that the second pair of parallel connecting rods (22) can be perpendicular to the supporting surface.

2. The track undercarriage assembly (10) of claim 1 wherein the drive wheel (23) is located at the upper end (12).

3. The track undercarriage assembly (10) of claim 2 wherein the output shaft (31) is fixedly connected to the height adjustment link.

4. The track undercarriage assembly (10) of claim 1 wherein the movable frame further comprises,

and the elastic supporting rod (32) is arranged between the first pair of parallel connecting rods (21), and the extending direction of the elastic supporting rod (32) is vertical to the supporting surface.

5. The track undercarriage assembly (10) of claim 4 wherein the resilient support bar (32) is resiliently deformable in the direction of extension.

6. The track undercarriage assembly (10) of claim 1 wherein the drive wheel is formed,

a recess, the recess formed in the outer periphery of action wheel and follow the radial recess of action wheel, the recess has a plurality ofly, a plurality of recesses are followed the outer periphery evenly distributed of action wheel.

7. The track undercarriage assembly (10) of claim 6 wherein the rotating wheels are formed,

a wheel groove (33), the wheel groove (33) is formed on the outer circumferential surface of the rotating wheel and is recessed in the radial direction of the rotating wheel.

8. The track undercarriage assembly (10) of claim 7 wherein the inner drive surface (28) of the track (27) has a lobe (34) corresponding to the groove such that the lobe (34) can fit in the groove and the lobe can also fit in the wheel well (33).

9. The track undercarriage assembly (10) of claim 1 wherein the track undercarriage assembly (10) further comprises:

a chassis attachment (40);

the two movable frames are fixed on the chassis connecting piece (40), so that the rotating planes (43) of the two movable frames are parallel and the driving wheels (23) of the two movable frames are coaxially arranged.

10. A robot, characterized by comprising:

a robot main body having a connecting portion;

the crawler chassis assembly (10) of one of claims 1 to 7 having

A chassis attachment (40) connected to the connecting portion;

the two movable frames are fixed on the chassis connecting piece (40), so that the rotating planes (43) of the two movable frames are parallel and the driving wheels (23) of the two movable frames are coaxially arranged.

Technical Field

The invention relates to a track chassis assembly. The invention also relates to a robot.

Background

The chassis lifting technology in the field of automobiles at present adjusts the height between a chassis and the ground through a hydraulic shock absorber to realize the passing capacity under different road conditions. But traditional crawler chassis can not realize the chassis through adjusting a certain wheel alone and go up and down, and its liftable space is little, and the trafficability characteristic of coping with the road surface situation is limited. And the gravity center of the chassis cannot be adjusted back and forth parallel to the ground, so that the mobility is weak when the chassis is used for a slope or a step. When meeting silt road surface, ordinary tire can't deal with through adjusting the focus height alone. Therefore, the existing chassis lifting technology has poor capability of coping with different road surfaces.

Disclosure of Invention

The invention aims to provide a crawler chassis assembly, which can adjust the height of the gravity center of a chassis according to different road conditions and can adapt to different road conditions.

Another object of the present invention is to provide a robot, which can walk in environments such as water, mud, steps, threshold, slope, etc., has good obstacle-crossing capability, and can adapt to narrow tunnel space, so that it is more suitable for actual working conditions.

The present invention provides a track chassis assembly for movement on a support surface. The track chassis assembly also includes a movable frame and a height adjustment motor. The movable frame comprises a frame body, four rotating wheels, a driving motor and a crawler. The support body is parallel four-bar linkage structure, and four connecting rods in the parallel four-bar linkage structure can rotate along a rotation plane. The plane of rotation is perpendicular to the support surface. The four-bar linkage has an upper end and a lower end perpendicular to the support surface. The parallel four-bar linkage structure is provided with a first pair of parallel connecting bars and a second pair of parallel connecting bars, the first pair of parallel connecting bars are parallel to the supporting surface, and the second pair of parallel connecting bars can be perpendicular to the supporting surface. The first pair of parallel connecting rods and the second pair of parallel connecting rods are intersected at the four rotating connection points.

The four rotating wheels are respectively and rotatably arranged at the four rotating connection points. The rotation axes of the four rotating wheels are vertical to the rotating plane and are parallel to each other. One of the four rotating wheels is a driving wheel, and the other three rotating wheels are driven wheels. The driving wheel is provided with a driving wheel shaft capable of outputting torque. One of the driven wheels is positioned at the upper end and is an upper driven wheel, and one of the second pair of parallel connecting rods connected with the upper driven wheel is a height-adjusting connecting rod. The driving motor drives a driving wheel shaft through a synchronous belt, and the driving wheel shaft is coaxially connected with the driving wheel and can drive the driving wheel to rotate. The track has a confined interior driving surface, and four outer peripheral surfaces that rotate the wheel are located to the track cover to make the action wheel can drive in interior driving surface through the transmission and rotate from the driving wheel.

