CN106167057A - Flexible element series connection crawler belt and there is its fire-fighting robot mobile platform - Google Patents

Abstract

The invention provides a crawler track with flexible parts in series, which includes: track blocks, spacers, flexible connecting wires, and locking parts; the track blocks include: a track block body, and edge connection There are not less than two holes; guides, the guides are arranged in the upper middle part of the main body of the crawler block; the spacer is provided with a central connection hole; the flexible connecting line is sequentially passed through the track block The side connection hole of the spacer is connected with the center connection hole of the spacer, and a plurality of crawler blocks are connected with the spacer at intervals to form a ring; the locking piece is connected with the flexible connection line and connects the end of the flexible connection line Head locked. The invention adopts different numbers of crawler blocks, spacers and flexible connecting wires of different lengths to form crawlers of various specifications, and uses flexible connecting wires instead of pins connecting metal crawler shoes, and is light in weight. The invention also proposes a mobile platform for a fire-fighting robot, the crawler unit of which adopts flexible parts in series.

Description

Tandem track of flexible parts and mobile platform of fire fighting robot with it

technical field

The invention relates to a crawler in series with flexible parts, which belongs to the field of crawler-type mobile robot accessories and can be used in the design of a fire-fighting robot mobile platform.

Background technique

The crawler-type walking mechanism has good terrain adaptability and terrain passability, and strong obstacle-surmounting ability, so it has been widely used in mobile robots. Its crawler form of present crawler mobile robot mostly is rubber crawler and metal crawler, as patent document (public number: CN104331113A) has proposed a kind of rubber crawler, although rubber crawler noise is little, vibration is little, light weight, but rubber crawler cannot Use in places with high temperature and open flames. Another example is a dual-power multifunctional crawler-type underground detection vehicle proposed in the patent document (publication number: CN205034199U). What its crawler adopts is a hard metal chain material. . The metal track is usually made of hinged track shoes by pins. There are many parts, strict size matching requirements, and large running resistance. No matter rubber track or metal track, once designed and processed, the pitch of the track cannot be adjusted, and the length of the pitch line of the rubber track is also fixed. For the high-temperature places with open flames, a fire detection robot for environmental detection or sampling needs a fire-resistant, lightweight and small crawler with a simple structure. In the design of fire-fighting robots, fire-fighting robots with different dimensions will be designed according to the actual tasks. Although the size and shape of the crawler shoes are sometimes the same, the pitch line length and pitch of the robot crawlers are different. If the crawler used by the robot utilizes the same crawler parts, it can be assembled into crawlers with different sizes of crawler pitch lines and pitches, which is conducive to the flexible design of the crawler of the fire-fighting robot.

Contents of the invention

In order to solve the technical problems existing in the prior art, an object of the present invention is to propose a series crawler with flexible parts, which is formed by connecting the track shoes in series with flexible parts, and can be assembled into different pitch line lengths and pitches. The track is simple in structure and light in weight.

The specific technical solution of the present invention is: a crawler track in series with flexible parts, including: track blocks, spacers, flexible connecting wires, and locking parts; There are side connection holes, the side connection holes are through holes, and there are no less than two; guides, the guides are arranged on the inner side of the middle part of the main body of the crawler block; the spacer is provided with a central connection hole ; The flexible connecting line passes through the side connection hole of the crawler block and the central connection hole of the spacer in sequence, and connects a plurality of track blocks with the spacer at intervals to form a ring; the locking piece and the spacer the flexible connecting wire and lock the end of the flexible connecting wire.

Optionally, in the technical solution of the present invention, the spacer is spherical or drum-shaped, the spacer is between the two track shoes, and the spacer placed between the two track shoes The spacer is not less than one. The flexible connecting wire is a steel wire rope.

Optionally, in the technical solution of the present invention, the guide and the main body of the track shoe are designed in one piece.

As one of the preferred ones, in the technical solution of the present invention, the main body of the crawler shoe is provided with a bottom hole; the guide piece of the track shoe is a fixed circular guide column, and the fixed circular guide column It is arranged in the bottom hole of the main body of the track shoe and fixedly connected.

As one of the preferred ones, in the technical solution of the present invention, the main body of the crawler shoe is provided with a bottom hole; the guide of the track shoe is a rotating guide, and the rotating guide includes: A pin, the pin is arranged in the bottom hole on the main body of the crawler block and fixedly connected; a rotating sleeve, the rotating sleeve is rotatably sleeved outside the pin.

