CN114454961B - Heavy-load climbing robot chassis system for police - Google Patents
Heavy-load climbing robot chassis system for police Download PDFInfo
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- CN114454961B CN114454961B CN202210216228.9A CN202210216228A CN114454961B CN 114454961 B CN114454961 B CN 114454961B CN 202210216228 A CN202210216228 A CN 202210216228A CN 114454961 B CN114454961 B CN 114454961B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/11—Understructures, i.e. chassis frame on which a vehicle body may be mounted with resilient means for suspension, e.g. of wheels or engine; sub-frames for mounting engine or suspensions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/003—Arrangements for attachment of dampers characterised by the mounting on the vehicle body or chassis of the damper unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/20—Stationary vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The invention discloses an police heavy-load climbing robot chassis system in the technical field of heavy-load robots, which comprises a frame body, wherein the front side and the rear side of the right end of the frame body are fixedly connected with first damping supports, the front side and the rear side of the left end of the frame body are fixedly connected with second damping supports, the second damping supports are rotatably connected with V-shaped supports, the left ends of the V-shaped supports and the end parts of the first damping supports are respectively provided with a first motor, and the right ends of the V-shaped supports are respectively provided with a second motor; the output shafts of the first motor and the second motor are both connected with a coupler, the couplers at the first motor are both connected with climbing wheels, and the couplers at the second motor are both connected with stabilizing wheels; the climbing wheel can increase the ground grabbing capacity when the friction force between the climbing wheel and the ground is too small; the robot can adapt to more terrains and increase the working range of the robot.
Description
Technical Field
The invention relates to the technical field of heavy-load robots, in particular to a chassis system of a heavy-load climbing robot for police.
Background
At present, the police robot chassis with all-terrain adaptability, high free mobility and heavy carrying capacity is not developed and applied to police service actual combat application, the police robot is only limited to basic functions such as service and reconnaissance, and the professional specificity adaptability and working environment complexity full coverage of police teams cannot be realized.
The reconnaissance type robot for active service police has poor terrain adaptability, low mobility and bearing limit, and is difficult to meet the requirement of cooperative support operation in the process of executing special tasks by police officers; the chassis of the present police reconnaissance robot in service is mostly crawler-type or Ackermann-type, and cannot keep high maneuverability under various bad terrains; the low maneuvering degree of freedom is not favorable for the basic requirement of random strain of special outburst tasks; the load bearing capacity of the active service police robot is small, necessary and continuous material supply cannot be provided for front-line personnel in time, the defect can shorten the combat duration of the police personnel, and the task completion quality is influenced.
Based on the above, the invention designs a chassis system of a heavy-load climbing robot for police, which aims to solve the problems.
Disclosure of Invention
The invention aims to provide a heavy-load climbing robot chassis system for police, which aims to solve the problems that the prior art proposes that the chassis of an on-line police reconnaissance robot has poor terrain adaptability, low mobility and bearing limit and is difficult to meet the cooperative support combat requirement of police officers in the process of executing special tasks; the chassis of the present police reconnaissance robot in service is mostly crawler-type or Ackermann-type, and cannot keep high maneuverability under various bad terrains; the low maneuvering degree of freedom is not favorable for the basic requirement of random strain of special outburst tasks; the load bearing capacity of the active service police robot is small, necessary and continuous material supply cannot be provided for front-line personnel in time, the defect can shorten the combat duration of the police personnel, and the task completion quality is affected.
In order to achieve the purpose, the invention provides the following technical scheme: a chassis system of a police heavy-load climbing robot comprises a frame body, wherein a first damping support is fixedly connected to the front side and the rear side of the right end of the frame body, a second damping support is fixedly connected to the front side and the rear side of the left end of the frame body, a V-shaped support is rotatably connected to the second damping support, a first motor is arranged at the left end of the V-shaped support and at the end part of the first damping support, and a second motor is arranged at the right end of the V-shaped support; the output shafts of the first motor and the second motor are both connected with a coupler, the couplers at the first motor are both connected with climbing wheels, and the couplers at the second motor are both connected with stabilizing wheels; the climbing wheel can increase the ground grabbing capacity when the friction force between the climbing wheel and the ground is too small.