According to the crawler chassis assembly, the height adjusting motor is provided with the output shaft capable of outputting torque, and the axis of the output shaft and the axis of the upper driven wheel are coaxially arranged. The height-adjusting connecting rod is connected with the outer circumferential surface of the output shaft, so that the height-adjusting connecting rod extends out along the radial direction of the upper driven wheel. When the output shaft rotates, the output shaft can drive the heightening connecting rods to rotate around the axial direction of the upper driven wheel, so that the second pair of parallel connecting rods can be perpendicular to the supporting surface.

In another exemplary embodiment of the track undercarriage assembly, the drive wheel is located at an upper end.

In another exemplary embodiment of the track undercarriage assembly, the output shaft is fixedly connected to the height adjustment link by welding.

In another exemplary embodiment of the track undercarriage assembly, the mobile frame further comprises a resilient support bar disposed between the first pair of parallel links. The extending direction of the elastic supporting rod is vertical to the supporting surface.

In another exemplary embodiment of the track undercarriage assembly, the resilient support bar is capable of being resiliently deformed in the direction of extension.

In another exemplary embodiment of the crawler chassis assembly, the driving wheel forms a groove, the groove is formed on the outer circumferential surface of the driving wheel and is recessed along the radial direction of the driving wheel, the plurality of grooves are uniformly distributed along the outer circumferential surface of the driving wheel.

In another exemplary embodiment of the crawler chassis group, the rotating wheel is formed with a wheel groove formed in an outer circumferential surface thereof and recessed in a radial direction of the rotating wheel.

In another exemplary embodiment of the track undercarriage assembly, the inner drive surface of the track has a lobe corresponding to the groove such that the lobe can fit into the groove and the lobe can also fit into the wheel well.

In another exemplary embodiment of the track undercarriage assembly, the track undercarriage assembly further comprises an undercarriage link. The movable frames are arranged into two, and the two movable frames are fixed on the chassis connecting piece, so that the rotating planes of the two movable frames are parallel and the driving wheels of the two movable frames are coaxially arranged.

The invention also provides a robot comprising a robot body and a crawler chassis assembly according to any one of the preceding claims. The robot main body has a connecting portion. The track undercarriage assembly has an undercarriage link coupled to the link. The movable frames are arranged into two, and the two movable frames are fixed on the chassis connecting piece, so that the rotating planes of the two movable frames are parallel and the driving wheels of the two movable frames are coaxially arranged.

The above features, technical features, advantages and modes of achieving them will be further described in a clear and understandable manner by referring to the accompanying drawings.

Drawings

Fig. 1 is a schematic view for explaining the structure of a crawler chassis assembly.

FIG. 2 is a schematic diagram illustrating another exemplary embodiment of a track undercarriage assembly.

FIG. 3 is a schematic diagram illustrating the configuration of the track undercarriage assembly during an elevation adjustment.

Fig. 4 is a schematic diagram for explaining the configuration of the crawler chassis assembly when ascending a slope.

Fig. 5 is a schematic diagram for explaining a structure of change of the gravity center position when the rack body ascends an incline.

Fig. 6 is a schematic sectional view for explaining a crawler chassis assembly.

Fig. 7 is a schematic sectional view for explaining a movable frame.

Description of the reference symbols

10 track undercarriage assembly

12 upper end

13 lower end

21 first pair of parallel links

22 second pair of parallel links

23 driving wheel

24 driven wheel

25 driving motor

26 driving wheel axle

27 track

28 inner driving surface

30 height adjusting motor

31 output shaft

32 elastic support rod

33 wheel groove

34 convex tooth

35 groove

40 Chassis connecting piece

41 first center of gravity

42 second center of gravity

43 plane of rotation

51. 52, 53, 54 four rotation connection points

Direction of travel A

Detailed Description

In order to more clearly understand the technical features, objects and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals indicate the same or structurally similar but functionally identical elements.

"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative. For the sake of simplicity, the drawings only schematically show the parts relevant to the present exemplary embodiment, and they do not represent the actual structure and the true scale of the product.

FIG. 1 is a schematic diagram illustrating the construction of a track undercarriage assembly 10. Referring to FIG. 1, the present invention provides a track chassis assembly 10 for movement on a support surface. The track chassis assembly 10 includes a movable frame and a height adjustment motor 30. The movable frame includes a frame body (this frame body includes first pair of parallel connecting rod 21 and second pair of parallel connecting rod 22, and first pair of parallel connecting rod 21 and second pair of parallel connecting rod 22 are connected through four rotation connection points, and in this embodiment, one in the first pair of parallel connecting rod 21 is the bar shaped plate), four commentaries on classics round (1 action wheel 23 and 3 follow driving wheel 24), a driving motor 25 and a track 27. The connection mode of the frame body, i.e. the first pair of parallel connecting rods 21 and the second pair of parallel connecting rods 22, is a parallel four-bar structure. The four links (the first pair of parallel links 21 and the second pair of parallel links 22) in the parallel four-link structure can rotate along one rotation plane 43. The plane of rotation 43 is perpendicular to the support surface.