Further, in the technical solution of the present invention, grousers are provided under the track shoe main body. The track shoe main body can be made of metal material or non-metal material.

Further, in the technical solution of the present invention, the crawler shoe further includes a rubber block, and the rubber block is connected to the main body of the crawler shoe.

With the above-mentioned technical scheme and structure, the flexible track in series is composed of track blocks, spacers, flexible connecting wires and locking pieces. Compared with the conventional metal track, the pins connecting the track shoes are omitted. column. The flexible connecting line passes through the crawler block and the spacer in sequence, and connects a plurality of crawler block and the spacer at intervals to form a ring; because the flexible connecting line is used in series, the entire flexible track has a flexible sex. The spacer separates two adjacent track blocks into a gap, and the distance between the two gaps is the pitch of the track. The size and number of the spacers determine the pitch of the track. The number of track shoes determines the number and length of the track. Therefore, crawlers of various specifications can be formed by adopting different numbers of track blocks, spacers and flexible connecting lines with different lengths. Once the general metal track is processed, its pitch cannot be adjusted. Once the rubber track is designed and processed, its pitch and pitch line length cannot be changed. Therefore, the caterpillar involved in the present invention has flexibility in design and application.

The present invention also proposes a fire-fighting robot mobile platform. The fire-fighting robot mobile platform includes: a main car body and a crawler unit; two crawler units are respectively connected to both sides of the main car body. It includes: a track frame, the track frame is connected with the main vehicle body; a driving wheel assembly, the driving wheel assembly includes a driving wheel and a driving part, the driving wheel is installed on the track frame, and the driving wheel includes two left and right A driving side wheel, the driving member is connected with the driving wheel and drives the driving wheel to rotate; the steering wheel, the steering wheel is installed on the track frame, and the middle part of the steering wheel is provided with a wheel groove, so that The guide member is located in the wheel groove of the reversing wheel; the load-bearing wheel is connected to the track frame; and the load-bearing wheel is designed as a wheel pair structure, and each set of load-bearing wheels includes two The load-bearing side wheels connected coaxially, the guide member is arranged between the two load-bearing side wheels; the flexible member is connected in series, and the flexible member is connected in series. The reversing wheel, the outside of the load-bearing wheel, and the teeth of the two driving side wheels are located between the two crawler blocks of the flexible member tandem track and drive the flexible member tandem track.

With the above scheme, the teeth of the two driving side wheels of the driving wheel are located in the gap between the track shoes of the flexible member series crawler belt, and the middle part of the steering wheel is provided with the wheel groove pair. The guide part of the flexible member series crawler plays a position-limiting role; the load-bearing wheel includes two coaxially connected load-bearing side wheels that also play a position-limiting role on the guide part, so that the flexible The tandem track can be driven by the driving wheel to rotate around the driving wheel, the steering wheel, and the load-bearing wheel, and the problem of falling off of the track will not occur. The main car body is connected with the two crawler units to form a fire-fighting robot mobile platform. Because the fire-fighting robot mobile platform adopts the flexible parts in series with crawlers, the walking part is light in weight and can move freely. Metal material is used for the parts of the series crawler of flexible parts, and the flexible connection line is a steel wire rope, so that the series crawler of flexible parts has a certain ability of resisting high temperature and passing open flame. If the track shoe and the spacer are made of non-metallic material such as nylon, the flexible track can be made very light, which is suitable for the design of a fast-moving fire detection robot.

The following beneficial effects have been achieved through the above-mentioned technical scheme: (1) crawler tracks with various parameters with different pitch line lengths and different pitches can be assembled by using parts of the same type of crawler tracks; (2) because it is unnecessary to connect each track block metal pins, but connected by flexible connecting wires, even if the track shoe and the spacer are made of metal materials, the overall weight will be reduced; features.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a flexible member tandem crawler according to an embodiment of the present invention;

Fig. 2 is the partial enlarged view of I place in Fig. 1;

Fig. 3 is a three-dimensional schematic diagram of the crawler block of the flexible member series crawler shown in Fig. 1;

4 is a schematic perspective view of a spherical spacer according to an embodiment of the present invention;

5 is a perspective view of a drum-shaped spacer according to another embodiment of the present invention;

Fig. 6 is a schematic diagram of a series connection and locking method of flexible connecting wires according to an embodiment of the present invention;

Fig. 7 is a schematic diagram of flexible connecting wires connected in series and locked according to other embodiments of the present invention;

Fig. 8 is a schematic structural view of a crawler block according to an embodiment of the present invention;

