CN210047553U - Robot track structure - Google Patents

Abstract

The utility model relates to the technical field of robots, and discloses a robot track structure, which is characterized in that a tensioning wheel, a walking wheel, a swing arm mechanism and a connecting plate are arranged for structural connection, the tensioning wheel and the walking wheel are both arranged on the swing arm mechanism, when the robot track structure needs maintenance or disassembly and replacement, the robot track structure can be disassembled only by disassembling a bolt fixed on a robot body by the connecting plate, and the robot track structure is convenient and rapid; and through set up the emollient piece in second arm body and first arm body junction, when being convenient for second arm body and first arm body relative rotation, direct friction when also avoiding second arm body and first arm body to rotate reduces the friction loss, reduces track structure's life.

Description

Robot track structure

Technical Field

The utility model relates to the technical field of robot, specifically be a track structure of robot.

Background

Mobile robot is more and more popular now, use the track type robot for example, be applied to a plurality of fields, for example in the aspect of the fire control, but the swing arm structure swing joint junction on the present most track type robot chassis is partial fixed knot structure, and for the activity that does not influence the swing arm axle, need reserve sufficient space in the junction axial, this just leads to the track operation, it is bigger to rock, the friction loss of swing arm activity is big, the track type robot chassis working life is short has been led to, and robot automobile body and track shelf are as an organic whole, lead to the later stage to the maintenance of track drive support bracket part, it is inconvenient to dismantle the change.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides a track structure of robot has solved the tracked robot chassis and has hung swing arm freely movable joint part and be fixed knot structure to and robot automobile body and track structure maintain, dismantle and change inconvenient problem.

(II) technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a track structure of robot, is applied to on the mobile robot, track structure of robot includes track body, drive wheel, take-up pulley and walking wheel, and the drive wheel is used for driving the track body and rotates, and the elasticity of track body is adjusted to the take-up pulley, still includes: the swing arm mechanism comprises a first arm body and a second arm body, the second arm body comprises a first end part and a second end part, the first end part is movably connected with the first arm body, a travelling wheel is mounted at the second end part of the second arm body, and the second arm body on the upper side of the travelling wheel is movably connected with the first arm body through a shock absorber; one side of the connecting plate is detachably connected with the side face of the robot body, and the other side of the connecting plate is connected with the first arm body through a connecting piece, so that the swing arm mechanism is supported.

Preferably, the first end is designed to be opened at the middle part, so that the first end is sleeved outside the first arm body.

Preferably, the first arm body is provided with a through hole at the movable connection part with the first end part, a bearing sleeve is fixedly arranged in the through hole, and the middle part of the bearing sleeve is connected with the first end part through a bolt.

Preferably, two sides of the opening of the first end part are provided with lubricating pieces, and the lubricating pieces can be abutted against the side surface of the first arm body.

Preferably, the lubricating member is a copper sheet.

Preferably, the connecting plate is mounted on a side surface of the robot body by bolts.

(III) advantageous effects

Compared with the prior art, the utility model provides a track structure of robot possesses following beneficial effect:

according to the robot crawler structure, the tensioning wheel, the walking wheel, the swing arm mechanism and the structural connection among the connecting plates are arranged, the tensioning wheel and the walking wheel are both arranged on the swing arm mechanism, when the robot crawler structure needs maintenance or disassembly and replacement, the robot crawler structure can be disassembled only by disassembling bolts which are used for fixing the connecting plates on a robot body, and the robot crawler structure is convenient and quick; and through set up the emollient piece in second arm body and first arm body junction, when being convenient for second arm body and first arm body relative rotation, direct friction when also avoiding second arm body and first arm body to rotate reduces track structure's life.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a sectional view of the present invention;

FIG. 3 is a schematic view of the mounting structure of the second arm and the bearing housing of the present invention;

fig. 4 is a usage state diagram of the present invention.

In the figure: the robot comprises a crawler body 1, a driving wheel 2, a tensioning wheel 3, a traveling wheel 4, a swing arm 5, a first arm 51, a through hole 511, a bearing sleeve 512, a second arm 52, a first end 521, a lubricating piece 5211, a second end 522, a shock absorber 6, a connecting plate 7, a robot body 8 and a connecting piece 9.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to the drawings, the utility model provides a technical scheme: the utility model provides a track structure of robot, is applied to mobile robot on, track structure of robot includes track body 1, drive wheel 2, take-up pulley 3 and walking wheel 4, and drive wheel 2 is used for driving track body 1 and rotates, and take-up pulley 3 adjusts track body 1's elasticity, still includes: the swing arm mechanism 5 is connected with the connecting plate 7, the swing arm mechanism 5 comprises a first arm body 51 and a second arm body 52, the second arm body 52 comprises a first end 521 and a second end 522, the first end 521 is movably connected with the first arm body 51, the second end 522 of the second arm body 52 is provided with a traveling wheel 4, and the second arm body 52 on the upper side of the traveling wheel 4 is movably connected with the first arm body 51 through a shock absorber 6; one side of the connecting plate 7 is detachably connected with the side surface of the robot vehicle body 8, the other side of the connecting plate 7 is connected with the first arm body 51 through the connecting piece 9, and then the swing arm mechanism 5 is supported, wherein the connecting plate 7 and the connecting piece 9 are connected through welding.

