CN216805632U

CN216805632U - Flexible track robot with variable degree of freedom

Info

Publication number: CN216805632U
Application number: CN202220545479.7U
Authority: CN
Inventors: 张尚盈; 张博伟; 于浩; 肖莉; 张继磊; 李�杰
Original assignee: Wuhan Institute of Technology
Current assignee: Wuhan Institute of Technology
Priority date: 2022-03-14
Filing date: 2022-03-14
Publication date: 2022-06-24
Anticipated expiration: 2032-03-14

Abstract

The utility model discloses a flexible variable-freedom-degree tracked robot which comprises a variable-freedom-degree track, a supporting assembly, a chain wheel group, an auxiliary locking assembly and an unlocking mechanism, wherein the supporting assembly is used as a variable-freedom-degree track main body supporting structure, the variable-freedom-degree track comprises a plurality of track single bodies which are sequentially connected, the variable-freedom-degree track is driven by the chain wheel groups arranged on the front side and the rear side of the supporting assembly, the auxiliary locking assembly is arranged on the front side of the supporting assembly and used for locking adjacent track single bodies, and the unlocking mechanism is arranged on the rear side of the supporting assembly and used for unlocking the track single bodies. The crawler robot can tilt and cross obstacles within a certain gradient range, has strong obstacle crossing capability, large flexibility and high flexibility, can be applied to various different fields, and has a wide application range.

Description

Flexible track robot with variable degree of freedom

Technical Field

The utility model relates to the technical field of tracked robots, in particular to a flexible and variable-degree-of-freedom tracked robot.

Background

The existing track robot mainly uses a track with unchangeable degree of freedom, and when the track robot meets an obstacle with a steep contact surface, the track is easy to slip and the like, so that the obstacle cannot be effectively crossed.

When the crawler robot climbs over an obstacle, the existing partial crawler robot lacks flexibility, when the crawler robot is small in size, the crawler robot is difficult to climb over a steep obstacle, and the change of the center of gravity caused by the lack of flexibility is not stable enough, which is also an important reason for the poor climbing ability.

SUMMERY OF THE UTILITY MODEL

Aiming at the technical problems, the utility model provides a flexible and degree-of-freedom-variable tracked robot which can tilt and cross obstacles within a certain gradient range, has strong obstacle crossing capability, large flexibility and high flexibility, can be applied to various different fields and has wide application range.

The utility model provides a flexible variable degree of freedom track robot, includes variable degree of freedom track, supporting component, sprocket group, supplementary locking Assembly and release mechanism, the supporting component is as variable degree of freedom track main part bearing structure, variable degree of freedom track includes a plurality of track monomers of connecting in order, through installing the sprocket group drive in both sides around the supporting component, supplementary locking Assembly installs in the supporting component front side for lock adjacent track monomer, release mechanism installs in the supporting component rear side for relieve track monomer and lock.

Preferably, the track unit comprises a walking block, two groups of locking pins and a first connecting rod, the two groups of locking pins are oppositely arranged on the same side of the walking block, the walking block is provided with spiral teeth for limiting the locking pins, the first connecting rod penetrates through the spiral teeth and the locking pins, adjacent walking blocks are hinged through the ends of the first connecting rod, the locking pins can axially move along the first connecting rod under the action of an auxiliary locking assembly and lock the two adjacent groups of walking blocks, and convex blocks meshed with the chain wheel sets are symmetrically arranged on two sides of the walking blocks.

Preferably, the locking pin comprises a rotating shaft, arc-shaped fixture blocks and two cylindrical bosses, the rotating shaft is inserted into the spiral teeth, the arc-shaped fixture blocks are parallel to the axis of the first connecting rod and fixed on the rotating shaft, arc-shaped grooves matched with the arc-shaped fixture blocks on the adjacent walking blocks are formed in the walking blocks, the two cylindrical bosses are fixed on the rotating shaft in a staggered mode, one cylindrical boss is matched with the auxiliary locking assembly, and the other cylindrical boss is matched with the unlocking mechanism.

Preferably, the two sets of oppositely disposed rotation axes are offset by 20 °.

Preferably, the auxiliary locking assembly comprises a steering engine, a driving gear, a gear strip, an auxiliary locking platform and a second connecting rod, the steering engine is mounted on the supporting assembly through a fixing block, the driving gear is fixed on an output shaft of the steering engine, the gear strip is meshed with the driving gear, the auxiliary locking platform is fixedly connected with the gear strip, the second connecting rod is mounted on the fixing block, and the auxiliary locking platform is connected with the second connecting rod in a sliding mode.