Fig. 9 is a schematic structural view of a crawler block according to another embodiment of the present invention;

Fig. 10 is a schematic perspective view of a three-dimensional structure of a crawler block according to yet another embodiment of the present invention;

Fig. 11 is a partial cross-sectional view of the structure of the crawler block in the embodiment shown in Fig. 10;

Fig. 12 is a schematic perspective view of the three-dimensional structure of the track shoe main body in the embodiment shown in Fig. 10;

Fig. 13 is a schematic perspective view of a three-dimensional structure of a crawler block according to another embodiment of the present invention;

Fig. 14 is a three-dimensional schematic diagram of a fire-fighting robot mobile platform according to an embodiment of the present invention;

Fig. 15 is a schematic front view of the crawler belt running part of the embodiment shown in Fig. 14;

Fig. 16 is a schematic perspective view of the three-dimensional structure of the crawler belt running part of the embodiment shown in Fig. 14;

Reference signs:

100 flexible parts tandem crawler; 1000 crawler unit; 2000 main car body;

1 track block;

11 track block main body;

111 Side connection hole; 112 Bottom hole; 113 Ground teeth; 114 Connection hole; 115 Middle connection hole; 116 Locking hole;

12 guides;

1201 fixed circular guide column; 1202 rotating guide piece;

12021 pin; 12022 rotating sleeve;

13 rubber blocks;

131 connecting through holes;

14 threaded connectors;

2 spacers;

21 central connecting holes;

3 flexible connecting wires;

4 locking pieces;

5 crawler frames;

6 drive wheel assembly;

61 driving wheels;

611 driving side wheels;

62 driving parts;

7 reversing wheels;

71 wheel slots;

8 load-bearing wheels;

81 load-bearing side wheels;

detailed description

Embodiments of the present invention will be described in detail below, and the embodiments described with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

As shown in Fig. 1, Fig. 2 and Fig. 2, the flexible member tandem crawler of an embodiment of the present invention includes: crawler block 1, spacer 2, flexible connecting line 3, locking member 4; as shown in Fig. 3, the crawler Block 1 includes: crawler shoe main body 11, edge connection holes 111 are provided on both ends of crawler shoe main body 11, side connection holes 111 are through holes, and there are not less than two; guide piece 12, guide piece 12 is arranged on track shoe The inner side of the middle part of the main body 11; as shown in Figure 4 and Figure 5, the spacer 2 is provided with a central connection hole 21; The connecting hole 111 and the central connecting hole 21 of the spacer 2 connect a plurality of track blocks 1 with the spacer 2 at intervals to form a ring; the locking member 4 locks the end of the flexible connecting wire 3 . In the embodiment shown in Figure 6, a flexible connecting wire 3 is used to connect the crawler block 1 and the spacer 2 in series, and an 8-shaped double-hole aluminum sleeve is used as the locking member 4 to clamp the two ends of the flexible connecting wire 3 close together. In the embodiment shown in FIG. 7 , the flexible connecting wire 3 adopts a steel wire rope, and the locking member 4 adopts two steel wire rope chucks to respectively clamp the two ends of the steel wire rope.

Optionally, in some embodiments of the present invention, the spacer 2 is spherical, as shown in FIG. 4, and may also be drum-shaped, as shown in FIG. There is not less than one spacer 2 between two track blocks 1 . In the embodiment in Fig. 1 and Fig. 2, two spacers 2 placed between two track blocks 1 are used. In the embodiment in Fig. 3, the spacer 2 placed between two track blocks 1 3 are used; the flexible connecting line 3 is a steel wire rope. In some other embodiments, for light-duty fire-fighting detection robots that do not pass through places with high temperature and open flames, the flexible connecting line 3 can use flexible ropes of non-metallic materials, such as nylon ropes.

Optionally, in some embodiments of the present invention, the crawler block 1 can be made of metal materials or non-metal materials. The guide piece 12 and the main body 11 of the crawler shoe are integrally designed. Specifically, it can be processed by casting, such as cast aluminum, or by die forging; if non-metallic materials are used, such as nylon, it can be processed by injection molding.

In some embodiments of the present invention, as shown in Figure 8, the track block 1 adopts a split design, and the track block body 11 of the track block 1 is provided with a bottom hole 112; the guide member 12 of the track block 1 is a fixed circular guide column 1201 , the fixed circular guide post 1201 is set in the bottom hole 112 of the track shoe main body 11 and fixedly connected. Specifically, the fixed circular guide column 1201 can be riveted with the track shoe main body 11 .