As a further scheme of the invention, the second damping support comprises two first section steels, the first section steels are vertically and fixedly connected with the lower end of the support body, a second section steel is transversely and fixedly connected between the two first section steels, the lower ends of the first section steels are vertically and slidably connected with a shaft sleeve, the side wall of the shaft sleeve is fixedly connected with a first mounting plate, the lower end of the second section steel is longitudinally and rotatably connected with a damper, the lower end of the damper is fixedly connected with a third section steel, the third section steel is fixedly connected with the first mounting plate, and the first mounting plate is rotatably connected with the V-shaped support.
As a further scheme of the invention, the climbing wheel comprises first hubs which are in transmission connection with a coupler, a plurality of anti-slip wheels which are arranged in a circumferential array are arranged between the first hubs in a sliding manner along the radial direction of the first hubs, a control mechanism is arranged in the first hubs, a driving mechanism is arranged on the side surface of the first hubs, and an induction mechanism is externally connected to the coupler; the sensing mechanism can control the driving mechanism to drive the control mechanism to control the anti-skid wheel to extend out of the first wheel hub when the friction force between the climbing wheel and the ground is too small, so that the ground grabbing capacity of the climbing wheel is improved.
As a further scheme of the invention, the control mechanism comprises a guide rail disc, the guide rail disc is rotatably connected with a central shaft of the first hub, guide rails equal to the number of the anti-skid wheels are arranged on the outer side of the guide rail disc, second mounting plates are arranged at the end parts of the anti-skid wheels, the second mounting plates are slidably connected with the inner wall of the first hub along the radial direction of the first hub, slide bars are fixedly connected with the second mounting plates, the slide bars are respectively slidably connected with the guide rails on the outer side of the guide rail disc, and the drive mechanism can drive the guide rail disc to rotate.
As a further aspect of the present invention, the driving mechanism includes a gear ring, the gear ring is fixedly connected to the guide rail disc, the side wall of the first hub is rotatably connected to a transmission shaft, the right end of the transmission shaft is engaged with the gear ring, the left end of the transmission shaft is engaged with a second gear, the second gear is rotatably connected to the input shaft of the first hub, the left end of the second gear is fixedly connected to a brake pad, the second gear is rotatably connected to a pulling ring, and the sensing mechanism pulls the pulling ring to the left when the friction force between the climbing wheel and the ground is too small.
As a further scheme of the invention, the side wall of the first hub is connected with an internal gear in a unidirectional rotation manner, the transmission shaft is arranged at the axis of the internal gear, the transmission shaft is externally connected with a fixing piece, the transmission shaft is connected with the fixing piece in a rotation manner, and a shaft lever of the transmission shaft is connected with a third gear in a sliding manner; the third gear can mesh with the internal gear, and the chamfer has all been seted up to the tooth that the third gear is close to internal gear one end.
As a further scheme of the invention, the wheel surface of the anti-skid wheel is provided with anti-skid salient points, the anti-skid salient points gradually increase and begin to be sparse along the wheel surface of the anti-skid wheel, the end parts of the anti-skid wheel are fixedly connected with first gears, the first gears are rotatably connected with a second mounting plate, the first gears are meshed with chains, the chains are meshed with fourth gears, the fourth gears are rotatably connected with the second mounting plate, the inner side wall of the first hub is provided with limit grooves corresponding to the positions of the fourth gears, the rotating shafts of the fourth gears penetrate through the second mounting plate and are fixedly connected with sliding blocks, the side surfaces of the fourth gears are provided with racks, the racks are fixedly connected with fixing rods, and the fixing rods are fixedly connected with the second mounting plate.
As a further scheme of the invention, the stabilizing wheel comprises a second hub, the second hub is in transmission connection with the coupler, the wheel surface of the second hub is in rotary connection with a plurality of rotating wheels distributed in a circumferential array, and the rotating direction of the rotating wheels is tangential to the radial direction of the second hub.