As the optimization of the technical scheme, the unlocking mechanism is a guide boss with a right trapezoid cross section, the guide boss is installed at the tail part of the supporting component through a U-shaped connecting rod, the guide boss is provided with two groups which are respectively arranged right opposite to a group of locking pins, the bevel edges of the two groups of guide bosses are oppositely arranged, and the short edge is positioned below.

Preferably, the U-shaped link is provided with a tooth guard portion for cooperating with the sprocket assembly, and the tooth guard portion is also mounted on the front side of the support member.

Preferably, the variable-degree-of-freedom caterpillar band is provided with two groups which are symmetrically arranged on two sides of the supporting component, each chain wheel group comprises two groups of front chain wheels and rear chain wheels, and each chain wheel group can independently drive the variable-degree-of-freedom caterpillar band on one side to move.

The utility model has the beneficial effects that:

through installing the stop pin on the robot track, make the degree of freedom between each other of track monomer can change in certain angle, thereby make the track robot can stick up the bending with certain angle, then turn over the comparatively precipitous barrier of wall, when turning over the barrier, because track and bearing structure all keep having great flexibility, the focus can keep stable change when turning over the barrier, this track robot hinders the ability reinforce more, flexibility is big, the flexibility ratio is high, can use multiple different fields, and the range of application is wide.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the support assembly.

Fig. 3 is a first structural schematic diagram of a track unit.

Fig. 4 is a second structural schematic diagram of the track unit.

Fig. 5 is a schematic structural diagram of the walking block.

Fig. 6 is a schematic structural view of the locking pin.

Fig. 7 is a schematic view of the auxiliary locking assembly.

Fig. 8 is a schematic structural view of the unlocking mechanism.

Fig. 9 is a schematic view of a non-locking structure of two adjacent walking blocks.

Fig. 10 is a schematic view of a 20-degree locking structure of two adjacent walking blocks.

Fig. 11 is a schematic view of a 0-degree locking structure of two adjacent walking blocks.

Fig. 12 is a simulation diagram of the crawler robot when the crawler robot climbs over an obstacle.

The drawings are as follows: the technical scheme includes that the four-freedom-degree crawler belt comprises a 1-variable freedom-degree crawler belt, a 2-supporting component, a 3-chain wheel group, a 4-auxiliary locking component, a 401-steering engine, a 402-driving gear, a 403-gear strip, a 404-auxiliary locking platform, a 405-connecting rod II, a 5-unlocking mechanism, a 6-crawler belt monomer, a 601-walking block, a 602-locking pin, a 602 a-rotating shaft, a 602 b-arc-shaped clamping block, a 602 c-cylindrical boss, 603-connecting rod I, a 7-spiral tooth, an 8-convex block, a 9-arc-shaped groove, a 10-fixing block, an 11-U-shaped connecting rod, a 12-tooth protecting part and a 13-lithium battery module.

Detailed Description

The technical scheme of the utility model is clearly and completely described below by combining the attached drawings of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without any inventive step, are within the scope of the present invention.

The flexible variable-freedom-degree tracked robot as shown in fig. 1 to 8 comprises a variable-freedom-degree track 1, a support assembly 2, a chain wheel set 3, an auxiliary locking assembly 4 and an unlocking mechanism 5, wherein the support assembly 2 serves as a main body support structure of the variable-freedom-degree track 1, the variable-freedom-degree track 1 comprises a plurality of track single bodies 6 which are connected in sequence and driven by the chain wheel sets 3 arranged on the front side and the rear side of the support assembly 2, the auxiliary locking assembly 4 is arranged on the front side of the support assembly 2 and used for locking the adjacent track single bodies 6, and the unlocking mechanism 5 is arranged on the rear side of the support assembly 2 and used for unlocking the track single bodies 6. The supporting member 2 is a conventional technique in the art, and therefore, the detailed structure thereof will not be described in detail.

