Joint track type walking mechanism

Abstract

The invention discloses a joint track type travel mechanism, which relates to the technical field of vehicles and robots. To solve low climbing obstacle capability and other problems, the following technical proposal is presented: a joint track type travel mechanism includes a vehicle body (8) and a circuit, and is characterized in that the joint track type travel mechanism also includes four track legs (2), a swing arm, two synchronous belts (10), two sets of drive worm and worm wheel (16), four sets of swing arm worm and worm wheel (17), two drive transmission shafts (5), four swing arm transmission shafts (7), two drive motors (15), four swing arm motors(9), four swing arm driving gears (6), two front synchronous pulleys (2), two rear synchronous pulleys (11) and two rotational shafts (13). The invention has the advantages that a travel mechanism with distinctive style and structure is provided, which has strong climbing obstacle capability, can independently, flexibly and quickly climb the stairs and terrace depending on the mechanical and structural characteristics of the travel mechanism, without manual interference.

Description

technical field [0001] The invention relates to the technical field of vehicles and robots, in particular to a articulated crawler-type walking mechanism. Background technique [0002] At present, scientific research institutions and related manufacturers at home and abroad have carried out a lot of research and trial development on the walking mechanism of vehicles or robots, and have also made many achievements and progress. However, in the existing technology, there are still many places that need to continue to innovate and improve. [0003] In the prior art, the ability of the common double-crawler traveling mechanism to cross obstacles is not strong, for example, it cannot cross vertical obstacles and the like. Compared with the ordinary double crawler walking mechanism, the ordinary joint crawler walking mechanism has significantly improved the ability to cross obstacles and has the ability to cross vertical obstacles. [0004] However, in the prior art, the common ...

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Problems solved by technology

[0004] However, in the prior art, the common double-crawler walking mechanism still has the following obvious deficiencies: 1. It cannot independently cross obstacles, and before each crossing, manual intervention is required to adjust the posture of swinging legs before and after; 2. In the process of climbing, many times of manual intervention and multiple adjustments to the posture of swinging legs are required; 3. When climbing steps or stairs, the movements are not fast enough and flexible enough; 4. Although they have the ability to cross vertical obstacles to a certain extent, their The ability is still very limited, and the maximum height over obstacles is not high enough

[0008] It can be seen from the above introduction: 1. In the process of climbing over vertical obstacles, the existing mechanism must adjust the angle of the swing arm many times, so the climbing is not fast enough and flexible; 2. From the current public According to the report, in the prior art, manual intervention is required to adjust the swing angle of the swing arm when the ordinary double-track traveling mechanism climbs over vertical obstacles; if the swing angle of the swing arm can be automatically adjusted by circuit control in the future , then, the relevant control circuit will become very complicated, the difficulty will be greater, and the cost will increase; 3. In the process of climbing over the vertical obstacle, no matter how high or low the vertical obstacle is, the load of heavy objects in the existing mechanism 4. At a certain stage of climbing, such as the stage shown in Figure 24, the contact between the existing mechanism and the ground and obstacles is a line contact; because the contact area of ​​the line contact is small , the total friction force is also small, so the driving ability at this time is very poor, and slipping is easy to occur at the line contact. However, when climbing over vertical obstacles, due to the occurrence of line contact and slippage, its load capacity will also be greatly weakened.

Therefore, generally speaking, the load capacity of ordinary double crawler running gear is not high enough

[0009] In addition to the above-mentioned situation, in the prior art, various running gears including the common double-crawler running gear also have the following common deficiencies: 1. There are not many technical solutions available for selection. From the perspective of diversity, further expansion is needed; 2. When a vehicle or robot walks on terrain with slopes both vertically and horizontally, accidents such as overturning are prone to occur, that is to say, it is not possible to flexibly adjust the level of the vehicle body. Adjustment, or even if the levelness in the front and rear directions can be adjusted, it is difficult to adjust the levelness in the left and right directions of the running mechanism; 3. The size of the contact area with the ground cannot be adjusted, or it cannot be in large-area contact with the ground. Therefore, Can't do it: can walk flexibly on hard and flat roads, and can cross soft ground such as swamps; 4. It is often difficult to climb over complex terrain such as ditches

[0010] It should be pointed out that during the walking process of the vehicle or robot, if the load-bearing working surface of the vehicle body cannot maintain a good levelness, the loaded objects or personnel may have displacement, rolling, overturning, falling and other accidents; for In terms of carrying precision instruments and meters and cutting-edge scientific and technological devices, if it cannot maintain a high level, it is impossible to talk about

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