Compared with the prior art, the invention has the beneficial effects that:
1. the first motor and the second motor respectively provide independent power for the corresponding gear trains, so that the robot has stronger power, and when one gear train fails under the influence of the environment, other gear trains continue to provide forward power for the robot, so that the failed gear train passes through the failure environment to continue to work, and the motion reliability of the robot is improved; meanwhile, when the friction force between the climbing wheels and the ground is too small, the self ground grasping capacity is increased, so that the robot can adapt to more terrains, and the working range of the robot is enlarged.
2. The support body left end receives when jolting at the removal in-process, and first mounting panel reciprocates along first shaped steel under the restriction of axle sleeve, compresses or tensile bumper shock absorber simultaneously, carries out the damping motion, makes the holding down force of support body left end to first mounting panel, can act on the V-arrangement support all the time, and then shares for V-arrangement support both ends, makes the climbing wheel and the stabilizer wheel at V-arrangement support both ends steadily reliable throughout grab and hold ground, provides the frictional force that advances for the robot.
3. The wheel face of climbing wheel comprises a plurality of antiskid wheels to this increase climbing wheel and the pressure between ground, make climbing wheel can extrude subaerial soft material and hard material direct contact, provide reliable frictional force for the robot gos forward.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic side sectional view of the overall structure of the present invention;
FIG. 3 is a schematic structural view of the second damping mechanism of FIG. 2 with the protective barrier removed;
FIG. 4 is a schematic view of the overall structure of the climbing wheel after being installed and driven;
FIG. 5 is a schematic front sectional view of FIG. 4;
FIG. 6 is a schematic sectional view of the propeller shaft of FIG. 4;
FIG. 7 is an enlarged view of the structure at A in FIG. 6;
FIG. 8 is a schematic cross-sectional view of the anti-skid wheel 7-2 shown in FIG. 4;
FIG. 9 is a cross-sectional view of the gear ring of FIG. 4;
FIG. 10 is a schematic sectional view of the right end of the drive shaft of FIG. 4;
FIG. 11 is a schematic cross-sectional view of the position of the limiting groove in FIG. 4;
fig. 12 is a general structural diagram of the stabilizing wheel after being installed and driven.
In the drawings, the components represented by the respective reference numerals are listed below:
the device comprises a frame body 1, a first damping support 2, a first motor 3-1, a second motor 3-2, a V-shaped support 4, a coupler 5, first section steel 6-1, second section steel 6-2, a shaft sleeve 6-3, a first mounting plate 6-4, a damper 6-5, third section steel 6-6, a first hub 7-1, a limiting groove 7-1, an anti-slip wheel 7-2, a guide rail disc 8-1, a first gear 8-2, a second mounting plate 8-3, a sliding rod 8-4, a chain 8-5, a fourth gear 8-6, a sliding block 8-7, a rack 8-8, a fixing rod 8-9, a gear ring 9-1, a transmission shaft 9-2, a second gear 9-3, a brake pad 9-4, a pulling ring 9-5, an internal gear 9-6, a third gear 9-7, a second hub 10-1 and a rotating wheel 10-2.
Detailed Description
Referring to fig. 1-12, the present invention provides a technical solution: a heavy-load climbing robot chassis system for police comprises a frame body 1, wherein the front side and the rear side of the right end of the frame body 1 are fixedly connected with a first damping support 2, the front side and the rear side of the left end of the frame body 1 are fixedly connected with a second damping support, the second damping supports are rotatably connected with a V-shaped support 4, the left end of the V-shaped support 4 and the end part of the first damping support 2 are respectively provided with a first motor 3-1, and the right end of the V-shaped support 4 is respectively provided with a second motor 3-2; the output shafts of the first motor 3-1 and the second motor 3-2 are both connected with a coupler 5, the couplers 5 at the first motor 3-1 are both connected with climbing wheels, and the couplers 5 at the second motor 3-2 are both connected with stabilizing wheels; the climbing wheel can increase the ground grabbing capacity when the friction force between the climbing wheel and the ground is too small.