In this embodiment, the track unit 6 includes a walking block 601, a locking pin 602 and a first connecting rod 603, the locking pin 601 is provided with two sets of pins, the two sets of pins are oppositely disposed on the same side of the walking block 601, the walking block 601 is provided with a spiral tooth 7 for limiting the locking pin 602, the first connecting rod 603 passes through the spiral tooth 7 and the locking pin 602, the adjacent walking blocks 601 are hinged through the end of the first connecting rod 603, the locking pin 602 can axially move along the first connecting rod 603 through the action of the auxiliary locking component 4 and lock the two adjacent walking blocks 601, and the two sides of the walking block 601 are symmetrically provided with a protrusion 8 engaged with the sprocket set 3.

In this embodiment, the locking pin 602 includes a rotating shaft 602a, an arc-shaped fixture block 602b and a cylindrical boss 602c, the rotating shaft 602a is inserted into the helical tooth 7, the arc-shaped fixture block 602b is parallel to the axis of the first connecting rod 603 and fixed on the rotating shaft 602a, the walking block 601 is provided with an arc-shaped groove 9 used in cooperation with the arc-shaped fixture block 602b on the adjacent walking block 601, the two cylindrical bosses 602c are fixed on the rotating shaft 602a in a staggered manner, one cylindrical boss 602a is used in cooperation with the auxiliary locking assembly 4, and the other cylindrical boss 602c is used in cooperation with the unlocking mechanism 5.

In the present embodiment, the two sets of rotation shafts 602a disposed oppositely are offset by 20 °.

In this embodiment, the auxiliary locking assembly 4 includes a steering engine 401, a driving gear 402, a gear bar 403, an auxiliary locking platform 404 and a second connecting rod 405, the steering engine 401 is mounted on the support assembly 2 through a fixing block 10, the driving gear 402 is fixed on an output shaft of the steering engine 401, the gear bar 403 is meshed with the driving gear 402, the auxiliary locking platform 404 is fixedly connected with the gear bar 403, the second connecting rod 405 is mounted on the fixing block 10, and the auxiliary locking platform 404 is slidably connected with the second connecting rod 405.

In this embodiment, release mechanism 5 is right trapezoid's direction boss for the cross section, the direction boss passes through U type connecting rod 11 to be installed at the 2 afterbody of supporting component, the direction boss is equipped with two sets ofly, is just setting up a set of stop pin 602 respectively, and the hypotenuse of two sets of direction bosses sets up relatively, and the minor face is located the below.

In the present embodiment, the U-shaped link 11 is provided with a tooth guard 12 used in cooperation with the sprocket set 3, and the tooth guard 12 is also attached to the front side of the support member 2.

In this embodiment, the variable-freedom caterpillar 1 is provided with two sets, which are symmetrically installed on both sides of the supporting component 2, and the sprocket set 3 comprises two sets of front sprockets and rear sprockets, and each set of sprockets can separately drive the variable-freedom caterpillar 1 on one side to move.

The change principle of the degree of freedom of the crawler single body 6 of the crawler robot is as follows:

in each variable-degree-of-freedom crawler 1, the locking pin 602 on the left side is used for achieving 0-degree locking of the adjacent crawler unit 6, the locking pin 602 on the right side is used for achieving 20-degree locking of the adjacent crawler unit 6, the cylindrical boss 602c on the locking pin 602, which is close to the side face of the crawler unit 6, is shorter and is used in cooperation with the unlocking assembly 5, and the cylindrical boss 602c, which is far away from the side face of the crawler unit 6, is longer and is used in cooperation with the auxiliary locking assembly 4.

When the crawler robot runs on a good road surface, the two groups of locking pins 602 are not inserted into the arc-shaped groove 9, the auxiliary locking table 404 is positioned at the center of the variable-degree-of-freedom crawler 1, the crawler robot cannot be contacted with any locking pin 602 in the running process, and at the moment, the adjacent walking blocks 601 can realize the transformation of angles of 20 degrees to-45 degrees, as shown in fig. 9;

when the crawler robot meets an obstacle and needs to climb, the auxiliary locking table 404 moves towards one side of the right locking pin 602 under the driving of the steering engine 401, when the locking pin 602 is in contact with the auxiliary locking table 404, under the guiding action of the auxiliary locking table 404, the auxiliary locking table moves along the length direction of the first connecting rod 603 while rotating along with the walking block 404, the arc-shaped fixture block 602b is inserted into the arc-shaped groove 9 of the adjacent walking block 601 to achieve the locking of 20 degrees of the adjacent walking block 601, as shown in fig. 10, at the moment, the head of the robot tilts, after the auxiliary locking table 404 acts on a plurality of groups of right locking pins 602, the crawler robot tilts by a certain height to meet the requirement of climbing over the obstacle, the robot needs to be capable of continuing to advance at the certain angle after having the certain lifting angle, at the moment, the auxiliary locking table 404 moves towards one side of the left locking pin 602 under the driving of the steering engine 401 to achieve the locking of 0 degree of the adjacent walking block 601, as shown in fig. 11, in order to ensure stable walking of the tracked robot, the tracked robot continuously adjusts the degree of freedom between the tracks according to different shapes of the obstacles to realize obstacle crossing.

