阅读说明：本技术 一种履带机器人转向装置 (Tracked robot turns to device ) 是由 陶友瑞 赵智浩 陈芃灏 韩旭 于 2021-09-18 设计创作，主要内容包括：本申请提供一种履带机器人转向装置,包括转向机构；转向机构包括相互铰接的两个支撑架；两支撑架相对靠近的一端设有用于驱动转向的动力件,相对远离的一端分别安装有行走机构；行走机构包括相互铰接的骨架,转动轴线与支撑架的转动轴线相互垂直。根据本申请实施例提供的技术方案,通过转向机构连接两行走机构,使两段行走机构能够自由转向；转向机构通过两个铰接的支撑架组件,配合动力件便可主动控制转向的方向及角度；行走机构包括两段相互铰接的骨架,面对大曲率壁面时,同样能够有效的贴合,从而提高行走的稳定性。(The application provides a crawler robot steering device, which comprises a steering mechanism; the steering mechanism comprises two support frames which are hinged with each other; one ends, relatively close to the two support frames, of the two support frames are provided with power parts for driving steering, and the ends, relatively far away from the two support frames, of the two support frames are respectively provided with a walking mechanism; the walking mechanism comprises frameworks which are hinged with each other, and the rotating axis of the walking mechanism is perpendicular to that of the supporting frame. According to the technical scheme provided by the embodiment of the application, the two traveling mechanisms are connected through the steering mechanism, so that the two traveling mechanisms can freely steer; the steering mechanism can actively control the steering direction and angle by matching with the power part through two hinged support frame assemblies; the walking mechanism comprises two sections of frameworks which are hinged with each other, and can be effectively attached when facing a wall surface with large curvature, so that the walking stability is improved.)

1. The crawler robot steering device is characterized by comprising a steering mechanism; the steering mechanism comprises two supporting frames (100) hinged with each other; one ends, close to each other, of the two support frames (100) are provided with power parts for driving steering, and the ends, far away from each other, of the two support frames are respectively provided with a walking mechanism; the walking mechanism comprises frameworks (200) hinged to each other, and the rotating axis of the walking mechanism is perpendicular to that of the supporting frame (100).

2. The tracked robot steering device according to claim 1, wherein the support frame (100) is in the shape of an isosceles triangle, the hinge shaft is located at the top corner, and the mounting plate (110) is arranged at the bottom corresponding to the framework (200); the mounting plate (110) is hinged to the support frame (100), and the rotation axis of the mounting plate is parallel to that of the framework (200).

3. The track robot steering device according to claim 2, wherein the power member includes an electric push rod (120); the electric push rod (120) is positioned between the two support frames (100), and two ends of the electric push rod are correspondingly hinged with the two support frames (100) respectively.

4. The track robot steering device according to claim 1, wherein the two frames (200) are connected by an articulated frame (210); the hinged frame (210) comprises two I-shaped frames hinged with each other; the two frameworks (200) are respectively arranged at one end of the two I-shaped frames far away from each other.

5. The track robot steering device according to claim 4, wherein the two frames (200) are respectively provided with a driving wheel (220) capable of rotating relatively; the two driving wheels (220) are connected through a chain (230).

6. The track robot steering device according to claim 5, further comprising a magnetic block (231); the magnetic suction block (231) is fixedly arranged on the chain (230) and is correspondingly arranged with the chain link.

Technical Field

The application relates to the technical field of wall climbing robots, in particular to a crawler robot steering device.

Background

The existing tracked robot mostly adopts two side tracks in parallel, and realizes steering through the different steering of the two side tracks; the wall climbing robot mostly adopts a permanent magnetic crawler belt, and the magnetic property of the crawler belt is absorbed on a ferromagnetic wall surface. Thereby realizing the movement of the robot on the wall surface.

The existing permanent magnet type crawler belt walking robot can perfectly carry out parallel movement on a micro-curvature wall surface, but cannot effectively adhere and adsorb the wall surface on a large-curvature wall surface. Particularly, when the robot turns, the effective joint area of the robot is reduced due to the large curvature of the wall surface, so that the robot is insufficient in adsorption force, and falls off. The existing wall-climbing robot has poor steering capability, can not freely steer under a load state, and can also cause the deformation and the falling of the whole mechanism to influence the safety of the robot.

Disclosure of Invention

In view of the above-mentioned drawbacks and deficiencies of the prior art, it would be desirable to provide a tracked robotic steering device.