The first motor 3-1 and the second motor 3-2 respectively provide independent power for the corresponding gear trains, so that the robot has stronger power, and when one gear train fails under the influence of the environment, other gear trains continue to provide forward power for the robot, so that the failed gear train passes through the failure environment to continue to work, and further the motion reliability of the robot is improved; meanwhile, when the friction force between the climbing wheels and the ground is too small, the self ground grasping capacity is increased, so that the robot can adapt to more terrains, and the working range of the robot is enlarged.
As a further scheme of the invention, the second damping support comprises two first section steels 6-1, the first section steels 6-1 are vertically and fixedly connected with the lower end of the support body 1, a second section steel 6-2 is transversely and fixedly connected between the two first section steels 6-1, the lower end of the first section steel 6-1 is vertically and slidably connected with a shaft sleeve 6-3, the side wall of the shaft sleeve 6-3 is fixedly connected with a first mounting plate 6-4, the lower end of the second section steel 6-2 is longitudinally and rotatably connected with a damper 6-5, the lower end of the damper 6-5 is fixedly connected with a third section steel 6-6, the third section steel 6-6 is fixedly connected with the first mounting plate 6-4, and the first mounting plate 6-4 is rotatably connected with the V-shaped support 4.
When the left end of the frame body 1 is bumped in the moving process, the first mounting plate 6-4 moves up and down along the first section steel 6-1 under the limitation of the shaft sleeve 6-3, meanwhile, the shock absorber 6-5 is compressed or stretched, and shock absorption movement is carried out, so that the downward pressure of the left end of the frame body 1 on the first mounting plate 6-4 can be always acted on the V-shaped support 4 and further shared to the two ends of the V-shaped support 4, and the climbing wheels and the stabilizing wheels at the two ends of the V-shaped support 4 can always stably and reliably grip the ground, and forward friction force is provided for the robot.
As a further scheme of the invention, the climbing wheel comprises a first hub 7-1, the first hub 7-1 is in transmission connection with a coupler 5, a plurality of anti-skid wheels 7-2 which are arranged in a circumferential array are arranged between the first hubs 7-1 in a radial sliding manner along the first hub 7-1, a control mechanism is arranged in the first hub 7-1, a driving mechanism is arranged on the side surface of the first hub 7-1, and an induction mechanism is externally connected with the coupler 5; when the friction force between the climbing wheel and the ground is too small, the sensing mechanism can control the driving mechanism to drive the control mechanism to control the anti-skid wheel 7-2 to extend out of the first hub 7-1, so that the ground grabbing capacity of the climbing wheel is improved.
The wheel surface of the climbing wheel is composed of a plurality of anti-skidding wheels 7-2, so that the pressure between the climbing wheel and the ground is increased, the climbing wheel can extrude soft materials on the ground to be in direct contact with hard materials, and reliable friction force is provided for the robot to advance.
As a further scheme of the invention, the control mechanism comprises a guide rail disc 8-1, the guide rail disc 8-1 is rotatably connected with a central shaft of a first hub 7-1, guide rails with the same number as that of anti-skid wheels 7-2 are arranged on the outer side of the guide rail disc 8-1, second mounting plates 8-3 are arranged at the end parts of the anti-skid wheels 7-2, the second mounting plates 8-3 are slidably connected with the inner wall of the first hub 7-1 along the radial direction of the first hub 7-1, slide bars 8-4 are fixedly connected with the second mounting plates 8-3, the slide bars 8-4 are respectively slidably connected with the guide rails on the outer side of the guide rail disc 8-1, and the drive mechanism can drive the guide rail disc 8-1 to rotate.
The extending process of the anti-skid wheel 7-2 is driven through the matching of the guide rail disc 8-1 and the sliding rod 8-4, the whole extending process is completed in a clamping mode, so that the position of the sliding rod 8-4 relative to the first hub 7-1 is more stable in the whole moving process, and further, the robot is more stable in the running process.
As a further scheme of the invention, the driving mechanism comprises a gear ring 9-1, the gear ring 9-1 is fixedly connected with a guide rail disc 8-1, the side wall of the first hub 7-1 is rotatably connected with a transmission shaft 9-2, the right end of the transmission shaft 9-2 is meshed with the gear ring 9-1, the left end of the transmission shaft 9-2 is meshed with a second gear 9-3, the second gear 9-3 is rotatably connected with an input shaft of the first hub 7-1, the left end of the second gear 9-3 is fixedly connected with a brake pad 9-4, the second gear 9-3 is rotatably connected with a pulling ring 9-5, and when the friction force between the climbing wheel and the ground is too small, the sensing mechanism drags the pulling ring 9-5 to the left.