When the locking pin 602 inserted into the arc-shaped groove 9 rotates to the position of the crawler robot and contacts with the guide boss, the locking pin can automatically reset under the action of the guide boss, and the locking is released. Wherein, still be fixed with lithium cell module 13 on the supporting component 2 for with steering wheel 401 and the drive motor power supply of sprocket group 3.

The automation and the intellectualization of the tracked robot can be realized by installing a laser radar and related visual devices on the robot.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible variable-degree-of-freedom tracked robot is characterized in that: including variable degree of freedom track, supporting component, sprocket group, supplementary locking Assembly and release mechanism, the supporting component is as variable degree of freedom track main part bearing structure, variable degree of freedom track includes a plurality of track monomers of connecting in order, through installing the sprocket group drive in both sides around the supporting component, supplementary locking Assembly installs in the supporting component front side for lock adjacent track monomer, release mechanism installs in the supporting component rear side for relieve track monomer and lock.

2. The flexible, variable degree of freedom tracked robot of claim 1, wherein: the track monomer is including walking piece, stop pin and connecting rod one, the stop pin is equipped with two sets ofly, sets up in walking one side of piece relatively, the walking piece is equipped with the spiral tooth that plays limiting displacement with locking pin, connecting rod one passes spiral tooth and stop pin, and adjacent walking piece is articulated through the end of connecting rod one, the stop pin can lock adjacent two sets of walking pieces along a connecting rod axial displacement through supplementary locking assembly effect, walking piece bilateral symmetry is equipped with the lug of being connected with sprocket group meshing.

3. The flexible, variable degree of freedom tracked robot of claim 2, wherein: the locking pin comprises a rotating shaft, arc-shaped clamping blocks and two cylindrical bosses, the rotating shaft is inserted into the spiral teeth, the arc-shaped clamping blocks are parallel to the axis of the first connecting rod and fixed on the rotating shaft, arc-shaped grooves matched with the arc-shaped clamping blocks on the adjacent walking blocks are formed in the walking blocks, the two cylindrical bosses are fixed on the rotating shaft in a staggered mode, one cylindrical boss is matched with the auxiliary locking assembly, and the other cylindrical boss is matched with the unlocking mechanism.

4. The flexible, variable degree of freedom tracked robot of claim 3, wherein: the two oppositely arranged groups of rotating shafts are staggered by 20 degrees.

5. The flexible, variable degree of freedom tracked robot of claim 3, wherein: the auxiliary locking assembly comprises a steering engine, a driving gear, a gear strip, an auxiliary locking platform and a second connecting rod, the steering engine is installed on the supporting assembly through a fixing block, the driving gear is fixed on an output shaft of the steering engine, the gear strip is meshed with the driving gear, the auxiliary locking platform is fixedly connected with the gear strip, the second connecting rod is installed on the fixing block, and the auxiliary locking platform is connected with the second connecting rod in a sliding mode.

6. The flexible, variable degree of freedom tracked robot of claim 3, wherein: the unlocking mechanism is a guide boss with a right trapezoid cross section, the guide boss is installed at the tail part of the supporting component through a U-shaped connecting rod, the guide boss is provided with two groups and is arranged right for a group of locking pins respectively, the bevel edges of the two groups of guide bosses are arranged oppositely, and the short edge is located below.

7. The flexible, variable degree of freedom tracked robot of claim 6, wherein: the U-shaped connecting rod is provided with a tooth protecting part used in cooperation with the chain wheel set, and the front side of the supporting component is also provided with the tooth protecting part.

8. The flexible, variable degree of freedom tracked robot of claim 1, wherein: the variable-freedom-degree crawler belts are provided with two groups, the two groups are symmetrically arranged on two sides of the supporting component, each chain wheel group comprises two groups of front chain wheels and rear chain wheels, and each chain wheel group can independently drive the variable-freedom-degree crawler belt on one side to move.