CN212149076U

CN212149076U - Crawler driving device and crawler robot

Info

Publication number: CN212149076U
Application number: CN202020198434.8U
Authority: CN
Inventors: 林钢
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-02-24
Filing date: 2020-02-24
Publication date: 2020-12-15
Anticipated expiration: 2030-02-24

Abstract

The utility model discloses a track drive arrangement, track robot. The device comprises: the driving wheel comprises a rim, rim suckers are uniformly arranged on the outer surface of the rim, hubs are arranged at two ends of the rim, and the hubs and the rim form a sealed cavity; a track comprising a track suction cup that penetrates from a first end plane of the track to a second end plane of the track; the driving wheel is in plane contact with the first end of the annular inner ring of the crawler belt, the rim sucker is sucked with the first end of the crawler belt sucker, and the crawler belt is driven to rotate through the autorotation of the driving wheel. Through above-mentioned technical scheme, through setting up the sucking disc respectively on drive wheel and track to, rim sucking disc on the drive wheel can be in the same place with the track sucking disc laminating on the track. Make the drive wheel can provide drive power for the track more steadily like this, moreover, two sucking discs make up the back together, improve vacuum, provide stronger adsorption affinity in the twinkling of an eye.

Description

Crawler driving device and crawler robot

Technical Field

The embodiment of the utility model provides a relate to equipment control technical field, especially relate to a track drive arrangement, track robot.

Background

In the prior art, track machines are typically used to walk on a horizontal plane, similar to tank tracks. With the development of application technologies, the track machine gradually develops towards miniaturization, such as a miniaturized track robot.

In order to meet the climbing requirement of the tracked robot, some tracked robots are provided with suckers, for example, the tracked robot is adsorbed to the surface of an object through the suckers in the climbing process. The suction disc adsorption principle on the crawler robot is that when a crawler belt presses the surface of an object in the moving process of the robot, the suction disc is pressed to deform under the action of pressure, partial gas in the suction disc is discharged, and generally, the more the gas discharged from the suction disc is, the larger the suction force of the suction disc is; conversely, the less gas that is evacuated, the less suction force the suction cup draws.

In practical application, the tracked robot usually needs to bear a heavy load to climb on a vertical wall surface, the requirement on the adsorption capacity of the sucker is high, namely, the sucker needs to generate a large adsorption force to meet the requirement of high-altitude vertical climbing of the tracked robot.

Based on the above scheme, a technical scheme capable of providing stronger climbing capability is needed.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the embodiment of the utility model provides a crawler drive device, track robot for realize that crawler can be more stable firm carry out the scheme of vertical plane climbing.

In a first aspect, an embodiment of the present invention provides a track driving device, which includes:

the driving wheel comprises a rim, rim suckers are uniformly arranged on the outer surface of the rim, hubs are arranged at two ends of the rim, and the hubs and the rim form a sealed cavity;

a track comprising a track suction cup that penetrates from a first end plane of the track to a second end plane of the track;

the driving wheel is in plane contact with the first end of the annular inner ring of the crawler belt, the rim sucker is sucked with the first end of the crawler belt sucker, and the crawler belt is driven to rotate through the autorotation of the driving wheel.

Alternatively,

optionally, the driving wheel further comprises: a sealed drive motor;

the sealing driving motor is arranged in the sealing cavity and connected with the first hub.

Optionally, the driving wheel further comprises: a vacuum suction motor;

the vacuum suction motor is arranged in the sealed cavity and is connected with the second hub;

and the surface of the second hub is provided with an exhaust hole for exhausting vacuum-absorbing gas.

Optionally, the driving wheel further comprises: the two shifting wheel seats are connected with the driving wheel shaft through bearings;

the shifting wheel seat is provided with a concave hole, and a shifting wheel shaft of the shifting wheel is arranged in the concave hole; so that when the thumb wheel seat rotates along with the driving wheel, the thumb wheel is in a relatively fixed position.