Through the moment of torsion reduction between climbing wheel and shaft coupling 5, go to judge that the frictional force of climbing wheel and ground reduces, and then go to control the climbing wheel and warp in order to increase the land fertility of grabbing, whole feedback process is direct to be acted on the work piece by the information source, makes feedback process swift more stable.
As a further scheme of the invention, an inner gear 9-6 is connected to the side wall of the first hub 7-1 in a unidirectional rotation manner, the transmission shaft 9-2 is arranged at the axis of the inner gear 9-6, a fixing piece is externally connected to the transmission shaft 9-2, the transmission shaft 9-2 is connected with the fixing piece in a rotation manner, and a third gear 9-7 is connected to the shaft lever of the transmission shaft 9-2 in a sliding manner; the third gear 9-7 can be meshed with the internal gear 9-6, and the teeth of one end, close to the internal gear 9-6, of the third gear 9-7 are provided with chamfers.
Through the cooperation of the third gear 9-7 and the internal gear 9-6, in the process of gradually increasing the friction force between the deformation of the climbing wheel and the ground, when the torque is equal to the threshold value, under the limitation of the internal gear 9-6, the reverse rotation cannot occur to reset the anti-skidding wheel 7-2, at the moment, the climbing wheel keeps in a deformation state, and then the ground holding power of the climbing wheel is maintained, so that the robot can still stably move.
As a further scheme of the invention, the wheel surface of the anti-skid wheel 7-2 is provided with anti-skid salient points, the anti-skid salient points gradually increase and become sparse along the wheel surface of the anti-skid wheel 7-2, the end parts of the anti-skid wheel 7-2 are fixedly connected with a first gear 8-2, the first gear 8-2 is rotatably connected with a second mounting plate 8-3, the first gear 8-2 is meshed with a chain 8-5, the chain 8-5 is meshed with a fourth gear 8-6, the fourth gear 8-6 is rotatably connected with the second mounting plate 8-3, the inner side wall of the first hub 7-1 corresponding to the fourth gear 8-6 is provided with a limiting groove 7-1-1, the rotating shaft of the fourth gear 8-6 penetrates through the second mounting plate 8-3 and is fixedly connected with a sliding block 8-7, the side surface of the fourth gear 8-6 is provided with a rack 8-8, the rack 8-8 is fixedly connected with a fixing rod 8-9, and the fixing rod 8-9 is fixedly connected with the second mounting plate 8-3.
By rotating the anti-skid wheel 7-2, the wheel surface of the anti-skid wheel 7-2 facing the outer side of the first hub 7-1 is gradually changed from a small and dense salient point area to a large and thin salient point area, so that the anti-skid property of the anti-skid wheel 7-2 is improved.
As a further scheme of the invention, the stabilizing wheel comprises a second hub 10-1, the second hub 10-1 is in transmission connection with a coupler 5, the wheel surface of the second hub 10-1 is in rotary connection with a plurality of rotating wheels 10-2 distributed in a circumferential array, and the rotating direction of the rotating wheels 10-2 is tangential to the radial direction of the second hub 10-1.
When the robot turns to, the stabilizing wheel at the right end of the V-shaped support 4 is closer to the climbing wheel, so that the turning radius of the stabilizing wheel is shorter, the wheel surface of the stabilizing wheel is larger in transverse friction force, the rotating wheel 10-2 on the wheel surface of the stabilizing wheel rotates under the action of the transverse friction force, the wheel surface of the stabilizing wheel is prevented from being damaged by the transverse friction force, meanwhile, the end part of the rotating wheel 10-2 can be clamped with the raised part on the ground in the rotating process of the stabilizing wheel, and the ground grabbing force of the stabilizing wheel is increased.
