CN-122009352-A - Multi-section crawler-type mapping robot chassis adaptive to complex terrain

CN122009352ACN 122009352 ACN122009352 ACN 122009352ACN-122009352-A

Abstract

The invention discloses a self-adaptive multi-section crawler type mapping robot chassis of complex terrain, which relates to the technical field of robot chassis and comprises a chassis frame and rubber tracks arranged on two sides of the chassis frame, wherein a workbench panel for supporting mapping instruments is arranged on the chassis frame, a wheel direction combination for driving a single group of rubber tracks is arranged on the chassis frame, a movement mechanism for adjusting the vertical section shape of the rubber tracks during operation is arranged on the chassis frame, the movement mechanism comprises a joint plate for supporting a directional wheel and a swinging wheel, the directional wheel and the joint plate are fixedly pivoted on the joint plate, and an array stress barrier component for driving the joint plate to swing and synchronously adjusting the horizontal position of a driving wheel to change the tension degree of the rubber tracks is arranged on the chassis frame.

Inventors

LI DAMING
WANG SHUANG
WANG HAIBO
YU YUE
ZHAO RAN
Ban Fengyang
ZHANG XIANGYU
MENG QINGYU
SUN YANFENG
HAN XUESONG
Ren Duohui
LIU GUOGUI
Guo Pengshuang
WANG BO
LIU XIUHUA

Assignees

中冶沈勘工程技术有限公司

Dates

Publication Date: 20260512
Application Date: 20260225

Claims (8)

1. The chassis is characterized in that the chassis frame is provided with a wheel set combination for transmitting a single set of rubber tracks, the wheel set combination consists of a directional wheel, a swinging wheel, a driving wheel and a plurality of groups of limiting wheels, and the chassis frame is provided with a movement mechanism for adjusting the vertical section shape of the rubber tracks during operation; The displacement mechanism comprises a joint plate for supporting a directional wheel and a swinging wheel, the directional wheel and the joint plate are respectively pivoted on the joint plate, a plurality of groups of limiting wheels are arrayed below the directional wheel at equal intervals, the joint plate swings freely in the vertical direction with the directional wheel as the center, and an array-changing stress barrier assembly for driving the joint plate to swing and synchronously adjusting the horizontal position of the displacement wheel so as to change the tension degree of the rubber track is arranged on a chassis frame; The chassis frame is provided with a rectangular annular folding frame for supporting the workbench panel, and the chassis frame is provided with a universal self-leveling assembly for adjusting the levelness of the rectangular annular folding frame.
2. The multi-section crawler-type mapping robot chassis adapting to complex terrains according to claim 1, wherein the horizontal heights of the driving wheels and the directional wheels are consistent, and a buffer assembly for driving the limiting wheels to deal with the terrains is arranged on the chassis frame.
3. The self-adaptive complex terrain multi-section crawler-type mapping robot chassis according to claim 1, wherein the array strain block assembly comprises a transverse shaft which is driven by a motor and freely rotates in the vertical direction, the transverse shaft is fixedly pivoted on a chassis frame, a double-convex plate is coaxially fixed on the transverse shaft, a notch convex plate is arranged on one side of the double-convex plate, which faces the joint plate, the notch convex plate is fixedly pivoted on the chassis frame, and the notch convex plate and the joint plate are coaxially fixedly arranged; The double-convex-disc notch comprises a notch convex disc, wherein a first blocking pin and a second blocking pin are fixedly connected to one side of the double-convex-disc notch convex disc, an upper guide groove for the first blocking pin to be in sliding connection is formed in the notch convex disc, and a lower guide groove for the second blocking pin to be in sliding connection is also formed in the notch convex disc.
4. The multi-section crawler-type mapping robot chassis adapting to complex terrains according to claim 3, wherein the array-changing obstacle-sensing assembly further comprises a parity rod fixedly sleeved on the transverse shaft, and a connecting rod is fixedly pivoted at one end of the parity rod far away from the transverse shaft; the chassis frame is provided with an extension rod and a rectangular groove for the extension rod to horizontally slide, the fixed shaft of the driving wheel rotates on the extension rod, and one end of the connecting rod, which is far away from the parity rod, rotates on the extension rod.
5. The multi-section crawler-type mapping robot chassis adapting to complex terrains according to claim 4, wherein when the longitudinal included angle between the connecting plate and the vertical line is the minimum, the rubber crawler between the swaying wheel and the limiting wheel is in a horizontal state.
6. The chassis of the self-adaptive complex terrain multi-section crawler-type surveying and mapping robot, which is characterized in that the buffer assembly comprises a peripheral bracket fixedly connected to a chassis frame, a group of V-shaped torsion discs are fixedly pivoted on the peripheral bracket corresponding to the positions above a plurality of groups of limiting wheels, and the limiting wheels are fixedly pivoted on the V-shaped torsion discs; The V-shaped torsion disc is far away from one end of the limiting wheel and is pivoted to the bottom column seat, the outer support is pivoted to the top column seat, a buffer spring is arranged between the top column seat and the bottom column seat, and two ends of the buffer spring are respectively and fixedly connected to the top column seat and the bottom column seat.
7. The chassis of the self-adaptive complex terrain multi-section crawler-type surveying and mapping robot, which is characterized in that the universal self-leveling component comprises a fork-shaped supporting seat fixedly connected to a chassis frame, a cross torsion column is arranged on the fork-shaped supporting seat, and the cross torsion column comprises a short column part and a long column part which are integrally formed and are arranged in a right-angle crossing manner; The two ends of the short column part are fixed to rotate on the fork-shaped supporting seat, the two ends of the long column part are fixed to rotate on the rectangular annular folding frame, and the rectangular annular folding frame is fixedly connected with the workbench panel.
8. The chassis of the self-adaptive complex terrain multi-section crawler-type surveying and mapping robot, as set forth in claim 7, wherein the outer peripheral surface of the rectangular annular folding frame is provided with two groups of electric push rods, the two groups of electric push rods are respectively positioned at two groups of side edges adjacent to the rectangular annular folding frame, the two groups of electric push rods comprise a fixed end and a telescopic end which are integrally formed, and both ends of the electric push rods are fixedly connected with ball pins, and ball seats for sliding connection with the corresponding ball pins are fixedly connected to the rectangular annular folding frame and the chassis frame.