Optionally, the rim suction cup comprises a reset diaphragm and a valve core;

when the rim sucker rotates to a separation point where the rim sucker and the crawler sucker are to be separated, the shifting wheel presses the reset membrane of the rim sucker to push the reset membrane and the valve core to be opened.

Optionally, ferromagnetic balls are arranged in the airflow holes of the crawler suction cups;

when the rim sucker rotates to a separation point where the rim sucker and the crawler sucker are to be separated, the air pressure difference between the first end plane and the second end plane of the crawler sucker pushes the ferromagnetic ball to open the air flow hole.

Optionally, the method further comprises: a driven wheel;

the magnet unit is arranged at the tangential position where the driven wheel and the crawler belt are to be contacted; or the magnet unit is arranged in front of the tangent position where the driven wheel and the crawler are in contact;

when the crawler belt sucker rotates to the position closest to the magnet unit, the magnet unit adsorbs the ferromagnetic balls to be separated from the air inlet, and airflow circulates.

Optionally, the driven wheel is connected with the driving wheel through a driving wheel bracket and a track beam;

the track beam includes a two-part beam structure connected by a folding hinge.

Optionally, the first end of the track sucker is provided with a protruding portion matched with the rim sucker, so that the track sucker and the rim sucker are in sealed suction and synchronization.

In a second aspect, an embodiment of the present invention provides a tracked robot, including the at least one track driving device of the first aspect.

The embodiment of the utility model provides an in, through setting up the sucking disc respectively on drive wheel and track to, rim sucking disc on the drive wheel can be in the same place with the track sucking disc laminating on the track, and the track sucking disc is when receiving sealed drive wheel oppression, and gas in the track sucking disc can be discharged simultaneously through track sucking disc mouth and rim sucking disc. Make like this that the drive wheel can be more stable provide drive power for the track, moreover, two sucking discs make up the back together, improve vacuum, provide stronger adsorption affinity in the twinkling of an eye.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural diagram of a track drive according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a driving wheel according to an embodiment of the present disclosure;

figure 3 is a schematic structural view of a rim suction cup provided in an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a track chuck according to an embodiment of the present disclosure;

fig. 5a and 5b are schematic structural diagrams of a magnet unit provided in an embodiment of the present application;

fig. 6a and 6b are schematic structural diagrams of a tracked robot provided in an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the embodiments of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two, but does not exclude the presence of at least one.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.

Fig. 1 is a schematic structural diagram of a track driving device provided in an embodiment of the present application, where the device includes:

the driving wheel 1, driving wheel 1 includes

rim

11, and 11 surfaces of rim evenly are provided with rim sucking disc 12, the both ends of rim 11 are provided with wheel hub, wheel hub with rim 11 forms sealed chamber 10.

A crawler 2, said crawler 2 comprising crawler suction cups 21 penetrating from a first end plane of said crawler 2 to a second end plane of said crawler 2.

The driving wheel 1 is in plane contact with a first end of an annular inner ring of the crawler 2, the rim sucker 12 is attracted with a first end of the crawler sucker 21, and the crawler 2 is driven to rotate by the driving wheel 1 in a self-rotation mode.

As can be seen from fig. 1, the rim 11 surface of the drive wheel 1 is uniformly provided with rim suction cups 12. These rim suction cups 12 penetrate through the rim 11, one end of the rim suction cup 12 is located on the surface of the rim 11, the other end of the rim suction cup 12 is located in the sealed cavity 10 formed by the rim 11 and the hub, and the sealed cavity 10 can be communicated with the outside through the rim suction cup 12.

Such a design allows the drive wheel 1 to be used in conjunction with the track 2. The driving wheel 1 can achieve similar suction driving effect through the rim suction cup 12 without being matched with the crawler belt 2.

As can be seen from fig. 1, the crawler belts 2 are uniformly provided with crawler belt suction cups 21. For ease of understanding and description, the inner annular surface of the track 2 will be referred to as a first end plane and the outer annular surface of the track 2 will be referred to as a second end plane. The track suction cups 21 extend from a first end plane of the track 2 to a second end plane of the track 2. The middle layer of the crawler 2 may be made of a buffer material such as sponge or natural rubber.