The working principle is as follows: when the robot works, the left side of the frame body 1 is used as a vehicle head, and meanwhile, each first motor 3-1 and each second motor 3-2 respectively provide independent power for the corresponding wheel trains, so that the robot has stronger power, and when a certain wheel train fails under the influence of the environment, other wheel trains continue to provide forward power for the robot, so that the failed wheel train can cross the failure environment to continue to work, and the motion reliability of the robot is further improved;
when the frame body 1 passes through a slope, the climbing wheel at the left end of the V-shaped support 4 firstly enters the slope and tilts, at the moment, the V-shaped support 4 rotates, so that the climbing wheel at the left end of the V-shaped support 4 can enter the slope more easily without supporting the front end of the whole robot when entering the slope, and provides reliable advancing force for the follow-up whole robot to climb the slope, meanwhile, the weight at the front end of the whole robot acts on the first mounting plates 6-4 and acts at the middle position of the V-shaped support 4 through the first mounting plates 6-4, further, the weight at the front end of the whole robot acts on two ends of the V-shaped support 4 respectively, and further, the frame body 1 is moved, the climbing wheels and the stabilizing wheels at the two ends of the V-shaped support 4 can bear the weight of the robot all the time, and further, the climbing wheels and the stabilizing wheels at the two ends of the V-shaped support 4 can always bear the pressure on the ground, and the climbing wheels and the stabilizing wheels can always have reliable ground gripping force (when the left end of the frame body 1 is bumped in the moving process, the first mounting plate 6-4 moves up and down along the first profile steel 6-1 under the limitation of the shaft sleeve 6-3, and simultaneously the shock absorber 6-5 is compressed or stretched to perform damping movement, so that the downward pressure of the left end of the frame body 1 on the first mounting plate 6-4 can always act on the V-shaped support 4 to share the two ends of the V-shaped support 4, and the climbing wheels and the stabilizing wheels at the two ends of the V-shaped support 4 can always stably and reliably grip the ground, thereby providing forward friction force for the robot);
when the robot turns, the distance between the stabilizing wheel at the right end of the V-shaped support 4 and the climbing wheel is close, so that the turning radius of the stabilizing wheel is short, the wheel surface of the stabilizing wheel is subjected to large transverse friction force, the rotating wheel 10-2 on the wheel surface of the stabilizing wheel rotates under the action of the transverse friction force, the damage of the transverse friction force on the wheel surface of the stabilizing wheel is avoided, and meanwhile, in the rotating process of the stabilizing wheel, the end part of the rotating wheel 10-2 can be clamped at a convex part on the ground to increase the ground gripping force of the stabilizing wheel;
when the robot moves to an environment easy to slip (such as a slippery road surface or a mud pit), the friction force between the climbing wheel and the ground is reduced, correspondingly, the torque between the climbing wheel and the coupler 5 is reduced, when the torque is reduced to be lower than a threshold value, the induction mechanism drags the pulling ring 9-5 to the left (meanwhile, the third gear 9-7 is pushed to the right, the third gear 9-7 enters the inner gear 9-6 and is meshed with the inner gear 9-6, so that the transmission shaft 9-2 can only rotate in a single direction), the second gear 9-3 drives the brake pad 9-4 to move to the left, the brake pad 9-4 is further contacted with the fixed piece, the second gear 9-3 stops rotating under the action of the friction force between the brake pad 9-4 and the fixed piece, further, the second gear 9-3 rotates relative to the first hub 7-1, the transmission shaft 9-2 further rotates, in the rotation process of the transmission shaft 9-2, the guide rail disc 8-1 is driven to rotate by the gear ring 9-1, the guide rail disc 8-1 is pushed to the second hub 8-1 through the slide bar 8, and the smooth material of the second wheel 7-7 is extruded out of the smooth ground, and the smooth wheel is directly extruded ground (the smooth ground) when the friction force of the installation plate is increased;