In some embodiments of the present invention, as shown in Figure 9, the track block 1 adopts a split design, and the track block body of the track block 1 is provided with a bottom hole; the guide 12 of the track block 1 is a rotating guide 1202 , The rotation guide 1202 includes: a pin 12021, the pin 12021 is arranged in the bottom hole 112 on the track shoe main body 11 and is fixedly connected; Specifically, one end of the pin 12021 is provided with an end cap, and the other end is provided with a shaft shoulder. After the rotating sleeve 12022 is set on the pin 12021, one end of the rotating sleeve 12022 is placed in the bottom hole 112 of the main body 11 of the track block, and is connected with the track block. The main body 11 is riveted; one end of the rotating sleeve 12022 is limited by the end cap, and the other end is limited by the track block main body 11, so that the rotating sleeve 12022 can rotate flexibly on the pin 12021.

In some embodiments of the present invention, grousers 113 are provided under the main body 11 of the crawler shoe, as shown in FIG. 3 , FIG. 8 , and FIG. 9 .

In some embodiments of the present invention, as shown in FIG. 10 , FIG. 11 , and FIG. 12 , the track shoe 1 further includes a rubber block 13 , and the rubber block 13 is connected to the main body 11 of the track shoe. Specifically, the crawler shoe body 11 of the crawler shoe 1 is provided with a connection hole 114, and the rubber block 13 is also provided with a connection through hole 131, and the two are connected to the connection through hole 131 through the connection hole 114 through the threaded connector 14; In the embodiment shown in Fig. 11 and Fig. 12, the crawler shoe main body 11 and the guide piece 12 of the track shoe 1 adopt an integrated design, the guide piece 12 is divided into left and right parts, and there are two connecting holes 114, which are respectively located in On the left and right parts of the guide 12, the outer section of the connecting hole 114 is an inner hexagonal hole, which is convenient for the nut to be placed therein. The screw is connected with the nut after passing through the rubber block 13 and the track block main body 11, so that the rubber block 13 and the track block are connected. The block bodies 11 are fixed together. Described nut adopts anti-loosening self-locking nut.

In some embodiments of the present invention, a middle connection hole 115 is also provided in the middle of the main body 11 of the crawler shoe, and the middle connection hole 115 is also used for connecting the flexible connection wires 3 in series, as shown in FIG. 13 .

In some embodiments of the present invention, as shown in FIG. 13 , a locking hole 116 is provided on the main body 11 of the crawler shoe. The locking hole 116 intersects with the side connection hole 111 and the middle connection hole 115. There are locking screws for locking the flexible connecting wire 3 to prevent the accumulation of elongation of the flexible connecting wire 3 and avoid uneven pitches of the crawler belts 100 connected in series with flexible parts.

The present invention also proposes a fire-fighting robot mobile platform, as shown in Figure 14, the fire-fighting robot mobile platform includes: a main vehicle body 2000, and a crawler unit 1000; as shown in Figure 15 and Figure 16, there are two crawler units 1000, Respectively connected to both sides of the main vehicle body 2000, the crawler unit 1000 includes: a crawler frame 5, which is connected to the main vehicle body 2000; a driving wheel assembly 6, which includes a driving wheel 61 and a driving member 62, the driving wheel 61 is installed on the track frame 5, the driving wheel 61 includes two driving side wheels 611 on the left and right, the driving member 62 is connected with the driving wheel 61 and drives the driving wheel 61 to rotate; the reversing wheel 7, the reversing wheel 7 Installed on the track frame 5, the middle part of the steering wheel 7 is provided with a wheel groove 71, and the guide 12 is in the wheel groove 71 of the steering wheel 7; the load-bearing wheel 8, the load-bearing wheel 8 is connected with the track frame 5, and the load-bearing wheel 8 is designed It is a wheel set structure, each set of load-bearing wheels 8 includes two load-bearing side wheels 81 connected coaxially, and the guide 12 is arranged between the two load-bearing side wheels 81; flexible parts are connected in series with tracks 100, and flexible parts are connected in series with tracks 100 packs The gear teeth of the two driving side wheels 611 are located between the two crawler blocks 1 of the flexible part series track 100 and drive the flexible part series track 100. The fire-fighting robot mobile platform can be used to design a fire-fighting robot.