As can be seen from fig. 1, during use, the drive wheel 1 will be in planar contact with a first end of the endless inner track of the track 2. The rim sucker 12 is attracted with the first end of the track sucker 21. Thus, the driving wheel 1 can reliably and stably provide the driving force for the crawler 2, and relative sliding between the driving wheel 1 and the crawler 2 can not occur.

In order to make the rim suction cup and the track suction cup closely attract each other (without air leakage), a convex portion 212 is provided at the first end of the track suction cup 21. When the rim sucker and the crawler sucker are tightly attracted, and the crawler sucker is attracted, air can be exhausted through the disc opening of the crawler sucker and the rim sucker. Thereby obtaining better adsorption effect.

With the rotation of the driving wheel 1, the caterpillar band 2 is driven to rotate, the caterpillar band sucker 21 is sucked with the rim sucker 12, and a large closed sucker cavity is formed under the condition that the suckers are communicated. In the process of rotating the crawler 2, the suction cups can discharge the gas in the suction cups under the action of pressure. The sucking disc of exhaust gas will adsorb on the object surface, can realize reliable and stable adsorption effect, realizes vertical planar climbing operation.

Fig. 2 is a schematic structural diagram of a driving wheel according to an embodiment of the present disclosure. As can be seen from fig. 2, the drive wheel 1 further comprises: a sealing drive motor 13; the sealing driving motor 13 is disposed inside the sealing chamber 10 and connected to the first hub 131.

A sealed driving motor 13 is arranged in the sealed cavity 10, and a motor driving shaft drives the driving wheel 1 to rotate through a wheel hub. The space of the driving wheel 1 is saved while the driving effect is satisfied.

As shown in fig. 2, the driving wheel 1 further includes: a vacuum motor 14. The vacuum suction motor 14 is arranged inside the sealed cavity 10 and connected with a second hub 141; the second hub 141 has a vent hole 142 formed on a surface thereof for discharging vacuum gas.

In practical application, in order to meet the adsorption requirement of the driving wheel 1 and the crawler 2 and improve the adsorption capacity of the crawler 2 device, a vacuum suction motor 14 can be arranged inside the sealed cavity 10. Specifically, after the rim suction cup 12 and the track suction cup 21 are sucked, the sucked air in the rim suction cup 12 and the track suction cup 21 can be exhausted through the air exhaust hole 142 by the vacuum suction motor 14, so that the suction force of the track suction cup 21 is improved. By arranging the vacuum suction motor 14 in the sealed cavity 10, not only the space of the driving wheel 1 can be saved, but also the sealing effect of the sealed cavity 10 can be well improved.

As can be seen from fig. 2, the drive wheel 1 further comprises: two thumb wheel seats 152, thumb wheel seat 152 through the bearing with drive wheel 1 hub connection. The dial wheel seat 152 is provided with a concave hole 153, and a dial wheel shaft 151 of the dial wheel 15 is arranged in the concave hole 153; so that the thumb wheel 15 is in a relatively fixed position when the thumb wheel base 152 rotates along with the driving wheel 1.

In practice, the length of the thumb wheel shaft 151 is longer than that of the thumb wheel 15, and the thumb wheel shaft 151 is inserted into the concave hole 153 in the thumb wheel seat 152, so that the thumb wheel 15 is in a fixed position regardless of the rotation of the thumb wheel seat 152 along with the hub, for example, the thumb wheel 15 is kept at a position where the rim suction cups 12 of the driving wheel 1 and the track suction cups 21 of the track 2 are to be separated.

As an alternative, a magnet device can be provided on the drive wheel support 4, which generates an attracting force on the thumb wheel seat 152, so that the thumb wheel 15 is intended to be located close to the magnet device, which is mounted exactly at the tangent point. For example, since the recess 153 is located on the inner ring of the bearing, the thumb wheel 15 will also be in a relatively stable position and will not follow the rotation of the driving wheel. The magnet arrangement is used here to avoid that the sealing effect of the sealing chamber 10 is reduced by making a hole in the hub surface.