in the process that the anti-skid wheel 7-2 just begins to extend out, the second mounting plate 8-3 slides towards the outer side of the first hub 7-1 to drive the fourth gear 8-6 to slide towards the outer side of the first hub 7-1, in the process, the fourth gear 8-6 moves relative to the rack 8-8 to enable the fourth gear 8-6 to rotate, the further fourth gear 8-6 drives the first gear 8-2 to rotate through the chain 8-5, the first gear 8-2 drives the anti-skid wheel 7-2 to rotate, and the wheel surface of the anti-skid wheel 7-2 towards the outer side of the first hub 7-1 is gradually changed into a large and thin salient point area from a small and dense salient point area, so that the anti-skid performance (aiming at a slippery road surface) of the anti-skid wheel 7-2 is improved;
when the robot gradually increases the friction force with the ground through the deformation of the climbing wheels, when the torque is equal to a threshold value, the induction mechanism slightly drags the pulling ring 9-5 to the right, further causes the brake pad 9-4 to slightly move to the right to be separated from the fixed part, but does not reset, simultaneously causes the third gear 9-7 to slightly move to the left, but still keeps meshed with the internal gear 9-6, the transmission shaft 9-2 still can only rotate in the forward direction, at the moment, the transmission shaft 9-2 is not driven to rotate in the forward direction any more, and at the same time, under the limitation of the internal gear 9-6, reverse rotation cannot occur to reset the anti-skid wheels 7-2, at the moment, the climbing wheels keep in a deformation state, and further, the ground gripping force of the climbing wheel set is maintained; when the torque is larger than the threshold value, the induction mechanism controls the pulling ring 9-5 and the third gear 9-7 to reset, at the moment, the third gear 9-7 is separated from the internal gear 9-6, the transmission shaft 9-2 can rotate reversely, at the moment, the weight of the robot can press the anti-skid wheel 7-2, so that the anti-skid wheel 7-2 has the tendency of retracting into the first hub 7-1, further, under the action of the gravity, the anti-skid wheel 7-2 retracts into the first hub 7-1, the guide rail disc 8-1 rotates reversely, the transmission shaft 9-2 rotates reversely, and the climbing wheel resets.
Claims (2)
1. The utility model provides a police heavily loaded climbing robot chassis system which characterized in that: the shock absorber comprises a frame body (1), wherein the front side and the rear side of the right end of the frame body (1) are fixedly connected with first shock absorption supports (2), the front side and the rear side of the left end of the frame body (1) are fixedly connected with second shock absorption supports, the second shock absorption supports are rotatably connected with V-shaped supports (4), the left ends of the V-shaped supports (4) and the end parts of the first shock absorption supports (2) are respectively provided with a first motor (3-1), and the right ends of the V-shaped supports (4) are respectively provided with a second motor (3-2); the output shafts of the first motor (3-1) and the second motor (3-2) are connected with couplers (5), the couplers (5) at the first motor (3-1) are connected with climbing wheels, and the couplers (5) at the second motor (3-2) are connected with stabilizing wheels; the climbing wheel can increase the ground grabbing capacity when the friction force between the climbing wheel and the ground is too small;
the second damping support comprises two first section steels (6-1), the first section steels (6-1) are vertically and fixedly connected with the lower end of the support body (1), a second section steel (6-2) is transversely and fixedly connected between the two first section steels (6-1), the lower ends of the first section steels (6-1) are vertically and slidably connected with shaft sleeves (6-3), the side walls of the shaft sleeves (6-3) are fixedly connected with first mounting plates (6-4), the lower ends of the second section steels (6-2) are longitudinally and rotatably connected with dampers (6-5), the lower ends of the dampers (6-5) are fixedly connected with third section steels (6-6), the third section steels (6-6) are fixedly connected with the first mounting plates (6-4), and the first mounting plates (6-4) are rotatably connected with V-shaped supports (4);