Referring to fig. 1, the four links (the first pair of parallel links 21 and the second pair of parallel links 22) have an upper end 12 and a lower end 13 perpendicular to the support surface. The parallel four-bar linkage structure has a first pair of parallel bars 21 and a second pair of parallel bars 22. The first pair of parallel links 21 is parallel to the support surface. The second pair of parallel links 22 can be perpendicular to the support surface. The first pair of parallel links 21 and the second pair of parallel links 22 meet at four rotational connection points 51, 52, 53, 54. Fig. 1 is a diagram illustrating the frame body in the above structure as two sets of parallel four-bar linkage structures, but one set of the frame body can be independently used as the crawler chassis assembly in the invention.

FIG. 2 is a schematic diagram illustrating another exemplary embodiment of the track undercarriage assembly 10. Referring to fig. 1 and 2, four rotating wheels are rotatably provided at four rotation connection points 51, 52, 53, 54, respectively. The swivel axes of the four swivel wheels are perpendicular to the swivel plane 43 and parallel to each other. One of the four rotating wheels is a driving wheel 23, and the other three are driven wheels 24. One of the followers 24 is located at the upper end 12 as an upper follower 24. One of the second pair of parallel links 22 to which the upper driven wheel 24 is connected is an elevation link. The driving pulley 23 has a driving axle 26 capable of outputting torque. The drive motor 25 drives the drive pulley shaft 26 through a synchronous belt. The driving wheel shaft 26 is coaxially connected to the driving wheel 23 and can drive the driving wheel 23 to rotate. The caterpillar 27 has a closed inner transmission surface 28, and the caterpillar 27 is sleeved on the outer circumferential surfaces of the four rotating wheels, so that the driving wheel 23 can drive the driven wheel 24 to rotate by being transmitted on the inner transmission surface 28.

As shown in FIG. 1, in the track undercarriage assembly 10 of the present invention, the height adjustment motor 30 has an output shaft 31 capable of outputting a torque, the axis of the output shaft 31 being disposed coaxially with the axis of the upper driven wheel 24. The height-adjusting link is coupled to an outer circumferential surface of the output shaft 31 such that the height-adjusting link extends in a radial direction of the upper driven pulley 24. When the output shaft 31 rotates, the output shaft 31 can drive the height-adjusting connecting rods to rotate around the axial direction of the upper driven wheel 24, so that the second pair of parallel connecting rods 22 can be perpendicular to the supporting surface.

FIG. 3 is a schematic diagram illustrating the configuration of track undercarriage assembly 10 when it is raised. Referring to fig. 1 and 3, the height adjustment motor 30 outputs torque through the output shaft 31, the output shaft 31 rotates to make the height adjustment link rotate around the axial direction of the upper driven wheel 24, the height adjustment link drives the first pair of parallel links 21 to move, and the height adjustment link drives the other link of the second pair of parallel links 22 to rotate around the driving wheel 23. The flexible support bar 32 is stretched or compressed as long as necessary to adjust the rotational position of the links so that the second pair of parallel links 22 can be perpendicular to the support surface.

Fig. 4 is a schematic diagram for explaining the configuration of the crawler chassis assembly 10 on an uphill slope. Referring to fig. 1 and 4, when the crawler chassis assembly 10 ascends, the driving motor 25 drives the driving wheel shaft 26 through the synchronous belt, and the driving wheel shaft 26 drives the driving wheel 23 to rotate. The driving wheel 23 and the driven wheel 24 form a rotating plane 43, the inner transmission surface 28 of the crawler 27 is perpendicular to the rotating plane 43, and the crawler 27 is sleeved on the outer circumferential surfaces of the four rotating wheels. The output shaft 31 of the height adjusting motor 30 is driven to rotate so that the height adjusting links rotate in the axial direction of the upper driven wheel 24, and the second pair of parallel links 22 is changed from a state of being perpendicular to the supporting surface to a state of forming an acute angle with the supporting surface. The resilient support bar 32 compresses and the center of gravity of the track chassis assembly 10 advances in the direction of travel a. The drive wheels 23 drive the remaining driven wheels 24 via the inner drive surfaces 28, and the tracks 27 roll forward around the outer circumference of the drive wheels, moving the track chassis assembly 10 in the direction of travel a.