Description

Multi-section crawler-type mapping robot chassis adaptive to complex terrain Technical Field The invention relates to the technical field of robot chassis, in particular to a multi-section crawler-type surveying and mapping robot chassis adaptive to complex terrains. Background With the deep application of robotics in the mapping field, there is an increasing need for robotic platforms capable of autonomous movement in complex unstructured terrains (e.g., ruins, mountains, marshes, ravines) and performing high-precision mapping tasks. Currently, mobile chassis for such scenes are mainly wheeled, single-segment tracked, and traditional multi-segment tracked. The crawler-type robot in the prior art still has certain defects, specifically: the crawler belt system is mostly in a fixed geometric configuration (generally in a rectangular shape or a trapezoid shape with a fixed inclination angle), in complex and changeable terrains, the real-time optimization of traction force and attitude is difficult to realize by the crawler belt with the fixed configuration, and the fixed crawler belt can only adopt a compromise design, so that the comprehensive performance under all terrains is limited; When mapping is performed on rugged terrains, high-precision mapping equipment (such as a laser radar, an oblique photographic camera and a high-precision IMU) has high requirements on static levelness and dynamic stability of a platform, and small inclination angles or high-frequency vibration of the platform can possibly cause the accumulation of three-dimensional point cloud distortion, image blurring and positioning calculation errors of acquired data, so that mapping data are seriously reduced or even disabled. Therefore, a multi-section crawler-type mapping robot chassis adaptive to complex terrains is provided. Disclosure of Invention The invention aims to provide a multi-section crawler-type mapping robot chassis adaptive to complex terrains, which has the advantages of coping with different terrains and further ensuring mapping precision, and solves the problem of limited comprehensive performance under all terrains. The invention provides a technical scheme that the chassis of the multi-section crawler type mapping robot self-adapting to complex terrains comprises a chassis frame and rubber tracks arranged on two sides of the chassis frame, wherein a workbench panel for supporting mapping instruments is arranged on the chassis frame, an inertia measuring unit for monitoring levelness of the workbench panel is further arranged on the chassis frame, a wheel set combination for transmitting a single set of rubber tracks is arranged on the chassis frame, the wheel set combination consists of a directional wheel, a swinging wheel, a driving wheel and a plurality of groups of limiting wheels, and a movement mechanism for adjusting the vertical section shape of the rubber tracks during operation is arranged on the chassis frame; The displacement mechanism comprises a joint plate for supporting a directional wheel and a swinging wheel, the directional wheel and the joint plate are respectively pivoted on the joint plate, a plurality of groups of limiting wheels are arrayed below the directional wheel at equal intervals, the joint plate swings freely in the vertical direction with the directional wheel as the center, and an array-changing stress barrier assembly for driving the joint plate to swing and synchronously adjusting the horizontal position of the displacement wheel so as to change the tension degree of the rubber track is arranged on a chassis frame; The chassis frame is provided with a rectangular annular folding frame for supporting the workbench panel, and the chassis frame is provided with a universal self-leveling assembly for adjusting the levelness of the rectangular annular folding frame. Preferably, the horizontal heights of the driving wheels and the directional wheels are consistent, and a buffer assembly for driving the limiting wheels to deal with the terrain change is arranged on the chassis frame. Preferably, the variable array stress barrier component comprises a transverse shaft which is driven by a motor and freely rotates in the vertical direction, the transverse shaft is fixed on the chassis frame in a rotating way, a double-convex disc is coaxially fixed on the transverse shaft, a notch convex disc is arranged on one side of the double-convex disc, which faces the connecting plate, of the double-convex disc, the notch convex disc is fixed on the chassis frame in a rotating way, and the notch convex disc and the connecting plate are coaxially and fixedly arranged; The double-convex-disc notch comprises a notch convex disc, wherein a first blocking pin and a second blocking pin are fixedly connected to one side of the double-convex-disc notch convex disc, an upper guide groove for the first blocking pin to be in sliding connection is formed in the notch convex disc, and a lower guide groove for th