Figure 3 is a schematic structural diagram of a rim suction cup provided in an embodiment of the present application. The rim suction cup 12 includes a reset diaphragm 121 and a valve core 122. When the rim sucker 12 rotates to a separation point where the rim sucker 12 and the crawler sucker 21 are to be separated, the thumb wheel 15 presses the reset membrane 121 of the rim sucker 12, and pushes the reset membrane 121 and the valve core 122 to be opened.

In practical applications, the reset diaphragm 121 is normally closed when no external force is applied. When the reset membrane 121 rotates to the lower part of the thumb wheel, the reset membrane 121 deforms under the pressure action of the thumb wheel, the valve is opened and is communicated with the outside, and vacuum suction operation can be performed. Rolling friction is formed between the thumb wheel and the self-reset membrane 121, so that abrasion of the thumb wheel 15 to the reset membrane 121 is avoided, and the service life of the reset membrane 121 can be prolonged.

As can be seen from fig. 1, the tangential position is the position where the track 2 is tangential to the drive wheel 1 on the side where the track 2 is in contact with the object plane.

The rim sucker 12 is turned into an open state under the pressure action of the thumb wheel 15, and at the moment, the vacuum suction motor 14 can suck air in the crawler sucker 21 more thoroughly, so that the suction effect and the suction capacity of the sucker can be effectively improved.

Fig. 4 is a schematic structural diagram of a track suction cup according to an embodiment of the present application. Ferromagnetic balls 211 are arranged in the airflow holes of the crawler belt suction cups 21; when the rim sucker 12 rotates to the tangent line where the rim sucker 12 and the crawler sucker 21 are to be separated, the first end plane and the second end plane of the crawler sucker have air pressure difference, and the ferromagnetic ball is pushed to the air inlet of the air flow hole, so that the air flow is prevented from flowing.

When the crawler belt is not squeezed, the ferromagnetic balls 211 are blocked in the airflow holes, so that the airflow holes are in a sealed state, and the crawler belt suction cups 21 are prevented from air leakage. When the track is squeezed, the gas in the track suction cups needs to be discharged, and when the gas is discharged, the gas pressure difference is generated at the two ends of the track suction cups, so that the ferromagnetic balls 211 are jacked up, and the gas is discharged through the rim suction cups 12. After the discharge, the air pressure difference between the two ends of the crawler belt suction cup changes, and the ferromagnetic ball 211 blocks the airflow hole again.

In order to improve the adsorption force of the track sucker 21, negative air pressure can be generated through the vacuum suction motor 14, the pressure difference between the two ends of the track sucker is large, and the ferromagnetic ball 211 is jacked up by air flow, so that the track sucker 21 is vacuumized through the vacuum suction motor 14, and the vacuum degree is improved. When the pressure difference is not large, the ferromagnetic ball 211 blocks the air flow hole to prevent air leakage.

As can be seen in fig. 4, the suction cups 21 are evenly distributed throughout the track 2. Soft materials with good buffering effect, such as sponge, natural rubber and the like, are adopted in the middle of the crawler 2. Make track 2 have better buffer capacity, when meetting low barrier, under 2 cushioning effect of track, still can keep normal work, improve the adaptability and the operational capability of 2 devices of track.

As can be seen from fig. 1 and 4, the crawler 2 driving apparatus further includes: a driven wheel 3; the magnet unit is arranged at the tangential position where the driven wheel 3 and the crawler 2 are to be contacted; or, the magnet unit is arranged in front of the tangent position where the driven wheel 3 and the crawler 2 are to be contacted; when the crawler belt suction cup 21 rotates to a position closest to the magnet unit, the magnet unit attracts the ferromagnetic ball 211 to separate from the air inlet, and air flows.

Here, the tangential position or tangential point position refers to a tangential point position or tangential point position where the crawler 2 is attracted to the surface of the object and the driving wheel 1 or the driven wheel 3 contacts the crawler 2.