According to the scheme, the input end of the driving wheel 2 is in driving connection with the output shaft of the motor arranged in the robot body 8, the driving wheel 2 further drives the track body 1 to rotate, the tensioning wheel 3 is arranged on the first arm body 51 through the tensioning device, the extension amount of the tensioning wheel 3 can be adjusted through the tensioning device, so that the tightness of the track body 1 is adjusted, the travelling wheel 4 is arranged below the first arm body 51 through the second arm body 52 and forms a triangular fixed structure with the shock absorber 6, and the first arm body 51 is connected with one end of the connecting plate 7 through the connecting piece 9, so when the track structure of the vehicle body needs maintenance or replacement, the track structure can be detached from the robot body 8 in a modularized way only by detaching and separating the connecting plate 7 from the robot body 8, so that the maintenance or replacement is convenient, when the robot walks in a rugged place or in bad road conditions, since the first end 521 is movably connected to the first arm 51, the shock absorber 6 can provide a certain degree of cushioning effect by extension and contraction.

Finally, in the robot crawler structure, in order to facilitate maintenance and disassembly, the whole crawler structure can be disassembled from the robot body 8, and due to the movable connection between the first end portion 521 and the first arm 51, the robot crawler structure can adapt to different road conditions, and the service life of the robot chassis is prolonged.

Specifically, the first end 521 is designed to have an open middle, so that the first end 521 is sleeved outside the first arm 51, and the first end 521 can rotate relative to the first arm 51 by a certain angle.

Furthermore, a through hole 511 is formed in the movable connection position of the first arm body 51 and the first end portion 521, a bearing sleeve 512 is fixedly installed in the through hole 511, the middle of the bearing sleeve 512 is connected with the first end portion 521 through a bolt, namely, the bearing sleeve 512 is fixedly installed in the first arm body 51, the bolt penetrates through the middle of the bearing sleeve 512, two sides of the bolt penetrate through the first end portion 521 respectively, the first end portion 521 is limited through a nut, a gap of 0.5-1mm is reserved between the nut and the outer side surface of the first end portion 521, the first end portion 521 and the first arm body 51 are prevented from being limited from rotating, meanwhile, the crawler structure is limited from shaking too much, the service life of the connection position of the first end portion 521 and the first arm body 51 is influenced, and the service life.

Meanwhile, the two sides of the opening of the first end 521 are provided with the lubricating pieces 5211, the lubricating pieces 5211 can abut against the side surface of the first arm 51, that is, the lubricating pieces 5211 are arranged between the first end 521 and the first arm 51 to play a role in lubrication, so that the first end 521 is prevented from directly generating rigid friction with the first arm 51, and the relative rotation effect of the second arm 52 and the first arm 51 is influenced, and the service life of the joint of the first end 521 and the first arm 51 is also influenced.

Specifically, the lubricating member 5211 is preferably a copper sheet, but is not limited to a copper sheet, and a plane push bearing can be used, which both serve to facilitate the relative rotation of the second arm 52 and the first arm 51.

Specifically, the connecting plate 7 is mounted on the side surface of the robot vehicle body 8 through bolts, so that when the robot crawler structure needs maintenance or disassembly and replacement, the bolts for fixing the connecting plate 7 on the side surface of the robot vehicle body 8 are unscrewed, and the crawler structure can be disassembled in a modularized mode.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides a track structure of robot, is applied to on the mobile robot, track structure of robot includes track body (1), drive wheel (2), take-up pulley (3) and walking wheel (4), and drive wheel (2) are used for driving track body (1) and rotate, and the elasticity of track body (1) is adjusted in take-up pulley (3), its characterized in that still includes:

the swing arm mechanism (5), the swing arm mechanism (5) includes a first arm body (51) and a second arm body (52), the second arm body (52) includes a first end portion (521) and a second end portion (522), the first end portion (521) is movably connected with the first arm body (51), a traveling wheel (4) is installed on the second end portion (522) of the second arm body (52), and the second arm body (52) on the upper side of the traveling wheel (4) is movably connected with the first arm body (51) through a shock absorber (6);

one side of the connecting plate (7) is detachably connected with the side surface of the robot vehicle body (8), and the other side of the connecting plate (7) is connected with the first arm body (51) through a connecting piece (9) so as to support the swing arm mechanism (5).

2. A robot crawler structure according to claim 1, wherein: the first end part (521) is designed to be opened in the middle, so that the first end part (521) is sleeved on the outer side of the first arm body (51).

3. A robot crawler structure according to claim 2, wherein: the movable connection part of the first arm body (51) and the first end part (521) is provided with a through hole (511), a bearing sleeve (512) is fixedly installed in the through hole (511), and the middle part of the bearing sleeve (512) is connected with the first end part (521) through a bolt.

4. A robot crawler structure according to claim 2, wherein: two sides of the opening of the first end part (521) are provided with lubricating pieces (5211), and the lubricating pieces (5211) can be abutted against the side surface of the first arm body (51).

5. A robot crawler structure according to claim 4, wherein: the lubricating piece (5211) is a copper sheet.

6. A robot crawler structure according to claim 1, wherein: the connecting plate (7) is installed on the side face of the robot car body (8) through bolts.

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