Crawler type walking mechanism with several walking modes
A technology of walking mechanism and walking mode, which is applied in the field of robot research and engineering. It can solve the problems of limiting the range of motion, the application limitation of mobile robots, and the ability to pass through different spaces. It is easy to process and manufacture, and easy to turn.
Inactive Publication Date: 2009-10-28
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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Problems solved by technology
[0002] For a mobile robot, its structure and shape are usually fixed, such as wheels, crawlers, legs, etc. This structure only adapts to a single environment and limits its range of motion
In order to overcome this deficiency, a composite structure integrating wheels, legs and crawlers appeared, but this is only for different grounds, solving the passing capacity of various grounds, and has not yet solved the passing capacity of different spaces. Applications of mobile robots are limited
Method used
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[0020] The present invention will be further described below in conjunction with accompanying drawing.
[0021] Such as figure 1 , 2-1 , 2-2, the present invention has two modules with the same structure, which are connected to each other through deformation modules; one of the module structures is: the driving pulley 1 is connected with the output shaft of the first motor 2 through the drive gear, and the first motor 2 drive, the driven pulley is installed on the frame, and the track 7 is installed around the driving pulley 1 and the driven pulley; the output shaft of the second motor 3 is installed together with one end of the pitch frame as the pitch axis, and the gear 5 is mounted on the pitch frame The other end of the roller 4 is installed in the pitch frame, between the driven pulley and the gear 5.
[0022] The gear 5 described in this embodiment is a semicircular structure, and its straight edge is adjacent to the roller 4; the deformation module is based on the def...
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The invention discloses a crawler-type traveling mechanism with multiple traveling modes. There are two modules with the same structure, which are connected to each other through deformation modules; one of the module structures is: the driving pulley is connected to the output shaft of the first motor through the driving gear, the driven pulley is installed on the frame, and the crawler belt surrounds the driving pulley. It is installed with the driven pulley, and the output shaft of the second motor is used as the pitch axis, which is installed with one end of the pitch frame, the gear is installed at the other end of the pitch frame, and the roller is installed in the pitch frame, between the driven pulley and the gear. According to the needs of the application background, it is composed of three basic forms: linear, side-by-side and compound, and deformed to meet the requirements of the environment and task space.
Description
technical field [0001] The invention relates to the field of robot research and engineering, in particular to a crawler-type walking mechanism with multiple walking modes. Background technique [0002] For a mobile robot, its structure and shape are usually fixed, such as wheels, crawlers, legs, etc. This structure only adapts to a single environment and limits its range of motion. In order to overcome this deficiency, a composite structure integrating wheels, legs and crawlers appeared, but this is only for different grounds, solving the passing capacity of various grounds, and has not yet solved the passing capacity of different spaces. Applications of mobile robots are limited. Contents of the invention [0003] In order to overcome the shortcomings of the construction of the above-mentioned mobile mechanism, the purpose of the present invention is to propose a new crawler-type traveling mechanism with different space passing capabilities and multiple walking modes. ...
Claims
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IPC IPC(8): B25J13/00B25J15/00
Inventor 李斌马书根叶长龙王越超张国伟龚海里
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI