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All-terrain shock-proof suspension type composite tracked robot moving platform

A mobile platform and composite crawler technology, which is used in motor vehicles, crawler vehicles, transportation and packaging, etc., can solve problems such as crawler slack, crawler detachment, and robots cannot work normally, and achieve the effect of reducing impact and good buffering and shock absorption.

Active Publication Date: 2022-05-03
河北石安特智能科技有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The swing arm of the Christie suspension swings during shock absorption, and the walking wheel is raised to overcome obstacles, but the track will loosen after the walking wheel is lifted. Therefore, in actual work, when the crawler robot chassis encounters complex terrain and vibrates, it is easy to cause the track to detach , resulting in the robot not working properly

Method used

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  • All-terrain shock-proof suspension type composite tracked robot moving platform
  • All-terrain shock-proof suspension type composite tracked robot moving platform
  • All-terrain shock-proof suspension type composite tracked robot moving platform

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0047] Such as Figure 1~Figure 9 As shown, the all-terrain shock-absorbing suspension compound crawler robot mobile platform of the present disclosure can be applied to various all-terrain, stair-climbing crawler-type reconnaissance and patrol robots, fire-fighting robots, and explosives-disposal robots, etc., and is suitable for use in wasteland, ravines, Work in harsh environments such as Gobi and river beaches.

[0048] The all-terrain shock-absorbing suspension compound crawler robot mobile platform includes a pan frame 10 and a crawler walking mechanism 20. According to the working requirements of the robot, different control systems and mounted components can be set.

[0049] The disk frame 10 is the load-bearing part of the mobile platform of the robot, and integrates various mechanisms together. Disc rack 10 has a horizontal top shelf 101, such as image 3 As shown, the upper frame 101 may include a rectangular frame. In order to improve the stability and practical ...

Embodiment 2

[0062] In the all-terrain shock-absorbing suspension compound crawler robot mobile platform of the present disclosure, the suspension stroke of the load-bearing wheels 203 is increased on the basis of the first embodiment.

[0063] Such as Figure 5 As shown, the pan frame 10 also includes a horizontal bottom beam 104 that can float up and down, and the Christie hanger 204 is fixed on the bottom beam 104 .

[0064] The rotating shafts on the multi-group Christie hangers 204 are fixed on a shock absorbing beam 109, and the shock absorbing beam is fixed with the bottom beam 104 again. The bottom beam 104 is fixed to the upper frame 101 through a vertical connecting arm, and the connecting arm includes a fixed beam 105 , a mounting frame and a third elastic body 106 . The upper end of the fixed beam 105 is fixed with the top frame 101, and the lower end has a gap for the bottom beam 104 to slide up and down. The gap is vertically opened downward, and the bottom beam 104 can slid...

Embodiment 3

[0069] The all-terrain shock-absorbing suspension compound crawler robot mobile platform of the present disclosure, on the basis of the first embodiment, is fixed with a horizontal installation block 107 at the lower end of the first suspension arm 102 . The first elastic body 103 includes a first spring, and a first installation rod is pierced in the first spring. The upper end of the first installation rod is fixed with a hinge seat, so that the upper end of the first installation rod is rotatably fixed on the top frame 101. The upper and lower ends can slide through the mounting block 107 , and the lower end of the first mounting rod has an external thread, and a lock nut is threaded on the external thread, and the lock nut is located below the mounting block 107 . The upper end of the first spring is fixed with the first mounting rod, and the lower end is fixed with the mounting block 107, so that the first spring can be compressed or stretched with the lifting of the mount...

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Abstract

The invention discloses an all-terrain shock-proof suspension type composite tracked robot moving platform which comprises a plate frame and track walking mechanisms fixed to the two sides of the plate frame. The bearing wheels on the moving platform of the robot are installed on the plate frame in a floatable mode through the Kristile suspension frame, the impact on the robot body caused by the uneven road surface can be well reduced, and good buffering and damping performance is achieved. The chain wheels at the two ends of the crawler belt play a role in driving and positioning, in addition, the chain wheels at the two ends are suspended on the disc frame through two first suspension arms arranged in a splayed shape, the upper ends of the first suspension arms are rotationally connected with the disc frame, the lower ends of the first suspension arms are elastically suspended on the upper top frame through first elastic bodies, and after assembly, the first elastic bodies are in a stretching state; through the structure, the two chain wheels play a role in tensioning the crawler belt. The front and back axle distance between the two chain wheels can be automatically adjusted according to the terrain and the platform load, through real-time adjustment, it is guaranteed that the caterpillar band has the tensioning force and does not disengage, and it is guaranteed that the robot works effectively and stably.

Description

technical field [0001] The invention relates to the field of crawler robots, in particular to an all-terrain shock-absorbing suspension type composite crawler robot mobile platform. Background technique [0002] Tracked robots mainly refer to robots equipped with tracked chassis mechanisms. Tracked mobile robots have the advantages of large traction, not easy to slip, and good off-road performance. Crawler robots can carry a variety of loads, and are widely used in various industries such as inspections, investigations, collaborative transportation, fire protection, and municipal administration. They have good versatility and are widely used. [0003] In order to overcome the harsh open-air working environment and changing road conditions, the crawler robot is often equipped with a suspension system with a shock-absorbing design for the vibration of the laser radar, camera, thermoforming and other expensive precision equipment on board. The suspension can alleviate the vibr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/108B62D55/30
CPCB62D55/108B62D55/30
Inventor 张永芳
Owner 河北石安特智能科技有限公司
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