As can be seen from fig. 1, the track 2 drive comprises a track 2, a drive wheel 1 at the front end and a driven wheel 3 at the rear end. During the movement of the driving device of the crawler 2, the crawler suction cups 21 corresponding to the tangent point positions of the driving wheel 1 start to establish vacuum, so that the crawler suction cups 21 are sucked to the surface of the object. With the continuous forward movement of the driving device of the crawler 2, the crawler suction cups 21 which are moved to the tangent point positions corresponding to the driven wheels 3 are about to leave the surface of the object, and vacuum breaking is needed, and at the moment, the vacuum breaking action of the crawler suction cups 21 can be completed through the tangent lines of the driven wheels 3 or the magnet units arranged in front of the tangent lines.

Fig. 5a and 5b are schematic structural diagrams of a magnet unit according to an embodiment of the present application. As an alternative, the magnet unit may take the form of a structure comprising magnets and pole pieces as shown in fig. 5a and 5b, or a pole shaft and pole piece disc. The attracting ability of the magnet unit to the ferromagnetic ball 211 can be enhanced.

As shown in fig. 1, the driven wheel 3 is connected with the driving wheel through a driving wheel bracket 4 and a track beam 5.

Wherein the track beam 5 may be a complete beam. The crawler beam 5 can also comprise two parts which are connected by a folding hinge, a folding lock is arranged between the two hinges, a folding permanent magnet is locked by the folding lock when in use, and the crawler beam 5 is unfolded. When not in use, the crawler belt 2, the sealing strips and the like are in a relaxed state, and the service life of the crawler belt 2 can be prolonged.

Based on the same idea, the embodiment of the present application further provides a crawler 2 robot, where the crawler 2 robot includes at least one crawler 2 driving device described in the foregoing embodiment.

Fig. 6a and 6b are schematic structural diagrams of a tracked robot provided in an embodiment of the present application. The following description will be given taking the four crawler belts 2 as an example. The four-crawler-belt 2 all-terrain chassis can be formed by four crawler belts 2 and four crawler belt 2 frames. And each crawler 2 driver is controlled by a crawler 2 steering engine, and the angle is changed as required. Forming O-shaped, X-shaped, parallel distribution and the like to finish the steering and translation operations. The four-crawler-belt 2 chassis can be translated and steered through resultant force formed by different angles in an o-shaped configuration and an x-shaped configuration.

By providing suction cups on the drive wheel and the track, respectively, and the rim suction cups 12 on the drive wheel can be fitted together with the track suction cups on the track. Make the drive wheel can be more stable like this provide drive power for the track, moreover, two sucking discs make up the back together, provide stronger suction in the twinkling of an eye.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. A track drive, characterized in that it comprises:

the driving wheel is in plane contact with the first end of the crawler belt, the rim sucker is sucked with the first end of the crawler belt sucker, and the crawler belt is driven to rotate through the rotation of the driving wheel.

2. The apparatus of claim 1, wherein the drive wheel further comprises: a sealed drive motor;

3. The apparatus of claim 1, wherein the drive wheel further comprises: a vacuum suction motor;

4. The apparatus of claim 1, wherein the drive wheel further comprises: the two shifting wheel seats are connected with the shaft of the driving wheel through a bearing;

5. The apparatus of claim 4, wherein the rim suction cup comprises a reset diaphragm and a valve core;

6. The apparatus of claim 4, wherein ferromagnetic balls are disposed in the airflow holes of the track suckers;

7. The apparatus of claim 6, further comprising: a driven wheel;

a magnet unit is arranged at the tangent position where the driven wheel and the crawler belt are to be contacted; or the like, or, alternatively,

the magnet unit is arranged in front of a tangent position where the driven wheel and the crawler belt are to be contacted;

8. The device as claimed in claim 7, wherein the driven wheel is connected with the driving wheel through a driving wheel bracket and a track beam;

the track beam includes a two-part beam structure connected by a folding hinge.

9. The apparatus of claim 1, wherein the first end of the track suction cup is provided with a raised portion that mates with the rim suction cup to sealingly engage and synchronize the track suction cup with the rim suction cup.

10. A tracked robot, characterized in that it comprises at least one track drive as claimed in claims 1 to 9.