The application provides a crawler robot steering device, which comprises a steering mechanism; the steering mechanism comprises two support frames which are hinged with each other; one ends, relatively close to the two support frames, of the two support frames are provided with power parts for driving steering, and the ends, relatively far away from the two support frames, of the two support frames are respectively provided with a walking mechanism; the walking mechanism comprises frameworks which are hinged with each other, and the rotating axis of the walking mechanism is perpendicular to that of the supporting frame.

Furthermore, the support frame is in an isosceles triangle shape, the hinged shaft is positioned at the vertex angle, and the bottom edge is provided with a mounting plate corresponding to the framework; the mounting panel is articulated with the support frame, the axis of rotation with the axis of rotation of skeleton is parallel.

Further, the power part comprises an electric push rod; the electric push rod is positioned between the two support frames, and two ends of the electric push rod are correspondingly hinged with the two support frames respectively.

Furthermore, the two frameworks are connected through a hinge frame; the hinged frame comprises two I-shaped frames hinged with each other; the two frameworks are respectively arranged at one end of the two I-shaped frames which are far away from each other.

Furthermore, two driving wheels which can rotate relatively are respectively arranged on the two frameworks; the two driving wheels are connected through a chain.

Furthermore, the device also comprises a magnetic suction block; the magnetic suction block is fixedly arranged on the chain and is correspondingly arranged with the chain link.

The application has the advantages and positive effects that:

according to the technical scheme, the two traveling mechanisms are connected through the steering mechanism, so that the two traveling mechanisms can freely steer; the steering mechanism can actively control the steering direction and angle by matching with the power part through two hinged support frame assemblies; the walking mechanism comprises two sections of frameworks which are hinged with each other, and can be effectively attached when facing a wall surface with large curvature, so that the walking stability is improved.

Drawings

Fig. 1 is a schematic structural diagram of a crawler robot steering apparatus provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a steering mechanism of a crawler robot steering device according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a traveling mechanism of a crawler robot steering apparatus according to an embodiment of the present application.

The text labels in the figures are represented as: 100-a support frame; 110-a mounting plate; 120-electric push rod; 200-framework; 210-a hinged frame; 220-a drive wheel; 230-a chain; 231-magnetic attraction block.

Detailed Description

The following detailed description of the present application is given for the purpose of enabling those skilled in the art to better understand the technical solutions of the present application, and the description in this section is only exemplary and explanatory, and should not be taken as limiting the scope of the present application in any way.

Referring to fig. 1 to 3, the present embodiment provides a tracked robot steering apparatus, including a steering mechanism and a traveling mechanism; the traveling mechanisms are respectively arranged at two ends of the steering mechanism; the steering mechanism comprises a support frame 100 which is respectively connected with the travelling mechanism; the two support frames 100 are hinged with each other and used for driving the travelling mechanism to steer.

In a preferred embodiment, the supporting frame 100 comprises two connecting plates in the shape of an isosceles triangle; the two connecting plates are parallel to each other and are connected through a supporting column; the support columns are positioned at two corners of the connecting plate close to the bottom edge; the hinge shaft between the two support frames 100 is positioned at the top angle of the connecting plate.

Preferably, the support frame 100 is provided with a mounting plate 110 corresponding to the traveling mechanism; the mounting plate 110 is located at the bottom edge of the connecting plate; the connecting plate is provided with a hinge seat corresponding to the mounting plate 110; the mounting plate 110 is hinged to the hinge base, and the hinge axis is parallel to the bottom edge of the connecting plate.

Preferably, two electric push rods 120 for driving steering are further installed between the two support frames 100; the two electric push rods 120 are both positioned in an interlayer formed by the two connecting plates and are respectively positioned at the two sides of the vertex angle of the connecting plate; the two ends of the electric push rod 120 are respectively hinged at two corners of the support frame 100 near the bottom edge.

In a preferred embodiment, the walking mechanism comprises a framework 200 hinged with each other, and the hinged shaft is parallel to the mounting plate; the walking mechanism is composed of two sections of frameworks 200 which are hinged with each other, and can be effectively attached to the surface of a wall with large curvature, so that the walking stability is improved.

Preferably, the two frameworks 200 are connected by a hinge frame 210; the hinge frame 210 includes two i-shaped frames hinged to each other; the two frames 200 are respectively installed at one end of the two i-shaped frames far away from each other.

Preferably, the two frames 200 are respectively provided with a driving wheel 220 capable of rotating relatively; the two driving wheels 220 are connected by a chain 230.

Preferably, the magnetic block 231 is also included; the magnetic block 231 is fixedly installed on the chain 230 and is installed corresponding to the chain link.

The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention in other contexts without modification may be viewed as within the scope of the present application.