the climbing wheel comprises a first hub (7-1), the first hub (7-1) is in transmission connection with a coupler (5), a plurality of anti-skidding wheels (7-2) which are arranged in a circumferential array mode are arranged on the first hub (7-1) in a sliding mode along the radial direction of the first hub (7-1), a control mechanism is arranged in the first hub (7-1), a driving mechanism is arranged on the side face of the first hub (7-1), and an induction mechanism is connected to the coupler (5) in an external connection mode; when the friction force between the climbing wheel and the ground is too small, the sensing mechanism can control the driving mechanism to drive the control mechanism to control the anti-skid wheel (7-2) to extend out of the first hub (7-1) so as to increase the ground grabbing capacity of the climbing wheel;
the control mechanism comprises a guide rail disc (8-1), the guide rail disc (8-1) is rotationally connected with a central shaft of a first hub (7-1), guide rails with the number equal to that of anti-skid wheels (7-2) are arranged on the outer side of the guide rail disc (8-1), second mounting plates (8-3) are arranged at the end parts of the anti-skid wheels (7-2), the second mounting plates (8-3) are all in sliding connection with the inner wall of the first hub (7-1) along the radial direction of the first hub (7-1), sliding rods (8-4) are fixedly connected with the second mounting plates (8-3), the sliding rods (8-4) are respectively in sliding connection with the guide rails on the outer side of the guide rail disc (8-1), and the drive mechanism can drive the guide rail disc (8-1) to rotate;
the driving mechanism comprises a gear ring (9-1), the gear ring (9-1) is fixedly connected with a guide rail disc (8-1), the side wall of the first hub (7-1) is rotatably connected with a transmission shaft (9-2), the right end of the transmission shaft (9-2) is meshed with the gear ring (9-1), the left end of the transmission shaft (9-2) is meshed with a second gear (9-3), the second gear (9-3) is rotatably connected with an input shaft of the first hub (7-1), the left end of the second gear (9-3) is fixedly connected with a brake pad (9-4), the second gear (9-3) is rotatably connected with a pulling ring (9-5), and when the friction force between a climbing wheel and the ground is too small, the sensing mechanism pulls the pulling ring (9-5) leftwards;
an inner gear (9-6) is connected to the side wall of the first hub (7-1) in a one-way rotating mode, the transmission shaft (9-2) is arranged at the axis of the inner gear (9-6), a fixing piece is connected to the outside of the transmission shaft (9-2), the transmission shaft (9-2) is connected with the fixing piece in a rotating mode, and a third gear (9-7) is connected to the shaft lever of the transmission shaft (9-2) in a sliding mode; the third gear (9-7) can be meshed with the internal gear (9-6), and the teeth of one end, close to the internal gear (9-6), of the third gear (9-7) are provided with chamfers;
the wheel surface of the anti-skid wheel (7-2) is provided with anti-skid salient points, the anti-skid salient points gradually become larger and begin to be sparse along the wheel surface of the anti-skid wheel (7-2), the end portion of the anti-skid wheel (7-2) is fixedly connected with a first gear (8-2), the first gear (8-2) is rotatably connected with a second mounting plate (8-3), the first gear (8-2) is meshed with a chain (8-5), the chain (8-5) is meshed with a fourth gear (8-6), the fourth gear (8-6) is rotatably connected with the second mounting plate (8-3), the inner side wall of the first wheel hub (7-1) corresponding to the position of the fourth gear (8-6) is provided with a limiting groove (7-1-1), the rotating shaft of the fourth gear (8-6) penetrates through the second mounting plate (8-3) and is fixedly connected with a sliding block (8-7), the side surface of the fourth gear (8-6) is provided with a gear rack (8-8), and the rack (8-8) is fixedly connected with a fixing rod (9-3) and is fixedly connected with a second mounting plate (8-3).
2. The heavy-duty climbing robot chassis system for police as claimed in claim 1, wherein: the stabilizing wheel comprises a second hub (10-1), the second hub (10-1) is in transmission connection with the coupler (5), the wheel surface of the second hub (10-1) is rotationally connected with a plurality of rotating wheels (10-2) distributed in a circumferential array, and the rotating direction of the rotating wheels (10-2) is tangent to the radial direction of the second hub (10-1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210216228.9A CN114454961B (en) | 2022-03-07 | 2022-03-07 | Heavy-load climbing robot chassis system for police |
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| CN202210216228.9A CN114454961B (en) | 2022-03-07 | 2022-03-07 | Heavy-load climbing robot chassis system for police |
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| CN114454961B true CN114454961B (en) | 2022-11-11 |
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