Deformed caterpillar robot

A crawler robot and crawler technology, applied in tracked vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of flexibility, maneuverability and ability limitations of climbing obstacles, limited shock absorption effect, poor motion stability, etc. Achieve the effects of improving obstacle-surpassing ability and motion stability, good shock absorption, and improving deformation ability

Active Publication Date: 2010-06-16
NAT UNIV OF DEFENSE TECH
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  • Abstract
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AI Technical Summary

Problems solved by technology

Among them, the single-section double-track crawler deformation mechanism is simple to realize movement and control, and it mainly includes two structures: inverted trapezoidal and prolate. The inverted trapezoidal crawler has superior maneuverability and can climb higher obstacles. The center of gravity is high and the contact length between the track and the slope or stairs is short, and the movement stability is poor, while the center of gravity of the prolate track structure is low, and its stability is superior, but its flexibility, maneuverability and abili

Method used

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  • Deformed caterpillar robot
  • Deformed caterpillar robot
  • Deformed caterpillar robot

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Embodiment Construction

[0045] like Figure 1 to Figure 11As shown, the deformed crawler robot of the present invention includes a frame 1 and a fuselage 2 mounted on the frame 1, and a set of deformed crawler running mechanism 3 is respectively installed on both sides of the frame 1, and the deformed crawler running mechanism 3 includes a driving shaft 301, crawler belt deformation drive shaft 302, crawler belt 303 and deformation swing link mechanism 304, the travel drive shaft 301 and track deformation drive shaft 302 are arranged in parallel on the frame 1, one end of the deformation swing link mechanism 304 is affixed to the crawler belt deformation drive shaft 302, The other end is supported on the travel drive shaft 301 via a bearing, the drive drive shaft 301 is provided with a driving track wheel 305, the track deformation drive shaft 302 and the deformation pendulum mechanism 304 are equipped with a driven track wheel 306, and the drive track wheel 305 And each driven track wheel 306 is eng...

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Abstract

The invention discloses a deformed caterpillar robot which comprises a robot stand and a robot body, wherein robot body is installed on the robot stand; both sides of the robot stand are respectively provided with a set of deformed caterpillar running mechanism; each deformed caterpillar running mechanism comprises a traveling drive shaft, a caterpillar deformed drive shaft, a caterpillar and a deformed oscillating bar mechanism; each traveling drive shaft and each caterpillar deformed drive shaft are arranged on the robot stand in parallel; one end of each deformed oscillating bar mechanism is fixedly connected with each caterpillar deformed drive shaft, and the other end is supported on each traveling drive shaft by a bearing; a drive caterpillar wheel is installed on each traveling drive shaft; driven caterpillar wheels are both arranged on each caterpillar deformed drive shaft and each deformed oscillating bar mechanisms; and each drive caterpillar wheel and all driven caterpillar wheels are meshed with each caterpillar. The deformed caterpillar robot has steady running, high obstacle crossing and climbing capability, simple structure, stable working and reliable control.

Description

technical field [0001] The invention relates to a crawler robot, in particular to a robot with a crawler deformation function. Background technique [0002] When performing dangerous tasks such as anti-terrorism, detonation, search, rescue, and reconnaissance, crawler robots are often used. In order to adapt to complex and changeable environments, crawler robots are required to have sufficient maneuverability, and the crawler deformation mechanism is related to the maneuverability of crawler robots. key factor. Among the existing crawler mechanisms, the single-section double-crawler type, the double-section double-crawler type and the multi-section multi-crawler type crawler mechanism can adapt to complex terrain. Among them, the single-section double-track crawler deformation mechanism is simple to realize movement and control, and it mainly includes two structures: inverted trapezoidal and prolate. The inverted trapezoidal crawler has superior maneuverability and can clim...

Claims

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Application Information

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IPC IPC(8): B62D55/065B62D55/084
Inventor 尚建忠罗自荣徐小军黑沫赵希庆谢惠详杨军宏王卓
Owner NAT UNIV OF DEFENSE TECH
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