Using the above scheme, the teeth of the two driving side wheels 611 of the driving wheel 61 are in the gap between the track shoes 1 of the flexible parts series crawler belt 100, and the middle part of the steering wheel 7 is provided with a wheel groove 71 to guide the flexible parts series crawler belt 100 Part 12 acts as a limiter, and the load-bearing wheel 8 includes two coaxially connected load-bearing side wheels 81, which also play a limiter role on the guide member 12. In this way, the flexible member series track 100 can be driven by the driving wheel 61. The driving wheel 61, the reversing wheel 7, and the load-carrying wheel 8 rotate without the problem that the track falls off. Two crawler units 1000 are connected with the main vehicle body 2000 to form a robot mobile platform. Because the fire-fighting robot mobile platform adopts the flexible member series crawler belt 100, the walking part is light in weight and can move freely. The parts of the flexible part tandem crawler 100 are made of metal materials, and the flexible connecting wire 3 is a steel wire rope, so that the flexible part 2 tandem crawler has a certain ability to resist high temperature and pass through an open flame. If the crawler shoe 1 and the spacer 2 are made of non-metallic materials such as nylon, the flexible member series crawler 100 can be made very light, and is suitable for the design of a fast-moving fire detection robot.

Other components of the mobile platform and the robot are already in the prior art and are well known to those skilled in the art, so they will not be described in detail.

While the embodiments of the present invention have been shown and described, various changes, modifications, substitutions and variations can be made to those embodiments by those skilled in the art, the scope of the present invention being defined by the claims and their equivalents.

Claims (10)

1. A flexible part tandem track, characterized in that it comprises: Track blocks, the track blocks include: The main body of the crawler block, the side of the main body of the track block is provided with side connection holes, and the side connection holes are through holes, and there are not less than two; a guide piece, the guide piece is arranged at the upper middle part of the track shoe main body; a spacer, the spacer is provided with a central connection hole; A flexible connecting line, the flexible connecting line passes through the side connection holes of the crawler block and the central connection hole of the spacer in sequence, and connects a plurality of track blocks with the spacer at intervals to form a ring; A locking piece, the locking piece is connected with the flexible connecting wire and locks the end of the flexible connecting wire. 2. The flexure tandem track according to claim 1, wherein the spacer is spherical or drum-shaped, and the spacer is between the two track blocks, and is placed between the two track blocks. There is no less than one said spacer between blocks. 3 . The flexure tandem crawler according to claim 1 , wherein the guide is integrated with the main body of the crawler shoe. 4 . 4. The flexure tandem track according to claim 1, characterized in that: Bottom holes are provided on the main body of the track block of the track block; The guide piece of the track shoe is in the form of a cylinder, which is arranged in the bottom hole of the track shoe body and fixedly connected. 5. A flexible member tandem crawler according to claim 1, characterized in that: Bottom holes are provided on the main body of the track block of the track block; The guides of the track shoes include: a pin, and the pin is arranged in the bottom hole on the main body of the crawler block and fixedly connected; A rotating sleeve, the rotating sleeve is rotatably sleeved outside the pin. 6 . The flexible member tandem crawler according to claim 1 , wherein the flexible connecting member is a steel wire rope. 7 . 7 . The flexure tandem crawler according to claim 1 , wherein grousers are provided under the main body of the crawler shoe. 8 . 8 . The flexure tandem crawler according to claim 1 , wherein the crawler shoe further comprises a rubber block, and the rubber block is connected to the main body of the track shoe. 9. The flexure tandem track according to claim 1, characterized in that, the main body of the track shoe is made of metal material or non-metal material. 10. A fire-fighting robot mobile platform, said fire-fighting robot mobile platform comprising: main body; There are two crawler units, which are respectively connected to both sides of the main vehicle body, and the crawler units include: a track frame, the track frame is connected to the main car body; A driving wheel assembly, the driving wheel assembly includes a driving wheel and a driving member, the driving wheel is installed on the track frame, the driving member is connected with the driving wheel and drives the driving wheel to rotate; Reversing wheel, the reversing wheel is installed on the track frame, the middle part of the reversing wheel is provided with a wheel groove, and the guide is in the wheel groove of the reversing wheel; load-bearing wheels, the load-bearing wheels are connected with the track frame, and the load-bearing wheels are designed as a wheel set structure, each set of load-bearing wheels includes two coaxially connected load-bearing side wheels, and the guides are arranged on two Between the load-bearing side wheels; The flexible member tandem crawler according to any one of claims 1-9, the flexible member tandem crawler is enveloped outside the driving wheel, the steering wheel, and the load-bearing wheel, and the driving wheel Cogs are located between two of the track shoes of the flexure tandem track and drive the flexure tandem track.