Fig. 5 is a schematic diagram for explaining a structure of change of the gravity center position when the rack body ascends an incline. Referring to fig. 1 and 5, when the crawler chassis assembly 10 ascends, the output shaft 31 of the height adjustment motor 30 is driven to rotate so that the height adjustment link rotates around the axial direction of the upper driven wheel 24, and the height adjustment link tilts in the traveling direction to adjust the center of gravity of the chassis (the first pair of parallel links 21 and the second pair of parallel links 22) to tilt in the traveling direction a, thereby lowering the center of gravity of the chassis. Thereby preventing a tilt condition. The driving wheel 23 drives the driven wheel 24 to rotate, the four rotating wheels drive the crawler 27 to roll, and the crawler chassis assembly 10 moves towards the traveling direction a.

In one embodiment of the present invention, the track chassis assembly 10 described above may also include a height adjustment control processor. A tilt sensor or electronic gyroscope may be provided on one of the first pair of parallel links 21, with the output signal terminals (positive/negative) of the tilt sensor connected to the input of the control processor. The control processor can be realized by a single chip microcomputer. The input end of the control processor is connected with the control end of the height adjusting motor 30. The height adjusting motor 30 may employ a stepping motor or a servo motor. When the tilt angle sensor is in a tilt state, the tilt angle value is sent to the output end of the tilt angle sensor, after the control processor receives the tilt angle value, the control processor sends driving information to the output end after comparing the angle value and the driving angle value which are locally stored in the control processor, and the height adjusting motor 30 rotates after receiving the driving information, so that the adjustment of the frame body, namely the four-bar structure, is realized.

As shown in fig. 1, in the exemplary embodiment, drive wheel 23 is located at upper end 12. The driving wheel 23 and the driving wheel shaft 26 are coaxially arranged, and the driving wheel shaft 26 directly drives the driving wheel 23 to rotate.

In the exemplary embodiment, as shown in fig. 1, the output shaft 31 is fixedly connected to the heightening connecting rod (the connection may be welded and fixed, and may also be driven by a flat key or a spline). The outer circumferential surface of the output shaft 31 is connected with a height-adjusting connecting rod, and the output shaft 31 can drive the height-adjusting connecting rod to rotate around the axial direction of the upper driven wheel 24 when rotating.

Fig. 6 is a schematic cross-sectional view for explaining the crawler chassis assembly 10. Referring to fig. 1 and 6, the movable frame further includes an elastic support bar 32 disposed between the first pair of parallel links 21. The elastic support bar 32 extends in a direction perpendicular to the support surface. The elastic support bar 32 provides a constraint to the first pair of parallel bars, reinforcing the plane of rotation 43, making it less prone to deformation.

As shown in fig. 1, the elastic support bar 32 can be elastically deformed in the extending direction. The elastic deformation can be extended or shortened according to the height change of the supporting surface.

Fig. 7 is a schematic sectional view for explaining a movable frame. Referring to fig. 7, the driver 23 is formed with a plurality of grooves 35, the grooves 35 are formed on the outer circumferential surface of the driver 23 and are recessed along the radial direction of the driver 23, and the plurality of grooves 35 are uniformly distributed along the outer circumferential surface of the driver 23.

As shown in fig. 1, in the exemplary embodiment, the rotating wheel is formed with a wheel groove 33, and the wheel groove 33 is formed on the outer circumferential surface of the rotating wheel and is recessed in the radial direction of the rotating wheel.

As shown in fig. 1 and 2, in the exemplary embodiment, the inner driving surface 28 of the track 27 has a tooth 34 corresponding to the groove 35, so that the tooth 34 can be fitted in said groove 35, and the tooth 34 can also be fitted in the wheel groove 33. The engagement of the teeth 34, the grooves 35 and the wheel grooves 33 makes the rolling wheel and the crawler 27 more firmly engaged, prevents the rolling wheel from being separated from the crawler 27, increases the transmission force, and prevents the fixed rolling plane 43 from being deformed.

As shown in FIG. 1, in the illustrated embodiment, track undercarriage assembly 10 further includes an undercarriage link 40. The two movable frames are fixed on the chassis connecting part 40, so that the rotating planes 43 of the two movable frames are parallel and the driving wheels 23 of the two movable frames are coaxially arranged. The chassis connecting piece 40 enables the rotating planes 43 of the two movable frames to be kept vertical to the supporting surface, and the two parallel rotating planes 43 enable the rotating wheels to travel more stably and the traveling route to be more accurate.

The present invention also provides a robot comprising a robot body and a track chassis assembly 10 as described in any one of the above. The robot main body has a connecting portion. The track undercarriage assembly 10 has an undercarriage link 40 that is coupled to the coupling portion. The two movable frames are fixed on the chassis connecting part 40, so that the rotating planes 43 of the two movable frames are parallel and the driving wheels 23 of the two movable frames are coaxially arranged.

It should be understood that although the present description is described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein as a whole may be suitably combined to form other embodiments as will be appreciated by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.